solver-HQP-factory.hpp

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//
// Copyright (c) 2017 CNRS
//

#ifndef __invdyn_solvers_hqp_factory_hpp__
#define __invdyn_solvers_hqp_factory_hpp__

#include <tsid/solvers/solver-HQP-base.hpp>
#include <tsid/solvers/solver-HQP-eiquadprog-rt.hpp>

#include <pinocchio/macros.hpp> // for input argument checking and exceptions

namespace tsid {
namespace solvers {

struct SolverHQPFactory {
 static SolverHQPBase* createNewSolver(const SolverHQP solverType,
 const std::string& name);

 template <int nVars, int nEqCon, int nIneqCon>
 static SolverHQPBase* createNewSolver(const SolverHQP solverType,
 const std::string& name);
};

} // namespace solvers
} // namespace tsid

#endif // ifndef __invdyn_solvers_hqp_factory_hpp__