solvers.hpp

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#ifndef WBC_PY_SOLVER_HPP
#define WBC_PY_SOLVER_HPP
 
#include "solvers/hls/HierarchicalLSSolver.hpp"
#include "solvers/qpoases/QPOasesSolver.hpp"
 
namespace wbc_py {
 
class HierarchicalLSSolver : public wbc::HierarchicalLSSolver{
public:
    base::VectorXd solve(const wbc::HierarchicalQP &hqp);
};
 
class QPOASESSolver : public wbc::QPOASESSolver{
public:
    base::VectorXd solve(const wbc::HierarchicalQP &hqp);
    int getReturnValueAsInt();
};
}
 
#endif