solver-HQP-base.cpp

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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/>.
//

#include "tsid/solvers/solver-HQP-base.hpp"

#include <iostream>

namespace tsid {
namespace solvers {

std::string const SolverHQPBase::HQP_status_string[] = {
    "HQP_STATUS_OPTIMAL", "HQP_STATUS_INFEASIBLE", "HQP_STATUS_UNBOUNDED",
    "HQP_STATUS_MAX_ITER_REACHED", "HQP_STATUS_ERROR"};

SolverHQPBase::SolverHQPBase(const std::string& name) {
  m_name = name;
  m_maxIter = 1000;
  m_maxTime = 100.0;
  m_useWarmStart = true;
}

bool SolverHQPBase::setMaximumIterations(unsigned int maxIter) {
  if (maxIter == 0) return false;
  m_maxIter = maxIter;
  return true;
}

bool SolverHQPBase::setMaximumTime(double seconds) {
  if (seconds <= 0.0) return false;
  m_maxTime = seconds;
  return true;
}

}  // namespace solvers
}  // namespace tsid