| Directory: | ./ |
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| File: | include/tsid/solvers/solver-HQP-output.hpp |
| Date: | 2024-11-10 01:12:44 |
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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_output_hpp__ | ||
| 19 | #define __invdyn_solvers_hqp_output_hpp__ | ||
| 20 | |||
| 21 | #include "tsid/solvers/fwd.hpp" | ||
| 22 | #include "tsid/math/fwd.hpp" | ||
| 23 | |||
| 24 | #include <vector> | ||
| 25 | |||
| 26 | namespace tsid { | ||
| 27 | namespace solvers { | ||
| 28 | |||
| 29 | class HQPOutput { | ||
| 30 | public: | ||
| 31 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 32 | |||
| 33 | typedef math::Vector Vector; | ||
| 34 | typedef math::VectorXi VectorXi; | ||
| 35 | |||
| 36 | HQPStatus status; /// solver status | ||
| 37 | Vector x; /// solution | ||
| 38 | Vector lambda; /// Lagrange multipliers | ||
| 39 | VectorXi activeSet; /// indexes of active inequalities | ||
| 40 | int iterations; /// number of iterations performed by the solver | ||
| 41 | |||
| 42 |
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1102 | HQPOutput() {} |
| 43 | |||
| 44 | ✗ | HQPOutput(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon) { | |
| 45 | ✗ | resize(nVars, nEqCon, nInCon); | |
| 46 | } | ||
| 47 | |||
| 48 | 4 | void resize(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon) { | |
| 49 | 4 | x.resize(nVars); | |
| 50 | 4 | lambda.resize(nEqCon + nInCon); | |
| 51 | 4 | activeSet.resize(nInCon); | |
| 52 | 4 | } | |
| 53 | }; | ||
| 54 | } // namespace solvers | ||
| 55 | } // namespace tsid | ||
| 56 | |||
| 57 | #endif // ifndef __invdyn_solvers_hqp_output_hpp__ | ||
| 58 |