17 lines
518 B
C#
17 lines
518 B
C#
using System.Collections.Generic;
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using System.Threading;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>
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/// 求解器中立的二次规划边界。实现必须将数值状态转换为 <see cref="QpSolveResult"/>，而不能把原生求解器对象泄漏给规划层。
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/// </summary>
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public interface IQpSolver
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{
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QpSolveResult Solve(
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QuadraticProgram problem,
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QpSolverSettings settings,
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IReadOnlyList<double> warmStart,
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CancellationToken cancellationToken);
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}
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