| Directory: | ./ |
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| File: | include/tsid/solvers/solver-HQP-factory.hxx |
| Date: | 2024-10-10 01:09:49 |
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| Lines: | 3 | 4 | 75.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2017 CNRS | ||
| 3 | // | ||
| 4 | // This file is part of tsid | ||
| 5 | // tsid is free software: you can redistribute it | ||
| 6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
| 7 | // License as published by the Free Software Foundation, either version | ||
| 8 | // 3 of the License, or (at your option) any later version. | ||
| 9 | // tsid is distributed in the hope that it will be | ||
| 10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
| 11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| 12 | // General Lesser Public License for more details. You should have | ||
| 13 | // received a copy of the GNU Lesser General Public License along with | ||
| 14 | // tsid If not, see | ||
| 15 | // <http://www.gnu.org/licenses/>. | ||
| 16 | // | ||
| 17 | |||
| 18 | #ifndef __invdyn_solvers_hqp_factory_hxx__ | ||
| 19 | #define __invdyn_solvers_hqp_factory_hxx__ | ||
| 20 | |||
| 21 | #include <tsid/solvers/solver-HQP-factory.hpp> | ||
| 22 | #include <tsid/solvers/solver-HQP-eiquadprog-rt.hxx> | ||
| 23 | |||
| 24 | namespace tsid { | ||
| 25 | namespace solvers { | ||
| 26 | |||
| 27 | template <int nVars, int nEqCon, int nIneqCon> | ||
| 28 | 2 | SolverHQPBase* SolverHQPFactory::createNewSolver(const SolverHQP solverType, | |
| 29 | const std::string& name) { | ||
| 30 |
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2 | if (solverType == SOLVER_HQP_EIQUADPROG_RT) |
| 31 |
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2 | return new SolverHQuadProgRT<nVars, nEqCon, nIneqCon>(name); |
| 32 | |||
| 33 | ✗ | PINOCCHIO_CHECK_INPUT_ARGUMENT(false, "Specified solver type not recognized"); | |
| 34 | return nullptr; | ||
| 35 | } | ||
| 36 | } // namespace solvers | ||
| 37 | } // namespace tsid | ||
| 38 | |||
| 39 | #endif // ifndef __invdyn_solvers_hqp_factory_hxx__ | ||
| 40 |