solver-HQP-factory.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_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__