corbo::SolverOsqp Class Reference

Interface to the external solver OSQP. More...

#include <qp_solver_osqp.h>

Inheritance diagram for corbo::SolverOsqp:

Public Types
using	Ptr = std::shared_ptr< SolverOsqp >
using	UPtr = std::unique_ptr< SolverOsqp >
Public Types inherited from corbo::QpSolverInterface
using	Ptr = std::shared_ptr< QpSolverInterface >
using	SparseMatrix = Eigen::SparseMatrix< double, Eigen::ColMajor, long long >
using	UPtr = std::unique_ptr< QpSolverInterface >

Public Member Functions
void	clear () override
	clear internal caches More...
void	enforceNewStructure (bool new_structure=true) override
Eigen::Ref< Eigen::VectorXd >	getDualSolution () override
QpSolverInterface::Ptr	getInstance () const override
	Return a newly created instance of the current solver. More...
Eigen::Ref< Eigen::VectorXd >	getPrimalSolution () override
bool	isSupportingSimpleBounds () override
SolverStatus	solve (SparseMatrix &P, Eigen::Ref< Eigen::VectorXd > q, SparseMatrix &A, Eigen::Ref< Eigen::VectorXd > lbA, Eigen::Ref< Eigen::VectorXd > ubA, Eigen::Ref< Eigen::VectorXd > lb, Eigen::Ref< Eigen::VectorXd > ub, bool new_structure=true, bool zero_x_warmstart=false) override
	Solve full QP. More...
SolverStatus	solve (SparseMatrix &P, Eigen::Ref< Eigen::VectorXd > q, SparseMatrix &A, Eigen::Ref< Eigen::VectorXd > lbA, Eigen::Ref< Eigen::VectorXd > ubA, bool new_structure=true, bool zero_x_warmstart=false, bool update_P=true, bool update_q=true, bool update_A=true, bool update_bounds=true) override
	Solve QP without simple bounds. More...
void	updateDualSolutionWarmStart (const Eigen::Ref< const Eigen::VectorXd > &y) override
void	updatePrimalSolutionWarmStart (const Eigen::Ref< const Eigen::VectorXd > &x) override
Public Member Functions inherited from corbo::QpSolverInterface
virtual bool	initialize ()
	Initialize the qp solver. More...
virtual	~QpSolverInterface ()=default
	Virtual destructor. More...

Protected Member Functions
void	printWarning () const

Private Attributes
Eigen::VectorXd	_dummy

Detailed Description

Interface to the external solver OSQP.

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 134 of file qp_solver_osqp.h.

Member Typedef Documentation

Ptr

using corbo::SolverOsqp::Ptr = std::shared_ptr<SolverOsqp>

Definition at line 137 of file qp_solver_osqp.h.

UPtr

using corbo::SolverOsqp::UPtr = std::unique_ptr<SolverOsqp>

Definition at line 138 of file qp_solver_osqp.h.

Member Function Documentation

clear()

void corbo::SolverOsqp::clear ( )

inlineoverridevirtual

clear internal caches

Implements corbo::QpSolverInterface.

Definition at line 172 of file qp_solver_osqp.h.

enforceNewStructure()

void corbo::SolverOsqp::enforceNewStructure ( bool  new_structure = true )

inlineoverridevirtual

Implements corbo::QpSolverInterface.

Definition at line 170 of file qp_solver_osqp.h.

getDualSolution()

Eigen::Ref<Eigen::VectorXd> corbo::SolverOsqp::getDualSolution ( )

inlineoverridevirtual

Implements corbo::QpSolverInterface.

Definition at line 165 of file qp_solver_osqp.h.

getInstance()

QpSolverInterface::Ptr corbo::SolverOsqp::getInstance ( ) const

inlineoverridevirtual

Return a newly created instance of the current solver.

Implements corbo::QpSolverInterface.

Definition at line 141 of file qp_solver_osqp.h.

getPrimalSolution()

Eigen::Ref<Eigen::VectorXd> corbo::SolverOsqp::getPrimalSolution ( )

inlineoverridevirtual

Implements corbo::QpSolverInterface.

Definition at line 164 of file qp_solver_osqp.h.

isSupportingSimpleBounds()

bool corbo::SolverOsqp::isSupportingSimpleBounds ( )

inlineoverridevirtual

Implements corbo::QpSolverInterface.

Definition at line 144 of file qp_solver_osqp.h.

printWarning()

void corbo::SolverOsqp::printWarning ( ) const

inlineprotected

Definition at line 186 of file qp_solver_osqp.h.

solve() [1/2]

SolverStatus corbo::SolverOsqp::solve ( SparseMatrix &  P, Eigen::Ref< Eigen::VectorXd >  q, SparseMatrix &  A, Eigen::Ref< Eigen::VectorXd >  lbA, Eigen::Ref< Eigen::VectorXd >  ubA, Eigen::Ref< Eigen::VectorXd >  lb, Eigen::Ref< Eigen::VectorXd >  ub, bool  new_structure = true, bool  zero_x_warmstart = false  )

inlineoverridevirtual

Solve full QP.

Remarks

We require that all arguments are non-const in order to facilitate the usage of some lowlevel c-APIs (e.g. OSQP).

Parameters

[in]	P	Quadratic form matrix,
[in]	q	Linear part
[in]	A	Linear constraint matrix
[in]	lbA	Lower bounds of linear constraints
[in]	ubA	Upper bounds of linear constraints
[in]	lb	Lower bounds of parameters
[in]	ub	Upper bounds of parameters
[in]	new_structure	If true, the solver must reallocte the internal memory

Returns

Solver status

Implements corbo::QpSolverInterface.

Definition at line 147 of file qp_solver_osqp.h.

solve() [2/2]

SolverStatus corbo::SolverOsqp::solve ( SparseMatrix &  P, Eigen::Ref< Eigen::VectorXd >  q, SparseMatrix &  A, Eigen::Ref< Eigen::VectorXd >  lbA, Eigen::Ref< Eigen::VectorXd >  ubA, bool  new_structure = true, bool  zero_x_warmstart = false, bool  update_P = true, bool  update_q = true, bool  update_A = true, bool  update_bounds = true  )

inlineoverridevirtual

Solve QP without simple bounds.

Remarks

We require that all arguments are non-const in order to facilitate the usage of some lowlevel c-APIs (e.g. OSQP).

Parameters

[in]	P	Quadratic form matrix,
[in]	q	Linear part
[in]	A	Linear constraint matrix
[in]	lbA	Lower bounds of linear constraints
[in]	ubA	Upper bounds of linear constraints
[in]	new_structure	If true, the solver must reallocte the internal memory

Returns

Solver status

Implements corbo::QpSolverInterface.

Definition at line 156 of file qp_solver_osqp.h.

updateDualSolutionWarmStart()

void corbo::SolverOsqp::updateDualSolutionWarmStart ( const Eigen::Ref< const Eigen::VectorXd > &  y )

inlineoverridevirtual

Implements corbo::QpSolverInterface.

Definition at line 168 of file qp_solver_osqp.h.

updatePrimalSolutionWarmStart()

void corbo::SolverOsqp::updatePrimalSolutionWarmStart ( const Eigen::Ref< const Eigen::VectorXd > &  x )

inlineoverridevirtual

Implements corbo::QpSolverInterface.

Definition at line 167 of file qp_solver_osqp.h.

Member Data Documentation

_dummy

Eigen::VectorXd corbo::SolverOsqp::_dummy

private

Definition at line 189 of file qp_solver_osqp.h.

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

• qp_solver_osqp.h