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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 __invdyn_solvers_hqp_eiquadprog_hpp__ |
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#define __invdyn_solvers_hqp_eiquadprog_hpp__ |
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#include "tsid/deprecated.hh" |
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#include <tsid/solvers/solver-HQP-base.hpp> |
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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 SolverHQuadProg : 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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SolverHQuadProg(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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/** 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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protected: |
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void sendMsg(const std::string& s); |
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TSID_DEPRECATED Matrix m_H; |
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TSID_DEPRECATED Vector m_g; |
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TSID_DEPRECATED Matrix m_CE; |
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TSID_DEPRECATED Vector m_ce0; |
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TSID_DEPRECATED Matrix m_CI; |
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TSID_DEPRECATED Vector 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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tsid::math::Index m_activeSetSize; |
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#ifdef ELIMINATE_EQUALITY_CONSTRAINTS |
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// Eigen::FullPivLU<Matrix> m_CE_dec; |
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// Eigen::ColPivHouseholderQR<Matrix> m_CE_dec; // fast, but |
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// difficult to retrieve null space basis |
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// Eigen::FullPivHouseholderQR<Matrix> m_CE_dec; // doc says |
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// it is slow |
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Eigen::CompleteOrthogonalDecomposition<Matrix> |
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m_CE_dec; // available from Eigen 3.3.0, 40 us for decomposition, 40 us |
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// to get null space basis, 40 us to project Hessian |
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// Eigen::JacobiSVD<Matrix, Eigen::HouseholderQRPreconditioner> m_CE_dec; |
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// // too slow |
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Matrix m_ZT_H_Z; |
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Matrix m_CI_Z; |
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#endif |
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unsigned int m_neq; /// number of equality constraints |
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unsigned int m_nin; /// number of inequality constraints |
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unsigned int m_n; /// number of variables |
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QPDataQuadProgTpl<double> m_qpData; |
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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_hpp__ |
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