solver-abstract.hpp File Reference

#include <Eigen/Dense>
#include <hpp/bezier-com-traj/local_config.hh>

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Classes
struct	solvers::ResultData
	Struct used to return the results of the trajectory generation problem. More...

Namespaces
namespace	solvers

Typedefs
typedef Eigen::MatrixXd	solvers::MatrixXd
typedef Eigen::VectorXd	solvers::VectorXd
typedef Eigen::VectorXi	solvers::VectorXi
typedef const Eigen::Ref< const VectorXd > &	solvers::Cref_vectorX

Enumerations
enum	solvers::optim_status { solvers::OPTIM_OPTIMAL = 0 , solvers::OPTIM_INFEASIBLE = 1 }

Functions
ResultData BEZIER_COM_TRAJ_DLLAPI	solvers::solve (const MatrixXd &A, const VectorXd &b, const MatrixXd &D, const VectorXd &d, const MatrixXd &Hess, const VectorXd &g, const VectorXd &initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds, const SolverType solver)
	solve Solve a QP or LP given init position and velocity, 0 velocity constraints (acceleration constraints are ignored)