Commit d2ff84e9 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

Initial commit

parents
[submodule "cmake"]
path = cmake
url = https://github.com/jrl-umi3218/jrl-cmakemodules
#
# Copyright (c) 2019 CNRS
#
# This file is part of eiquadprog
# pinocchio 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.
# pinocchio 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
# pinocchio If not, see
# <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
SET(PROJECT_NAME eiquadprog)
SET(PROJECT_DESCRIPTION "C++ reimplementation of eiquadprog")
SET(PROJECT_URL "http://github.com/stack-of-tasks/eiquadprog")
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
# ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.1.0")
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
# Add headers here if any
SET(${PROJECT_NAME}_HEADERS
# include/eiquadprog/fwd.hpp
)
# ----------------------------------------------------
# --- EXECUTABLE -------------------------------------
# ----------------------------------------------------
SET(${PROJECT_NAME}_SOURCES
# src/main.cpp
)
# Create the main executable
#ADD_EXECUTABLE(main ${${PROJECT_NAME}_SOURCES})
# Link main to its dependencies
#PKG_CONFIG_USE_DEPENDENCY(main pinocchio)
# --- PACKAGING ----------------------------------------------------------------
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
BSD 2-Clause License
Copyright (c) 2018, Stack Of Tasks development team
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
# eiquadprog
This repo contains a C++ implementation of the algorithm of Goldfarb and Idnani for the solution of a (convex) Quadratic Programming problem by means of a dual method.
The problem is in the form:
min 0.5 * x G x + g0 x
s.t.
CE^T x + ce0 = 0
CI^T x + ci0 >= 0
Subproject commit b58bd669f6567662eefb8a410e8e40aeba4f1060
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