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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_eiquadprog_rt_hpp__ |
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#define __invdyn_solvers_hqp_eiquadprog_rt_hpp__ |
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#include "tsid/math/fwd.hpp" |
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#include "tsid/solvers/fwd.hpp" |
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#include "tsid/solvers/solver-HQP-base.hpp" |
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#include "eiquadprog/eiquadprog-rt.hpp" |
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namespace tsid { |
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namespace solvers { |
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/** |
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* @brief |
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*/ |
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template <int nVars, int nEqCon, int nIneqCon> |
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class TSID_DLLAPI SolverHQuadProgRT : public SolverHQPBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef math::Matrix Matrix; |
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typedef math::Vector Vector; |
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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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SolverHQuadProgRT(const std::string& name); |
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void resize(unsigned int n, unsigned int neq, unsigned int nin); |
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/** Solve the given Hierarchical Quadratic Program |
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*/ |
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const HQPOutput& solve(const HQPData& problemData); |
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// TODO: change eiquadprog-rt to new API |
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/** Retrieve the matrices describing a QP problem from the problem data. */ |
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void retrieveQPData(const HQPData& /*problemData*/, |
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const bool /*hessianRegularization = true*/){}; |
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// /** Return the QP data object. */ |
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// const QPDataQuadProg getQPData() const { return m_qpData; } |
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/** Get the objective value of the last solved problem. */ |
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double getObjectiveValue(); |
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/** Set the current maximum number of iterations performed by the solver. */ |
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bool setMaximumIterations(unsigned int maxIter); |
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protected: |
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void sendMsg(const std::string& s); |
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eiquadprog::solvers::RtEiquadprog<nVars, nEqCon, 2 * nIneqCon> m_solver; |
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typename RtMatrixX<nVars, nVars>::d m_H; |
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typename RtVectorX<nVars>::d m_g; |
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typename RtMatrixX<nEqCon, nVars>::d m_CE; |
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typename RtVectorX<nEqCon>::d m_ce0; |
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typename RtMatrixX<2 * nIneqCon, nVars>::d |
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m_CI; /// twice the rows because inequality constraints are bilateral |
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typename RtVectorX<2 * nIneqCon>::d m_ci0; |
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double m_objValue; |
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double m_hessian_regularization; |
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Eigen::VectorXi |
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m_activeSet; /// vector containing the indexes of the active inequalities |
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int m_activeSetSize; |
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// Eigen::FullPivLU<template RtMatrixX<nEqCon, nVars> > m_CE_lu; |
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// ColPivHouseholderQR |
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int m_neq; /// number of equality constraints |
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int m_nin; /// number of inequality constraints |
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int m_n; /// number of variables |
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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_eiquadprog_rt_hpp__ |