tsid::solvers::SolverHQuadProg Class Reference

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

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

Inheritance diagram for tsid::solvers::SolverHQuadProg:

Collaboration diagram for tsid::solvers::SolverHQuadProg:

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

Public Member Functions
	SolverHQuadProg (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
const QPDataQuadProg	getQPData () const
double	getObjectiveValue () override
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
TSID_DEPRECATED Matrix	m_H
TSID_DEPRECATED Vector	m_g
TSID_DEPRECATED Matrix	m_CE
TSID_DEPRECATED Vector	m_ce0
TSID_DEPRECATED Matrix	m_CI
TSID_DEPRECATED Vector	m_ci0
double	m_objValue
double	m_hessian_regularization
Eigen::VectorXi	m_activeSet
tsid::math::Index	m_activeSetSize
	vector containing the indexes of the active inequalities More...
unsigned int	m_neq
unsigned int	m_nin
	number of equality constraints More...
unsigned int	m_n
	number of inequality constraints More...
QPDataQuadProgTpl< double >	m_qpData
	number of variables 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

Abstract interface for a Quadratic Program (HQP) solver.

Member Typedef Documentation

ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProg::ConstRefMatrix

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQuadProg::ConstRefVector

RefVector

typedef math::RefVector tsid::solvers::SolverHQuadProg::RefVector

Vector

typedef math::Vector tsid::solvers::SolverHQuadProg::Vector

Constructor & Destructor Documentation

SolverHQuadProg()

SolverHQuadProg::SolverHQuadProg

(

const std::string &

name

)

Member Function Documentation

getObjectiveValue()

double SolverHQuadProg::getObjectiveValue ( )

overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

getQPData()

const QPDataQuadProg tsid::solvers::SolverHQuadProg::getQPData ( ) const

inline

Return the QP data object.

resize()

void SolverHQuadProg::resize ( unsigned int  n, unsigned int  neq, unsigned int  nin  )

overridevirtual

Implements tsid::solvers::SolverHQPBase.

retrieveQPData()

void SolverHQuadProg::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 SolverHQuadProg::sendMsg ( const std::string &  s )

protected

solve()

const HQPOutput & SolverHQuadProg::solve ( const HQPData &  problemData )

overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

m_activeSet

Eigen::VectorXi tsid::solvers::SolverHQuadProg::m_activeSet

protected

m_activeSetSize

tsid::math::Index tsid::solvers::SolverHQuadProg::m_activeSetSize

protected

vector containing the indexes of the active inequalities

m_CE

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProg::m_CE

protected

m_ce0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProg::m_ce0

protected

m_CI

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProg::m_CI

protected

m_ci0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProg::m_ci0

protected

m_g

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProg::m_g

protected

m_H

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProg::m_H

protected

m_hessian_regularization

double tsid::solvers::SolverHQuadProg::m_hessian_regularization

protected

m_n

unsigned int tsid::solvers::SolverHQuadProg::m_n

protected

number of inequality constraints

m_neq

unsigned int tsid::solvers::SolverHQuadProg::m_neq

protected

m_nin

unsigned int tsid::solvers::SolverHQuadProg::m_nin

protected

number of equality constraints

m_objValue

double tsid::solvers::SolverHQuadProg::m_objValue

protected

m_qpData

QPDataQuadProgTpl<double> tsid::solvers::SolverHQuadProg::m_qpData

protected

number of variables

Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProg::Matrix

---

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

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