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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include <tsid/solvers/solver-HQP-factory.hpp> |
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#include <tsid/solvers/solver-HQP-eiquadprog.hpp> |
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#include <tsid/solvers/solver-HQP-eiquadprog-fast.hpp> |
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#ifdef TSID_QPMAD_FOUND |
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#include <tsid/solvers/solver-HQP-qpmad.hpp> |
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#endif |
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#ifdef TSID_WITH_PROXSUITE |
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#include <tsid/solvers/solver-proxqp.hpp> |
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#endif |
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#ifdef TSID_WITH_OSQP |
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#include <tsid/solvers/solver-osqp.hpp> |
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#endif |
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#ifdef QPOASES_FOUND |
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#include <tsid/solvers/solver-HQP-qpoases.hh> |
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#endif |
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namespace tsid { |
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namespace solvers { |
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SolverHQPBase* SolverHQPFactory::createNewSolver(const SolverHQP solverType, |
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const std::string& name) { |
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if (solverType == SOLVER_HQP_EIQUADPROG) return new SolverHQuadProg(name); |
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if (solverType == SOLVER_HQP_EIQUADPROG_FAST) |
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return new SolverHQuadProgFast(name); |
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#ifdef TSID_QPMAD_FOUND |
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if (solverType == SOLVER_HQP_QPMAD) return new SolverHQpmad(name); |
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#endif |
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#ifdef TSID_WITH_PROXSUITE |
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if (solverType == SOLVER_HQP_PROXQP) return new SolverProxQP(name); |
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#endif |
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#ifdef TSID_WITH_OSQP |
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if (solverType == SOLVER_HQP_OSQP) return new SolverOSQP(name); |
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#endif |
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#ifdef QPOASES_FOUND |
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if (solverType == SOLVER_HQP_QPOASES) return new Solver_HQP_qpoases(name); |
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#endif |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(false, "Specified solver type not recognized"); |
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return NULL; |
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} |
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} // namespace solvers |
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} // namespace tsid |
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