// This file is part of mpc.

// mpc 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.

//

// mpc 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 Lesser General Public License for more details.

//

// You should have received a copy of the GNU Lesser General Public License

// along with mpc. If not, see

// <http://www.gnu.org/licenses/>.

#include "solverUtils.h"

namespace mpc {

std::unique_ptr<SolverInterface> MPC_DLLAPI solverFactory(SolverFlag flag)

{

switch (flag) {

#ifdef EIGEN_LSSOL_FOUND

case SolverFlag::LSSOL:

return std::unique_ptr<LSSOLSolver>(new LSSOLSolver());

#endif

#ifdef EIGEN_GUROBI_FOUND

case SolverFlag::GUROBIDense:

return std::unique_ptr<GUROBISolver>(new GUROBISolver());

#endif

#ifdef EIGEN_QLD_FOUND

case SolverFlag::QLD:

return std::unique_ptr<QLDSolver>(new QLDSolver());

#endif

// case SolverFlag::QuadProgSparse:

// return std::make_unique<QuadProgSparseSolver>();

case SolverFlag::QuadProgDense:

default:

return std::unique_ptr<QuadProgDenseSolver>(new QuadProgDenseSolver());

}

}

SolverInterface* pythonSolverFactory(SolverFlag flag)

{

switch (flag) {

#ifdef EIGEN_LSSOL_FOUND

case SolverFlag::LSSOL:

return new LSSOLSolver;

#endif

#ifdef EIGEN_GUROBI_FOUND

case SolverFlag::GUROBIDense:

return new GUROBISolver;

#endif

#ifdef EIGEN_QLD_FOUND

case SolverFlag::QLD:

return new QLDSolver;

#endif

case SolverFlag::QuadProgDense:

default:

return new QuadProgDenseSolver;

}

}

} // namespace mpc