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WIP1: Add OSQP as an alternative solver in the contacts computation
- Add option to select OSQP instead of quadprog
- Loading branch information
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lib/RobotDynamicsWithContacts/loadRobotDynamicsWithContactsCB.m
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% Add path to local source code, and parent folder for the making the dependencies classes package | ||
% visible to MATLAB path. | ||
addpath(strcat(fileparts(mfilename('fullpath')),'/..')); | ||
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% set paths to the osqp-matlab library | ||
osqp_libraryPath=getenv('OSQP_MATLAB_PATH'); | ||
if exist(osqp_libraryPath, 'dir')==7 | ||
addpath(genpath(osqp_libraryPath)); | ||
disp('Added osqp-matlab library'); | ||
else | ||
error([osqp_libraryPath,': Path directory non existent!']); | ||
end |