tsid::solvers::SolverHQuadProgFast Class Reference

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

Inheritance diagram for tsid::solvers::SolverHQuadProgFast:

Collaboration diagram for tsid::solvers::SolverHQuadProgFast:

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
	SolverHQuadProgFast (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
bool	setMaximumIterations (unsigned int maxIter) 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 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
eiquadprog::solvers::EiquadprogFast	m_solver
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
	twice the rows because inequality constraints are bilateral More...
double	m_objValue
double	m_hessian_regularization
Eigen::VectorXi	m_activeSet
int	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]

Member Typedef Documentation

ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProgFast::ConstRefMatrix

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQuadProgFast::ConstRefVector

RefVector

typedef math::RefVector tsid::solvers::SolverHQuadProgFast::RefVector

Vector

typedef math::Vector tsid::solvers::SolverHQuadProgFast::Vector

Constructor & Destructor Documentation

SolverHQuadProgFast()

tsid::solvers::SolverHQuadProgFast::SolverHQuadProgFast

(

const std::string &

name

)

Member Function Documentation

getObjectiveValue()

double tsid::solvers::SolverHQuadProgFast::getObjectiveValue ( )

overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

getQPData()

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

inline

Return the QP data object.

resize()

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

overridevirtual

Implements tsid::solvers::SolverHQPBase.

retrieveQPData()

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

protected

setMaximumIterations()

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

overridevirtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

solve()

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

overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

m_activeSet

Eigen::VectorXi tsid::solvers::SolverHQuadProgFast::m_activeSet

protected

m_activeSetSize

int tsid::solvers::SolverHQuadProgFast::m_activeSetSize

protected

vector containing the indexes of the active inequalities

m_CE

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_CE

protected

m_ce0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_ce0

protected

m_CI

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_CI

protected

m_ci0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_ci0

protected

twice the rows because inequality constraints are bilateral

m_g

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_g

protected

m_H

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_H

protected

m_hessian_regularization

double tsid::solvers::SolverHQuadProgFast::m_hessian_regularization

protected

m_n

unsigned int tsid::solvers::SolverHQuadProgFast::m_n

protected

number of inequality constraints

m_neq

unsigned int tsid::solvers::SolverHQuadProgFast::m_neq

protected

m_nin

unsigned int tsid::solvers::SolverHQuadProgFast::m_nin

protected

number of equality constraints

m_objValue

double tsid::solvers::SolverHQuadProgFast::m_objValue

protected

m_qpData

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

protected

number of variables

m_solver

eiquadprog::solvers::EiquadprogFast tsid::solvers::SolverHQuadProgFast::m_solver

protected

Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProgFast::Matrix

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

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