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18 #ifndef __invdyn_solvers_fwd_hpp__
19 #define __invdyn_solvers_fwd_hpp__
23 #include "tsid/config.hh"
25 #include <pinocchio/container/aligned-vector.hpp>
27 #define DEFAULT_HESSIAN_REGULARIZATION 1e-8
37 enum TSID_DLLAPI SolverHQP
41 SOLVER_HQP_EIQUADPROG_RT = 2
42 #ifdef TSID_QPMAD_FOUND
54 enum TSID_DLLAPI HQPStatus
68 template<
int nVars,
int nEqCon,
int nIneqCon>
71 template<
typename T1,
typename T2>
75 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
84 template<
typename T1,
typename T2>
89 typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<math::ConstraintBase> > >
ConstraintLevel;
90 typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<const math::ConstraintBase> > >
ConstConstraintLevel;
91 typedef pinocchio::container::aligned_vector<ConstraintLevel>
HQPData;
92 typedef pinocchio::container::aligned_vector<ConstConstraintLevel>
ConstHQPData;
98 #endif // ifndef __invdyn_solvers_fwd_hpp__
pinocchio::container::aligned_vector< ConstConstraintLevel > ConstHQPData
Definition: fwd.hpp:92
aligned_pair< T1, T2 > make_pair(const T1 &t1, const T2 &t2)
Definition: fwd.hpp:85
T2 second
Definition: fwd.hpp:80
pinocchio::container::aligned_vector< aligned_pair< double, std::shared_ptr< math::ConstraintBase > > > ConstraintLevel
Definition: fwd.hpp:89
Definition: solver-HQP-eiquadprog-rt.hpp:35
EIGEN_MAKE_ALIGNED_OPERATOR_NEW aligned_pair(const T1 &t1, const T2 &t2)
Definition: fwd.hpp:77
HQP_STATUS_UNKNOWN
Definition: fwd.hpp:56
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36
T1 first
Definition: fwd.hpp:79
HQP_STATUS_UNBOUNDED
Definition: fwd.hpp:59
SOLVER_HQP_EIQUADPROG
Definition: fwd.hpp:39
HQP_STATUS_OPTIMAL
Definition: fwd.hpp:57
HQP_STATUS_MAX_ITER_REACHED
Definition: fwd.hpp:60
Definition: constraint-bound.hpp:26
HQP_STATUS_INFEASIBLE
Definition: fwd.hpp:58
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
SOLVER_HQP_EIQUADPROG_FAST
Definition: fwd.hpp:40
pinocchio::container::aligned_vector< aligned_pair< double, std::shared_ptr< const math::ConstraintBase > > > ConstConstraintLevel
Definition: fwd.hpp:90