QPSwiftSolver.hpp

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#ifndef QP_SWIFT_SOLVER_HPP
#define QP_SWIFT_SOLVER_HPP
 
#include "../../core/QPSolver.hpp"
#include <qpSWIFT/qpSWIFT.h>
 
namespace wbc {
class QuadraticProgram;

class QPSwiftSolver : public QPSolver{
private:
    static QPSolverRegistry<QPSwiftSolver> reg;
 
protected:
    Eigen::MatrixXd P;   
    Eigen::VectorXd c;   
    Eigen::MatrixXd A;   
    Eigen::MatrixXd G;   
    Eigen::VectorXd b;   
    Eigen::VectorXd h;   
    int n_dec;          
    int n_ineq;         
    int n_eq;           
    int n_bounds;       
    QP *my_qp;
 
    void toQpSwift(const QuadraticProgram &qp);
    void setOptions(settings opt){options=opt;}
public:
    QPSwiftSolver();
    ~QPSwiftSolver();

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