ProxQPSolver.hpp

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#ifndef WBC_SOLVERS_PROXQP_SOLVER_HPP
#define WBC_SOLVERS_PROXQP_SOLVER_HPP
 
#include "../../core/QPSolver.hpp"
 
#include <memory>
#include <iostream>
 
#include <proxsuite/proxqp/dense/wrapper.hpp>
 
namespace wbc {
 
class HierarchicalQP;

class ProxQPSolver : public QPSolver{
private:
    static QPSolverRegistry<ProxQPSolver> reg;
 
public:
    ProxQPSolver();
    virtual ~ProxQPSolver() noexcept { };

    virtual void solve(const wbc::HierarchicalQP& hierarchical_qp, Eigen::VectorXd& solver_output, bool allow_warm_start = true);

    int getNter(){ return _actual_n_iter; }

    void setOptions(proxsuite::proxqp::Settings<double> opt){settings = opt;}
 
protected:
 
    std::shared_ptr<proxsuite::proxqp::dense::QP<double>> _solver_ptr;
    int _actual_n_iter;
 
    Eigen::MatrixXd _C_mtx; // inequalities matrix (including bounds)
    Eigen::VectorXd _l_vec; // inequalities lower bounds
    Eigen::VectorXd _u_vec; // inequalities upper bounds
 
    proxsuite::proxqp::Settings<double> settings;
};
 
}
 
#endif