feat: solve QPs through OSQP

2026-08-04 00:19:26 +08:00
parent 2051827416
commit a957fda6c5
3 changed files with 461 additions and 2 deletions
@@ -0,0 +1,30 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+internal static class OsqpStatusMapper
+{
+    public static QpSolveStatus Map(int nativeStatusValue)
+    {
+        switch (nativeStatusValue)
+        {
+            case 1:
+                return QpSolveStatus.Solved;
+            case 2:
+                return QpSolveStatus.SolvedInaccurate;
+            case 3:
+            case 4:
+                return QpSolveStatus.PrimalInfeasible;
+            case 5:
+            case 6:
+                return QpSolveStatus.DualInfeasible;
+            case 7:
+                return QpSolveStatus.MaximumIterations;
+            case 8:
+                return QpSolveStatus.TimeLimit;
+            case 9:
+            case 10:
+            case 11:
+            default:
+                return QpSolveStatus.NativeError;
+        }
+    }
+}