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:
    base::MatrixXd P;   
    base::VectorXd c;   
    base::MatrixXd A;   
    base::MatrixXd G;   
    base::VectorXd b;   
    base::VectorXd h;   
    int n_dec;          
    int n_ineq;         
    int n_eq;           
    int n_bounds;       
    QP *my_qp;
    uint max_iter;      
    double rel_tol;     
    double abs_tol;     
    double sigma;       
    uint verbose_level; 
    void toQpSwift(const QuadraticProgram &qp);
public:
    QPSwiftSolver();
    ~QPSwiftSolver();
 
    virtual void solve(const wbc::HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output);
 
    void setMaxIter(uint val){max_iter=val;}
    void setRelTol(double val){rel_tol=val;}
    void setAbsTol(double val){abs_tol=val;}
    void setSigma(double val){sigma=val;}
    void setVerboseLevel(uint val){verbose_level=val;}
};
}
 
#endif