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andreadelprete authored
Implement LP solver using qpOases. Implement a more efficient primal formulation of the LP to compute robustness of a given CoM position (LP2 in the code). Even this formulation sometimes gives wrong results with coin-or solver, but not with qpOases. Implement first performance tests: qpOases seems faster than coin-or solver and fastest formulation seems to be the dual LP (about 0.1 ms for 32 generators). PP algorithm is instead very slow, much slower than in Steve's code, but it's not clear why.
andreadelprete authoredImplement LP solver using qpOases. Implement a more efficient primal formulation of the LP to compute robustness of a given CoM position (LP2 in the code). Even this formulation sometimes gives wrong results with coin-or solver, but not with qpOases. Implement first performance tests: qpOases seems faster than coin-or solver and fastest formulation seems to be the dual LP (about 0.1 ms for 32 generators). PP algorithm is instead very slow, much slower than in Steve's code, but it's not clear why.
FindqpOASES.cmake 1.94 KiB
#.rst:
# FindqpOASES
# -----------
#
# Try to find the qpOASES library.
# Once done this will define the following variables::
#
# qpOASES_FOUND - System has qpOASES
# qpOASES_INCLUDE_DIR - qpOASES include directory
# qpOASES_LIBRARY - qpOASES libraries
#
# qpOASES does not have an "install" step, and the includes are in the source
# tree, while the libraries are in the build tree.
# Therefore the environment and cmake variables `qpOASES_SOURCE_DIR` and
# `qpOASES_BINARY_DIR` will be used to locate the includes and libraries.
#=============================================================================
# Copyright 2014 iCub Facility, Istituto Italiano di Tecnologia
# Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
#
# Distributed under the OSI-approved BSD License (the "License");
# see accompanying file Copyright.txt for details.
#
# This software is distributed WITHOUT ANY WARRANTY; without even the
# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
# See the License for more information.
#=============================================================================
# (To distribute this file outside of YCM, substitute the full
# License text for the above reference.)
MACRO(SEARCH_FOR_QPOASES)
include(FindPackageHandleStandardArgs)
find_path(qpOASES_INCLUDEDIR
NAMES qpOASES.hpp
HINTS "${qpOASES_SOURCE_DIR}"
ENV qpOASES_SOURCE_DIR
PATH_SUFFIXES include)
find_library(qpOASES_LIB
NAMES qpOASES
HINTS "${qpOASES_BINARY_DIR}"
ENV qpOASES_BINARY_DIR
PATH_SUFFIXES lib
libs)
set(qpOASES_INCLUDE_DIR ${qpOASES_INCLUDEDIR})
set(qpOASES_LIBRARY ${qpOASES_LIB})
find_package_handle_standard_args(qpOASES DEFAULT_MSG qpOASES_LIBRARY
qpOASES_INCLUDE_DIR)
set(qpOASES_FOUND ${QPOASES_FOUND})
ENDMACRO(SEARCH_FOR_QPOASES)