Install quadprog (current default QP solver)

stephane-caron · Jul 12, 2022 · 0340727 · 0340727
1 parent f37ac7d
commit 0340727
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/pyproject.toml b/pyproject.toml
@@ -27,6 +27,7 @@ classifiers = [
 dependencies = [
     "numpy >=1.20.0",
     "pin >=2.6.3",
+    "quadprog >=0.1.11",
     "qpsolvers >=1.8.0",
 ]
 

diff --git a/tests/test_body_task.py b/tests/test_body_task.py
@@ -197,6 +197,6 @@ def test_lm_damping_has_effect_under_error(self):
         H_1, c_1 = berg_task.compute_qp_objective(self.mock_configuration)
         berg_task.lm_damping = 1e-4
         H_2, c_2 = berg_task.compute_qp_objective(self.mock_configuration)
-        qd_1 = solve_qp(H_1, c_1)  # H_1 is p.s.d. from LM damping
-        qd_2 = solve_qp(H_2, c_2)  # idem for H_2
+        qd_1 = solve_qp(H_1, c_1, solver="quadprog")  # H_1 p.s.d. (LM damping)
+        qd_2 = solve_qp(H_2, c_2, solver="quadprog")  # idem for H_2
         self.assertGreater(np.linalg.norm(qd_2 - qd_1), 1e-6)
diff --git a/tox.ini b/tox.ini
@@ -14,6 +14,7 @@ deps =
     pin
     pylint
     pytest
+    quadprog
     qpsolvers
     upkie_description
 commands =