QPOasesSolver.hpp

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#ifndef WBC_SOLVERS_QP_OASES_SOLVER_HPP
#define WBC_SOLVERS_QP_OASES_SOLVER_HPP
 
#include "../../core/QPSolver.hpp"
#include <qpOASES.hpp>
#include <base/Time.hpp>
 
namespace qpOASES {
enum optionPresets{qp_default, qp_reliable, qp_fast, qp_unset};
}
 
namespace wbc {
 
class HierarchicalQP;
 
class QPOASESSolver : public QPSolver{
private:
    static QPSolverRegistry<QPOASESSolver> reg;
 
public:
    QPOASESSolver();
    virtual ~QPOASESSolver();
 
    virtual void solve(const wbc::HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output);
 
    void setMaxNoWSR(const uint& n){n_wsr = n;}
    uint getMaxNoWSR(){return n_wsr;}
    qpOASES::returnValue getReturnValue();
    int getNoWSR(){return actual_n_wsr;}
    qpOASES::Options getOptions(){return options;}
    void setOptions(const qpOASES::Options& opt);
    void setOptionsPreset(const qpOASES::optionPresets& opt);
    const qpOASES::SQProblem& getSQProblem(){return sq_problem;}
 
protected:
    qpOASES::Options options;
    qpOASES::SQProblem sq_problem;
    int n_wsr, actual_n_wsr;
    qpOASES::returnValue ret_val;
    Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> H;
    Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> A;
    base::Time stamp;
};
 
}
 
#endif