QPSolver.hpp

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#ifndef WBC_CORE_QPSOLVER_HPP
#define WBC_CORE_QPSOLVER_HPP
 
#include <Eigen/Core>
#include <vector>
#include <memory>
#include <map>
 
namespace wbc{
 
class HierarchicalQP;

class QPSolver{
protected:
    bool configured;
public:
    QPSolver();
    virtual ~QPSolver();
    virtual void solve(const HierarchicalQP& hierarchical_qp, Eigen::VectorXd &solver_output, bool allow_warm_start = true) = 0;

    void reset(){configured=false;}
};
 
typedef std::shared_ptr<QPSolver> QPSolverPtr;
 
template<typename T> QPSolver* createT(){return new T;}
 
struct QPSolverFactory{
    typedef std::map<std::string, QPSolver*(*)()> QPSolverMap;
 
    static QPSolver *createInstance(const std::string& name) {
        QPSolverMap::iterator it = getQPSolverMap()->find(name);
        if(it == getQPSolverMap()->end())
            return 0;
        return it->second();
    }
 
    template<typename T>
    static T* createInstance(const std::string& name){
        QPSolver* tmp = createInstance(name);
        T* ret = dynamic_cast<T*>(tmp);
        return ret;
    }
 
    static QPSolverMap *getQPSolverMap(){
        if(!qp_solver_map)
            qp_solver_map = new QPSolverMap;
        return qp_solver_map;
    }
 
    static void clear(){
        qp_solver_map->clear();
    }
 
private:
    static QPSolverMap *qp_solver_map;
};
 
template<typename T>
struct QPSolverRegistry : QPSolverFactory{
    QPSolverRegistry(const std::string& name) {
        QPSolverMap::iterator it = getQPSolverMap()->find(name);
        if(it != getQPSolverMap()->end())
            throw std::runtime_error("Failed to register plugin with name " + name + ". A plugin with the same name is already registered");
        getQPSolverMap()->insert(std::make_pair(name, &createT<T>));
    }
};
}
 
#endif // WBC_CORE_QPSOLVER_HPP