ORCA: Optimization-based framework for Robotic Control Applications
QPSolverImplType.h
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1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
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36 
37 #pragma once
38 #include <iostream>
39 
40 namespace orca
41 {
42 namespace optim
43 {
44  enum class QPSolverImplType
45  {
46  qpOASES
47  , osqp
48  , eigQuadProg
49  };
50 
52  {
53  if(rs == QPSolverImplType::qpOASES) return "qpOASES";
54  if(rs == QPSolverImplType::osqp) return "osqp";
55  if(rs == QPSolverImplType::eigQuadProg) return "eigQuadProg";
56  return "Not supported";
57  }
58  inline QPSolverImplType QPSolverImplTypeFromString(const std::string& rs)
59  {
60  if(rs == "qpOASES") return QPSolverImplType::qpOASES;
61  if(rs == "osqp") return QPSolverImplType::osqp;
62  if(rs == "eigQuadProg") return QPSolverImplType::eigQuadProg;
63 
64  std::cerr << "QPSolverImplType '" << rs << "' not supported, choosing default qpOASES" << '\n';
66  }
67 
68  inline std::ostream& operator<<(std::ostream& os, const QPSolverImplType& st)
69  {
70  return os << QPSolverImplTypeToString(st);
71  }
72 } // namespace optim
73 } // namespace orca
74 
75 
inline ::std::ostream & operator<<(::std::ostream &os, const ControlVariable &cv)
Definition: ControlVariable.h:78
std::string QPSolverImplTypeToString(QPSolverImplType rs)
Definition: QPSolverImplType.h:51
QPSolverImplType
Definition: QPSolverImplType.h:44
QPSolverImplType QPSolverImplTypeFromString(const std::string &rs)
Definition: QPSolverImplType.h:58
Definition: CartesianAccelerationPID.h:44