using System.Collections.Generic;
using System.Threading;

namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

/// <summary>
/// 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。
/// </summary>
public interface IQpSolver
{
    QpSolveResult Solve(
        QuadraticProgram problem,
        QpSolverSettings settings,
        IReadOnlyList<double> warmStart,
        CancellationToken cancellationToken);
}