tsid::solvers::SolverHQpmad Class Reference

Implementation of Quadratic Program (HQP) solver using qpmad. More...

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

Inheritance diagram for tsid::solvers::SolverHQpmad:

Collaboration diagram for tsid::solvers::SolverHQpmad:

Public Types
typedef math::Vector	Vector
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix
typedef qpmad::SolverParameters	Settings
Public Types inherited from tsid::solvers::SolverHQPBase
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix

Public Member Functions
	SolverHQpmad (const std::string &name)
void	resize (unsigned int n, unsigned int neq, unsigned int nin) override
const HQPOutput &	solve (const HQPData &problemData) override
void	retrieveQPData (const HQPData &problemData, const bool hessianRegularization=true) override
double	getObjectiveValue () override
Settings &	settings ()
Public Member Functions inherited from tsid::solvers::SolverHQPBase
	SolverHQPBase (const std::string &name)
virtual	~SolverHQPBase ()=default
virtual const std::string &	name () const
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)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix	Matrix

Protected Member Functions
void	sendMsg (const std::string &s)

Protected Attributes
qpmad::Solver	m_solver
Settings	m_settings
bool	m_has_bounds
Matrix	m_H
Vector	m_g
Vector	m_lb
Vector	m_ub
Matrix	m_C
Vector	m_cl
Vector	m_cu
double	m_hessian_regularization
unsigned int	m_nc
unsigned int	m_n
	number of equality-inequality constraints More...
Protected Attributes inherited from tsid::solvers::SolverHQPBase
std::string	m_name
bool	m_useWarmStart
unsigned int	m_maxIter
double	m_maxTime
HQPOutput	m_output

Additional Inherited Members
Static Public Attributes inherited from tsid::solvers::SolverHQPBase
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string const	HQP_status_string [5]

Detailed Description

Implementation of Quadratic Program (HQP) solver using qpmad.

Member Typedef Documentation

ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQpmad::ConstRefMatrix

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQpmad::ConstRefVector

RefVector

typedef math::RefVector tsid::solvers::SolverHQpmad::RefVector

Settings

typedef qpmad::SolverParameters tsid::solvers::SolverHQpmad::Settings

Vector

typedef math::Vector tsid::solvers::SolverHQpmad::Vector

Constructor & Destructor Documentation

SolverHQpmad()

tsid::solvers::SolverHQpmad::SolverHQpmad

(

const std::string &

name

)

Member Function Documentation

getObjectiveValue()

double tsid::solvers::SolverHQpmad::getObjectiveValue ( )

overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

resize()

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

overridevirtual

Implements tsid::solvers::SolverHQPBase.

retrieveQPData()

void tsid::solvers::SolverHQpmad::retrieveQPData ( const HQPData &  problemData, const bool  hessianRegularization = true  )

overridevirtual

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

Implements tsid::solvers::SolverHQPBase.

sendMsg()

void tsid::solvers::SolverHQpmad::sendMsg ( const std::string &  s )

protected

settings()

Settings& tsid::solvers::SolverHQpmad::settings ( )

inline

solve()

const HQPOutput & tsid::solvers::SolverHQpmad::solve ( const HQPData &  problemData )

overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

m_C

Matrix tsid::solvers::SolverHQpmad::m_C

protected

m_cl

Vector tsid::solvers::SolverHQpmad::m_cl

protected

m_cu

Vector tsid::solvers::SolverHQpmad::m_cu

protected

m_g

Vector tsid::solvers::SolverHQpmad::m_g

protected

m_H

Matrix tsid::solvers::SolverHQpmad::m_H

protected

m_has_bounds

bool tsid::solvers::SolverHQpmad::m_has_bounds

protected

m_hessian_regularization

double tsid::solvers::SolverHQpmad::m_hessian_regularization

protected

m_lb

Vector tsid::solvers::SolverHQpmad::m_lb

protected

m_n

unsigned int tsid::solvers::SolverHQpmad::m_n

protected

number of equality-inequality constraints

m_nc

unsigned int tsid::solvers::SolverHQpmad::m_nc

protected

m_settings

Settings tsid::solvers::SolverHQpmad::m_settings

protected

m_solver

qpmad::Solver tsid::solvers::SolverHQpmad::m_solver

protected

m_ub

Vector tsid::solvers::SolverHQpmad::m_ub

protected

Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQpmad::Matrix

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

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