Commit 2e9ea113 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[TOPPRA] Add Seidel solver.

parent 368e72fd
......@@ -35,6 +35,7 @@
#include <toppra/algorithm/toppra.hpp>
#include <toppra/solver/glpk-wrapper.hpp>
#include <toppra/solver/qpOASES-wrapper.hpp>
#include <toppra/solver/seidel.hpp>
#include <toppra/constraint/linear_joint_velocity.hpp>
#include <toppra/constraint/linear_joint_acceleration.hpp>
......@@ -178,11 +179,14 @@ PathVectorPtr_t TOPPRA::optimize(const PathVectorPtr_t &path)
algo.setN((int)N);
switch(solver) {
default:
hppDout (error, "Solver " << solver << " does not exists. Using GLPK");
hppDout (error, "Solver " << solver << " does not exists. Using Seidel");
case 0:
algo.solver(std::make_shared<toppra::solver::GLPKWrapper>());
algo.solver(std::make_shared<toppra::solver::Seidel>());
break;
case 1:
algo.solver(std::make_shared<toppra::solver::GLPKWrapper>());
break;
case 2:
algo.solver(std::make_shared<toppra::solver::qpOASESWrapper>());
break;
}
......
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