tsid::solvers::EiquadprogFast Class Reference

#include <hpp/bezier-com-traj/solver/eiquadprog-fast.hpp>

Public Types
typedef Eigen::MatrixXd	MatrixXd
typedef Eigen::VectorXd	VectorXd
typedef Eigen::VectorXi	VectorXi
typedef Eigen::SparseMatrix< double >	SpMat
typedef Eigen::SparseVector< double >	SpVec
typedef Eigen::SparseVector< int >	SpVeci

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EiquadprogFast ()
virtual	~EiquadprogFast ()
void	reset (int dim_qp, int num_eq, int num_ineq)
int	getMaxIter () const
bool	setMaxIter (int maxIter)
int	getActiveSetSize () const
int	getIteratios () const
double	getObjValue () const
const VectorXd &	getLagrangeMultipliers () const
const VectorXi &	getActiveSet () const
EiquadprogFast_status	solve_quadprog (const MatrixXd &Hess, const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x)
EiquadprogFast_status	solve_quadprog_sparse (const SpMat &Hess, const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x)

Public Attributes
MatrixXd	m_J
bool	is_inverse_provided_

Member Typedef Documentation

MatrixXd

typedef Eigen::MatrixXd tsid::solvers::EiquadprogFast::MatrixXd

SpMat

typedef Eigen::SparseMatrix<double> tsid::solvers::EiquadprogFast::SpMat

SpVec

typedef Eigen::SparseVector<double> tsid::solvers::EiquadprogFast::SpVec

SpVeci

typedef Eigen::SparseVector<int> tsid::solvers::EiquadprogFast::SpVeci

VectorXd

typedef Eigen::VectorXd tsid::solvers::EiquadprogFast::VectorXd

VectorXi

typedef Eigen::VectorXi tsid::solvers::EiquadprogFast::VectorXi

Constructor & Destructor Documentation

EiquadprogFast()

tsid::solvers::EiquadprogFast::EiquadprogFast

(

)

~EiquadprogFast()

tsid::solvers::EiquadprogFast::~EiquadprogFast ( )

virtual

Member Function Documentation

getActiveSet()

const VectorXi & tsid::solvers::EiquadprogFast::getActiveSet ( ) const

inline

Return the active set, namely the indeces of active constraints. The first nEqCon indexes are for the equalities and are negative. The last nIneqCon indexes are for the inequalities and start from 0. Only the first q elements of the return vector are valid, where q is the size of the active set.

Returns

The set of indexes of the active constraints.

getActiveSetSize()

int tsid::solvers::EiquadprogFast::getActiveSetSize ( ) const

inline

Returns

The size of the active set, namely the number of active constraints (including the equalities).

getIteratios()

int tsid::solvers::EiquadprogFast::getIteratios ( ) const

inline

Returns

The number of active-set iteratios.

getLagrangeMultipliers()

const VectorXd & tsid::solvers::EiquadprogFast::getLagrangeMultipliers ( ) const

inline

Returns

The Lagrange multipliers

getMaxIter()

int tsid::solvers::EiquadprogFast::getMaxIter ( ) const

inline

getObjValue()

double tsid::solvers::EiquadprogFast::getObjValue ( ) const

inline

Returns

The value of the objective function.

reset()

void tsid::solvers::EiquadprogFast::reset	(	int	dim_qp,
		int	num_eq,
		int	num_ineq
	)

setMaxIter()

bool tsid::solvers::EiquadprogFast::setMaxIter ( int  maxIter )

inline

solve_quadprog()

EiquadprogFast_status tsid::solvers::EiquadprogFast::solve_quadprog	(	const MatrixXd &	Hess,
		const VectorXd &	g0,
		const MatrixXd &	CE,
		const VectorXd &	ce0,
		const MatrixXd &	CI,
		const VectorXd &	ci0,
		VectorXd &	x
	)

solves the problem min. x' Hess x + 2 g0' x s.t. CE x + ce0 = 0 CI x + ci0 >= 0

solve_quadprog_sparse()

EiquadprogFast_status tsid::solvers::EiquadprogFast::solve_quadprog_sparse	(	const SpMat &	Hess,
		const VectorXd &	g0,
		const MatrixXd &	CE,
		const VectorXd &	ce0,
		const MatrixXd &	CI,
		const VectorXd &	ci0,
		VectorXd &	x
	)

solves the sparse problem min. x' Hess x + 2 g0' x s.t. CE x + ce0 = 0 CI x + ci0 >= 0

Member Data Documentation

is_inverse_provided_

bool tsid::solvers::EiquadprogFast::is_inverse_provided_

m_J

MatrixXd tsid::solvers::EiquadprogFast::m_J

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The documentation for this class was generated from the following files:

• include/hpp/bezier-com-traj/solver/eiquadprog-fast.hpp
• src/eiquadprog-fast.cpp