EiquadprogSolver.hpp

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#ifndef WBC_SOLVERS_EIQUADPROG_SOLVER_HPP
#define WBC_SOLVERS_EIQUADPROG_SOLVER_HPP
 
#include "../../core/QPSolver.hpp"
 
#include <base/Time.hpp>
 
#include <eiquadprog/eiquadprog-fast.hpp>
 
namespace wbc {
 
class HierarchicalQP;
 
class EiquadprogSolver : public QPSolver{
private:
    static QPSolverRegistry<EiquadprogSolver> reg;
 
public:
    EiquadprogSolver();
    virtual ~EiquadprogSolver();
 
    virtual void solve(const wbc::HierarchicalQP& hierarchical_qp, base::VectorXd& solver_output);
 
    void setMaxNIter(const uint& n){ _n_iter = n; }
    
    uint getMaxNIter(){ return _n_iter; }
 
    int getNter(){ return _actual_n_iter; }
 
protected:
    eiquadprog::solvers::EiquadprogFast _solver;
    
    int _n_iter;
    int _actual_n_iter;
 
    Eigen::MatrixXd _CI_mtx;
    Eigen::VectorXd _ci0_vec;
};
 
}
 
#endif