Initial commit

.gitignore

+build*/

.gitmodules

+[submodule "cmake"]
+	path = cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules

CMakeLists.txt

+#
+# 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})

LICENSE

+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.

README.md

+# 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
+

cmake @ b58bd669

+Subproject commit b58bd669f6567662eefb8a410e8e40aeba4f1060