WB-Toolbox  6.0.1
A Simulink Toolbox for Whole Body Control
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QpOases.h
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1 /*
2  * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
3  * All rights reserved.
4  *
5  * This software may be modified and distributed under the terms of the
6  * GNU Lesser General Public License v2.1 or any later version.
7  */
8 
9 #ifndef WBT_QPOASES_H
10 #define WBT_QPOASES_H
11 
12 #include <BlockFactory/Core/Block.h>
13 
14 #include <memory>
15 #include <string>
16 
17 namespace wbt {
18  namespace block {
19  class QpOases;
20  } // namespace block
21 } // namespace wbt
22 
23 namespace blockfactory {
24  namespace core {
25  class BlockInformation;
26  } // namespace core
27 } // namespace blockfactory
28 
46 class wbt::block::QpOases final : public blockfactory::core::Block
47 {
48 private:
49  class impl;
50  std::unique_ptr<impl> pImpl;
51 
52 public:
53  QpOases();
54  ~QpOases() override;
55 
56  unsigned numberOfParameters() override;
57  bool parseParameters(blockfactory::core::BlockInformation* blockInfo) override;
58  bool configureSizeAndPorts(blockfactory::core::BlockInformation* blockInfo) override;
59  bool initialize(blockfactory::core::BlockInformation* blockInfo) override;
60  bool
61  initializeInitialConditions(const blockfactory::core::BlockInformation* blockInfo) override;
62  bool output(const blockfactory::core::BlockInformation* blockInfo) override;
63 };
64 
65 #endif // WBT_QPOASES_H
Definition: QpOases.cpp:70
The wbt::QpOases class.
Definition: QpOases.h:47
bool initialize(blockfactory::core::BlockInformation *blockInfo) override
Definition: QpOases.cpp:221
QpOases()
Definition: QpOases.cpp:85
bool output(const blockfactory::core::BlockInformation *blockInfo) override
Definition: QpOases.cpp:339
bool initializeInitialConditions(const blockfactory::core::BlockInformation *blockInfo) override
Definition: QpOases.cpp:333
unsigned numberOfParameters() override
Definition: QpOases.cpp:91
bool configureSizeAndPorts(blockfactory::core::BlockInformation *blockInfo) override
Definition: QpOases.cpp:117
bool parseParameters(blockfactory::core::BlockInformation *blockInfo) override
Definition: QpOases.cpp:96
std::unique_ptr< impl > pImpl
Definition: QpOases.h:49
Definition: WBBlock.h:16
Definition: Configuration.h:17