solvers Namespace Reference

Classes
struct	ResultData
	Struct used to return the results of the trajectory generation problem. More...

Typedefs
typedef Eigen::MatrixXd	MatrixXd
typedef Eigen::VectorXd	VectorXd
typedef Eigen::VectorXi	VectorXi
typedef const Eigen::Ref< const VectorXd > &	Cref_vectorX
typedef Eigen::SparseMatrix< double >	SpMat
typedef Eigen::SparseVector< double >	SpVec
typedef Eigen::SparseVector< int >	SpVeci

Enumerations
enum	optim_status { OPTIM_OPTIMAL = 0 , OPTIM_INFEASIBLE = 1 }

Functions
int	solveglpk (const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, VectorXd &x, double &cost)
ResultData BEZIER_COM_TRAJ_DLLAPI	solve (const MatrixXd &A, const VectorXd &b, const MatrixXd &D, const VectorXd &d, const MatrixXd &Hess, const VectorXd &g, const VectorXd &initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds, const SolverType solver)
	solve Solve a QP or LP given init position and velocity, 0 velocity constraints (acceleration constraints are ignored)
int	getType (const VectorXd &mib, const VectorXd &mab, const int i)
template<typename Derived >
bool	is_nan (const Eigen::MatrixBase< Derived > &x)

Typedef Documentation

Cref_vectorX

typedef const Eigen::Ref<const VectorXd>& solvers::Cref_vectorX

MatrixXd

typedef Eigen::MatrixXd solvers::MatrixXd

SpMat

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

SpVec

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

SpVeci

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

VectorXd

typedef Eigen::VectorXd solvers::VectorXd

VectorXi

typedef Eigen::VectorXi solvers::VectorXi

Enumeration Type Documentation

optim_status

enum solvers::optim_status

Possible states of the solver.

Enumerator
OPTIM_OPTIMAL
OPTIM_INFEASIBLE

Function Documentation

getType()

int solvers::getType	(	const VectorXd &	mib,
		const VectorXd &	mab,
		const int	i
	)

is_nan()

template<typename Derived >

bool solvers::is_nan ( const Eigen::MatrixBase< Derived > &  x )

inline

solve()

ResultData solvers::solve	(	const MatrixXd &	A,
		const VectorXd &	b,
		const MatrixXd &	D,
		const VectorXd &	d,
		const MatrixXd &	Hess,
		const VectorXd &	g,
		const VectorXd &	initGuess,
		solvers::Cref_vectorX	minBounds,
		solvers::Cref_vectorX	maxBounds,
		const SolverType	solver
	)

solve Solve a QP or LP given init position and velocity, 0 velocity constraints (acceleration constraints are ignored)

Parameters

pData	problem Data. Should contain only one contact phase.
Ts	timelength of each contact phase. Should only contain one value
timeStep	time that the solver has to stop.

Returns

ResultData a struct containing the resulting trajectory, if success is true.

solveglpk()

int solvers::solveglpk	(	const VectorXd &	g0,
		const MatrixXd &	CE,
		const VectorXd &	ce0,
		const MatrixXd &	CI,
		const VectorXd &	ci0,
		solvers::Cref_vectorX	minBounds,
		solvers::Cref_vectorX	maxBounds,
		VectorXd &	x,
		double &	cost
	)