solver-HQP-output.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_solvers_hqp_output_hpp__
#define __invdyn_solvers_hqp_output_hpp__

#include "tsid/solvers/fwd.hpp"
#include "tsid/math/fwd.hpp"

#include <vector>

namespace tsid {
namespace solvers {

class HQPOutput {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Vector Vector;
 typedef math::VectorXi VectorXi;

 HQPStatus status;
 Vector x;
 Vector lambda;
 VectorXi activeSet;
 int iterations;

 HQPOutput() {}

 HQPOutput(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon) {
 resize(nVars, nEqCon, nInCon);
 }

 void resize(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon) {
 x.resize(nVars);
 lambda.resize(nEqCon + nInCon);
 activeSet.resize(nInCon);
 }
};
} // namespace solvers
} // namespace tsid

#endif // ifndef __invdyn_solvers_hqp_output_hpp__