HCOD

The Hierarchical Complete Orthogonal Decomposition (HCOD) has been introduced in Hierarchical quadratic programming: Fast online humanoid-robot motion generation by Adrien Escande et al., as a method to solve hierarchical quadratic optimizaiton problems exploiting the particular structure hence not requiring the execution of multiple cascade of QP optimizaitons. We integrated the HCOD solver as a front-end for OpenSoT wrapping the implementation provided by the soth framework.