add more presets

dfki-ric-underactuated-lab · Feb 17, 2025 · 95ce9f3 · 95ce9f3
1 parent e4830e0
commit 95ce9f3
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/ws/src/solver_experiments/solver_experiments/solver_experiments.py b/ws/src/solver_experiments/solver_experiments/solver_experiments.py
@@ -652,6 +652,15 @@ def run_func():
         mpc_hpipm_modes = [mpc_hpipm_modes[0]]
         mpc_osqp_linsys_modes = [mpc_osqp_linsys_modes[0]]
         mpc_condensed_sizes = [mpc_condensed_sizes[0]]
+    elif preset == 'mpc_daqp':
+        wbc_solvers = [wbc_solvers[0]]
+        wbc_scenes = [wbc_scenes[0]]
+        mpc_solvers = ["FULL_CONDENSING_DAQP"]
+    elif preset == 'mpc_osqp_mkl':
+        wbc_solvers = [wbc_solvers[0]]
+        wbc_scenes = [wbc_scenes[0]]
+        mpc_solvers = ["PARTIAL_CONDENSING_OSQP"]
+        mpc_osqp_linsys_modes = ["mkl pardiso"]
 
     for mpc_solver in mpc_solvers:
         if not mpc_solver.__contains__("PARTIAL"):