ORCA: Optimization-based framework for Robotic Control Applications
QPSolver.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)
5 //|
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 //|
11 //| This software is governed by the CeCILL-C license under French law and
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15 //| "http://www.cecill.info".
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36 
37 #pragma once
38 
39 #include "orca/math/Utils.h"
40 #include "orca/utils/Utils.h"
41 #include "orca/optim/ProblemData.h"
44 #include "orca/common/ReturnCode.h"
45 
46 namespace orca
47 {
48 namespace optim
49 {
50 
51 class QPSolver
52 {
53 public:
54  using Ptr = std::shared_ptr<QPSolver>;
55  QPSolver();
56  virtual ~QPSolver();
57  bool setImplementationType(QPSolverImplType solver_type);
58  void setPrintLevel(int level);
59  void resize(unsigned int nvar,unsigned int nconstr);
60  bool solve(orca::optim::ProblemData& data);
62 private:
63  std::shared_ptr<QPSolverImpl> pimpl_;
65  int nvar_ = 0;
66  int nconstr_ = 0;
68 };
69 
70 } // namespace optim
71 } // namespace orca
common::ReturnCode getReturnCode() const
Definition: QPSolver.cc:66
ReturnCode
Definition: ReturnCode.h:45
Definition: ReturnCode.h:81
virtual ~QPSolver()
Definition: QPSolver.cc:49
Definition: QPSolver.h:51
QPSolverImplType
Definition: QPSolverImplType.h:44
bool setImplementationType(QPSolverImplType solver_type)
Definition: QPSolver.cc:17
void setPrintLevel(int level)
Definition: QPSolver.cc:52
std::shared_ptr< QPSolver > Ptr
Definition: QPSolver.h:54
void resize(unsigned int nvar, unsigned int nconstr)
Definition: QPSolver.cc:58
Definition: CartesianAccelerationPID.h:44
bool solve(orca::optim::ProblemData &data)
Definition: QPSolver.cc:71
QPSolver()
Definition: QPSolver.cc:11
Definition: ProblemData.h:46