QuadraticProgram.hpp

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#ifndef WBC_TYPES_QUADRATIC_PROGRAM_HPP
#define WBC_TYPES_QUADRATIC_PROGRAM_HPP
 
#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <base/samples/Joints.hpp>
 
namespace wbc{
 
class JointWeights : public base::NamedVector<double>{
};
 
struct QuadraticProgram{
 
    int nq;                 
    int neq;                
    int nin;                
    bool bounded;            
    base::MatrixXd H;       
    base::VectorXd g;       
    base::MatrixXd A;       
    base::VectorXd b;       
    base::MatrixXd C;       
    base::VectorXd lower_y; 
    base::VectorXd upper_y; 
    base::VectorXd lower_x; 
    base::VectorXd upper_x; 
    base::VectorXd Wy;      
    void resize(uint nq, uint neq, uint nin, bool bounds);
 
    void check() const;
 
    void print() const;
 
};
 
struct HierarchicalQP{
    base::Time time;
    std::vector<QuadraticProgram> prios;           
    base::VectorXd Wq;                             
    size_t size() const {
        return prios.size();
    }
    QuadraticProgram& operator[](int i) {
        return prios[i];
    }
    const QuadraticProgram& operator[](int i) const {
        return prios[i];
    }
    void operator<<(QuadraticProgram& qp) {
        prios.push_back(qp);
    }
    void resize(const size_t &n){prios.resize(n);}
};
 
}
 
#endif // LINEAR_EQUALITY_CONSTRAINTS_HPP