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Change the QP solver from eiquadprog to proxSuite #1

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NahuelVilla opened this issue Dec 12, 2022 · 3 comments
Open

Change the QP solver from eiquadprog to proxSuite #1

NahuelVilla opened this issue Dec 12, 2022 · 3 comments

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@NahuelVilla
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We are temporarily using eiquadprog as a QP solver for the distribution of forces to keep the code in c++11.

Nevertheless, proxSuite is faster and handles infeasible forces better.

proxSuite can work with c++14. Switch as soon as the constraint of c++11 is removed.
@nim65s
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nim65s commented Dec 12, 2022

C++14 is a super set of C+11

@nim65s
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nim65s commented Dec 12, 2022

I don't see any constraint. Do you have any error message it configuration or build time ?

@NahuelVilla
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The constraint is in the actions of pal.
In order to use this package there, we had to pass to eiquadprog.

The constraint is not really in this package, but in our current main application, which is the locomotion of Talos.

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@nim65s @NahuelVilla