tsid::solvers::SolverHQPBase Class Reference

Abstract interface for a Quadratic Program (HQP) solver. More...

#include <tsid/solvers/solver-HQP-base.hpp>

Inheritance diagram for tsid::solvers::SolverHQPBase:

Collaboration diagram for tsid::solvers::SolverHQPBase:

Public Types
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix

Public Member Functions
	SolverHQPBase (const std::string &name)
virtual	~SolverHQPBase ()=default
virtual const std::string &	name () const
virtual void	resize (unsigned int n, unsigned int neq, unsigned int nin)=0
virtual const HQPOutput &	solve (const HQPData &problemData)=0
virtual void	retrieveQPData (const HQPData &problemData, const bool hessianRegularization)=0
virtual double	getObjectiveValue ()=0
virtual bool	getUseWarmStart ()
virtual void	setUseWarmStart (bool useWarmStart)
virtual unsigned int	getMaximumIterations ()
virtual bool	setMaximumIterations (unsigned int maxIter)
virtual double	getMaximumTime ()
virtual bool	setMaximumTime (double seconds)

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string const	HQP_status_string [5]

Protected Attributes
std::string	m_name
bool	m_useWarmStart
unsigned int	m_maxIter
double	m_maxTime
HQPOutput	m_output

Detailed Description

Abstract interface for a Quadratic Program (HQP) solver.

Member Typedef Documentation

ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQPBase::ConstRefMatrix

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQPBase::ConstRefVector

RefVector

typedef math::RefVector tsid::solvers::SolverHQPBase::RefVector

Constructor & Destructor Documentation

SolverHQPBase()

tsid::solvers::SolverHQPBase::SolverHQPBase

(

const std::string &

name

)

~SolverHQPBase()

virtual tsid::solvers::SolverHQPBase::~SolverHQPBase ( )

virtualdefault

Member Function Documentation

getMaximumIterations()

virtual unsigned int tsid::solvers::SolverHQPBase::getMaximumIterations ( )

inlinevirtual

Get the current maximum number of iterations performed by the solver.

getMaximumTime()

virtual double tsid::solvers::SolverHQPBase::getMaximumTime ( )

inlinevirtual

Get the maximum time allowed to solve a problem.

getObjectiveValue()

virtual double tsid::solvers::SolverHQPBase::getObjectiveValue ( )

pure virtual

Get the objective value of the last solved problem.

Implemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProg, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, and tsid::solvers::SolverHQuadProgFast.

getUseWarmStart()

virtual bool tsid::solvers::SolverHQPBase::getUseWarmStart ( )

inlinevirtual

Return true if the solver is allowed to warm start, false otherwise.

name()

virtual const std::string& tsid::solvers::SolverHQPBase::name ( ) const

inlinevirtual

resize()

virtual void tsid::solvers::SolverHQPBase::resize ( unsigned int  n, unsigned int  neq, unsigned int  nin  )

pure virtual

Implemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProg, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, and tsid::solvers::SolverHQuadProgFast.

retrieveQPData()

virtual void tsid::solvers::SolverHQPBase::retrieveQPData ( const HQPData &  problemData, const bool  hessianRegularization  )

pure virtual

Retrieve the matrices describing a QP problem from the problem data.

Implemented in tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProg, tsid::solvers::SolverHQuadProgFast, tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, and tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >.

setMaximumIterations()

bool tsid::solvers::SolverHQPBase::setMaximumIterations ( unsigned int  maxIter )

virtual

Set the current maximum number of iterations performed by the solver.

Reimplemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, and tsid::solvers::SolverHQuadProgFast.

setMaximumTime()

bool tsid::solvers::SolverHQPBase::setMaximumTime ( double  seconds )

virtual

Set the maximum time allowed to solve a problem.

setUseWarmStart()

virtual void tsid::solvers::SolverHQPBase::setUseWarmStart ( bool  useWarmStart )

inlinevirtual

Specify whether the solver is allowed to use warm-start techniques.

solve()

virtual const HQPOutput& tsid::solvers::SolverHQPBase::solve ( const HQPData &  problemData )

pure virtual

Solve the specified Hierarchical Quadratic Program.

Implemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProg, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, and tsid::solvers::SolverHQuadProgFast.

Member Data Documentation

HQP_status_string

std::string const tsid::solvers::SolverHQPBase::HQP_status_string

static

Initial value:

= {
    "HQP_STATUS_OPTIMAL", "HQP_STATUS_INFEASIBLE", "HQP_STATUS_UNBOUNDED",
    "HQP_STATUS_MAX_ITER_REACHED", "HQP_STATUS_ERROR"}

m_maxIter

unsigned int tsid::solvers::SolverHQPBase::m_maxIter

protected

m_maxTime

double tsid::solvers::SolverHQPBase::m_maxTime

protected

m_name

std::string tsid::solvers::SolverHQPBase::m_name

protected

m_output

HQPOutput tsid::solvers::SolverHQPBase::m_output

protected

m_useWarmStart

bool tsid::solvers::SolverHQPBase::m_useWarmStart

protected

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The documentation for this class was generated from the following files:

• include/tsid/solvers/solver-HQP-base.hpp
• src/solvers/solver-HQP-base.cpp