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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef SOLVERABSTRACT_HH_ |
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#define SOLVERABSTRACT_HH_ |
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#include <Eigen/Dense> |
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#include <hpp/bezier-com-traj/local_config.hh> |
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namespace solvers { |
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/** |
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* Possible states of the solver. |
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*/ |
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enum optim_status { OPTIM_OPTIMAL = 0, OPTIM_INFEASIBLE = 1 }; |
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static const double UNBOUNDED_UP = 100000.; |
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static const double UNBOUNDED_DOWN = -100000.; |
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typedef Eigen::MatrixXd MatrixXd; |
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typedef Eigen::VectorXd VectorXd; |
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typedef Eigen::VectorXi VectorXi; |
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typedef const Eigen::Ref<const VectorXd>& Cref_vectorX; |
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enum BEZIER_COM_TRAJ_DLLAPI SolverType { |
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SOLVER_QUADPROG = 0x00001 |
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// SOLVER_QUADPROG_SPARSE = 0x00002 |
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#ifdef USE_GLPK_SOLVER |
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, |
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SOLVER_GLPK = 0x00002 |
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#endif |
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}; |
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/** |
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* @brief Struct used to return the results of the trajectory generation |
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* problem. |
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*/ |
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struct BEZIER_COM_TRAJ_DLLAPI ResultData { |
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ResultData() : success_(false), cost_(-1.), x(VectorXd::Zero(0)) {} |
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ResultData(const bool success, const double cost, Cref_vectorX x) |
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: success_(success), cost_(cost), x(x) {} |
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ResultData(const ResultData& other) |
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: success_(other.success_), cost_(other.cost_), x(other.x) {} |
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~ResultData() {} |
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ResultData& operator=(const ResultData& other) { |
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success_ = (other.success_); |
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cost_ = (other.cost_); |
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x = (other.x); |
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return *this; |
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} |
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bool success_; // whether the optimization was successful |
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double cost_; // cost evaluation for the solved control point |
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VectorXd x; // control point |
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}; |
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// min g'x |
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// st CIx <= ci0 |
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// CEx = ce0 |
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/** |
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* @brief solve Solve a QP or LP given |
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* init position and velocity, 0 velocity constraints (acceleration constraints |
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* are ignored) |
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* @param pData problem Data. Should contain only one contact phase. |
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* @param Ts timelength of each contact phase. Should only contain one value |
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* @param timeStep time that the solver has to stop. |
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* @return ResultData a struct containing the resulting trajectory, if success |
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* is true. |
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*/ |
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ResultData BEZIER_COM_TRAJ_DLLAPI solve( |
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const MatrixXd& A, const VectorXd& b, const MatrixXd& D, const VectorXd& d, |
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const MatrixXd& Hess, const VectorXd& g, const VectorXd& initGuess, |
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Cref_vectorX minBounds, Cref_vectorX maxBounds, const SolverType solver); |
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} /* namespace solvers */ |
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#endif /* SOLVERABSTRACT_HH_ */ |
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