feat: add solver-neutral QP contracts

2026-08-03 23:13:56 +08:00
parent 333e047bc4
commit 104081e4a9
9 changed files with 597 additions and 2 deletions
@@ -0,0 +1,13 @@
+using System.Collections.Generic;
+using System.Threading;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public interface IQpSolver
+{
+    QpSolveResult Solve(
+        QuadraticProgram problem,
+        QpSolverSettings settings,
+        IReadOnlyList<double> warmStart,
+        CancellationToken cancellationToken);
+}