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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 __invdyn_solvers_hqp_base_hpp__ |
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#define __invdyn_solvers_hqp_base_hpp__ |
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#include "tsid/solvers/fwd.hpp" |
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#include "tsid/solvers/solver-HQP-output.hpp" |
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#include "tsid/math/constraint-base.hpp" |
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#include <vector> |
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#include <utility> |
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namespace tsid { |
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namespace solvers { |
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/** |
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* @brief Abstract interface for a Quadratic Program (HQP) solver. |
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*/ |
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class TSID_DLLAPI SolverHQPBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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static std::string const HQP_status_string[5]; |
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typedef math::RefVector RefVector; |
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typedef math::ConstRefVector ConstRefVector; |
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typedef math::ConstRefMatrix ConstRefMatrix; |
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SolverHQPBase(const std::string& name); |
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virtual ~SolverHQPBase(){}; |
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virtual const std::string& name() const { return m_name; } |
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virtual void resize(unsigned int n, unsigned int neq, unsigned int nin) = 0; |
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/** Solve the specified Hierarchical Quadratic Program. |
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*/ |
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virtual const HQPOutput& solve(const HQPData& problemData) = 0; |
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/** Retrieve the matrices describing a QP problem from the problem data. */ |
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virtual void retrieveQPData(const HQPData& problemData, |
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const bool hessianRegularization) = 0; |
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/** Get the objective value of the last solved problem. */ |
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virtual double getObjectiveValue() = 0; |
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/** Return true if the solver is allowed to warm start, false otherwise. */ |
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virtual bool getUseWarmStart() { return m_useWarmStart; } |
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/** Specify whether the solver is allowed to use warm-start techniques. */ |
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virtual void setUseWarmStart(bool useWarmStart) { |
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m_useWarmStart = useWarmStart; |
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} |
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/** Get the current maximum number of iterations performed by the solver. */ |
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virtual unsigned int getMaximumIterations() { return m_maxIter; } |
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/** Set the current maximum number of iterations performed by the solver. */ |
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virtual bool setMaximumIterations(unsigned int maxIter); |
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/** Get the maximum time allowed to solve a problem. */ |
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virtual double getMaximumTime() { return m_maxTime; } |
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/** Set the maximum time allowed to solve a problem. */ |
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virtual bool setMaximumTime(double seconds); |
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protected: |
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std::string m_name; |
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bool m_useWarmStart; // true if the solver is allowed to warm start |
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unsigned int m_maxIter; // max number of iterations |
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double m_maxTime; // max time to solve the HQP [s] |
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HQPOutput m_output; |
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}; |
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} // namespace solvers |
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} // namespace tsid |
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#endif // ifndef __invdyn_solvers_hqp_base_hpp__ |