diff --git a/Makefile b/Makefile
index ab1d47e4001eb46a61436149ec5a52634360528f..34b7d6264807823bffbf885411b5ee2cb6526b9f 100644
--- a/Makefile
+++ b/Makefile
@@ -16,6 +16,7 @@ SUBDIR+=	dynamic-graph-tutorial
 SUBDIR+=	dynamic-graph-v3
 SUBDIR+=	dynamic-introspection
 SUBDIR+=	eigen-quadprog
+SUBDIR+=	eiquadprog
 SUBDIR+=	example-adder
 SUBDIR+=	example-robot-data
 SUBDIR+=	fcl
diff --git a/eiquadprog/DESCR b/eiquadprog/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..a8a574ff67528eb137a9aec02952a907e212a6f8
--- /dev/null
+++ b/eiquadprog/DESCR
@@ -0,0 +1 @@
+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.
diff --git a/eiquadprog/Makefile b/eiquadprog/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..3d6cb06d8e51c752bed0e85215cc63d0d966d183
--- /dev/null
+++ b/eiquadprog/Makefile
@@ -0,0 +1,22 @@
+# robotpkg Makefile for:	wip/eiquadprog
+# Created:			Guilhem Saurel on Tue, 17 Sep 2019
+#
+
+ORG=			stack-of-tassks
+NAME=			eiquadprog
+VERSION=		0.0.3
+
+CATEGORIES=		wip
+COMMENT=		algorithm of Goldfarb and Idnani for the solution of a QP
+LICENSE=		2-clause-bsd
+MAINTAINER=		gsaurel@laas.fr
+
+include ../../wip/jrl-cmakemodules/Makefile.common
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/eiquadprog/PLIST b/eiquadprog/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..a589da65c200960066f511d258bd933d545beb6e
--- /dev/null
+++ b/eiquadprog/PLIST
@@ -0,0 +1,8 @@
+@comment Tue Sep 17 13:38:41 CEST 2019
+include/eiquadprog/config.hpp
+include/eiquadprog/deprecated.hpp
+include/eiquadprog/eiquadprog-fast.hpp
+include/eiquadprog/eiquadprog-fast.hxx
+include/eiquadprog/eiquadprog.hpp
+include/eiquadprog/warning.hpp
+lib/pkgconfig/eiquadprog.pc
diff --git a/eiquadprog/depend.mk b/eiquadprog/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..c55d8b0d8f0972a799b40d644a1402053d81e37a
--- /dev/null
+++ b/eiquadprog/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/eiquadprog
+# Created:			Guilhem Saurel on Tue, 17 Sep 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+EIQUADPROG_DEPEND_MK:=	${EIQUADPROG_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		eiquadprog
+endif
+
+ifeq (+,$(EIQUADPROG_DEPEND_MK)) # ------------------------------------------
+
+PREFER.eiquadprog?=	robotpkg
+
+#TODO
+SYSTEM_SEARCH.eiquadprog=\
+  'include/eiquadprog/config.hh:/EIQUADPROG_VERSION/s/[^0-9.]//gp'	\
+  'lib/pkgconfig/eiquadprog.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=			eiquadprog
+
+DEPEND_ABI.eiquadprog?=		eiquadprog>=0.0.3
+DEPEND_DIR.eiquadprog?=		../../wip/eiquadprog
+
+endif # EIQUADPROG_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/eiquadprog/distinfo b/eiquadprog/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..1f8748b8644aa3becb8cb8d9926829e222682ec4
--- /dev/null
+++ b/eiquadprog/distinfo
@@ -0,0 +1,3 @@
+SHA1 (eiquadprog-0.0.3.tar.gz) = f06939c5bc7f307bb40c8f29d27e8a008c495feb
+RMD160 (eiquadprog-0.0.3.tar.gz) = f09e956a5cbb879c16c959d64f74499ca6edba0e
+Size (eiquadprog-0.0.3.tar.gz) = 779865 bytes