HPIPMSolver.hpp

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#ifndef WBC_SOLVERS_HPIPM_SOLVER_HPP
#define WBC_SOLVERS_HPIPM_SOLVER_HPP
 
#include "../../core/QPSolver.hpp"
#include "../../core/QuadraticProgram.hpp"
#include <acados_c/dense_qp_interface.h>
 
namespace wbc {
 
class HPIPMSolver : public QPSolver{
private:
    static QPSolverRegistry<HPIPMSolver> reg;
    std::vector<int> idxb;
    dense_qp_in *qp_in;
    dense_qp_dims dims;
    dense_qp_out *qp_out;
    void *opts;
    dense_qp_solver_plan plan;
    dense_qp_solver *qp_solver;
    qp_solver_config *config;
 
    std::string returnCodeToString(int code);
 
public:
    HPIPMSolver();
    virtual ~HPIPMSolver();

    virtual void solve(const wbc::HierarchicalQP &hierarchical_qp, Eigen::VectorXd &solver_output, bool allow_warm_start = true);
 
    void setOptions(std::string &field, void* value);   
};
}
 
#endif