Commit 6123926a authored by flforget's avatar flforget
Browse files

[minor] add precompilation variable

parent 10b7b125
......@@ -9,6 +9,9 @@
#include <qpOASES.hpp>
#include <qpOASES/QProblemB.hpp>
#define ENABLE_QPBOX 1
#define DISABLE_QPBOX 0
using namespace Eigen;
USING_NAMESPACE_QPOASES
......
......@@ -51,7 +51,7 @@ int main()
cout << x << endl<<"-"<<endl;
}*/
ILQRSolver testSolverRomeoActuator(romeoActuatorModel,costRomeoActuator,1);
ILQRSolver testSolverRomeoActuator(romeoActuatorModel,costRomeoActuator,ENABLE_QPBOX);
testSolverRomeoActuator.FirstInitSolver(xinit,xDes,T,dt,iterMax,stopCrit);
......
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