tsid::solvers::SolverHQpmad Class Reference

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

#include <solver-HQP-qpmad.hpp>

Inheritance diagram for tsid::solvers::SolverHQpmad:

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

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix	Matrix

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

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

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.

Definition at line 30 of file solver-HQP-qpmad.hpp.

Member Typedef Documentation

ConstRefMatrix

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

Definition at line 38 of file solver-HQP-qpmad.hpp.

ConstRefVector

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

Definition at line 37 of file solver-HQP-qpmad.hpp.

RefVector

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

Definition at line 36 of file solver-HQP-qpmad.hpp.

Settings

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

Definition at line 40 of file solver-HQP-qpmad.hpp.

Vector

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

Definition at line 35 of file solver-HQP-qpmad.hpp.

Constructor & Destructor Documentation

SolverHQpmad()

tsid::solvers::SolverHQpmad::SolverHQpmad

(

const std::string &

name

)

Definition at line 31 of file solver-HQP-qpmad.cpp.

Member Function Documentation

getObjectiveValue()

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

virtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

Definition at line 206 of file solver-HQP-qpmad.cpp.

resize()

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

virtual

Implements tsid::solvers::SolverHQPBase.

Definition at line 42 of file solver-HQP-qpmad.cpp.

retrieveQPData()

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

virtual

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

Implements tsid::solvers::SolverHQPBase.

Definition at line 75 of file solver-HQP-qpmad.cpp.

sendMsg()

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

protected

Definition at line 38 of file solver-HQP-qpmad.cpp.

settings()

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

inline

Definition at line 57 of file solver-HQP-qpmad.hpp.

solve()

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

virtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Definition at line 149 of file solver-HQP-qpmad.cpp.

Member Data Documentation

m_C

Matrix tsid::solvers::SolverHQpmad::m_C

protected

Definition at line 71 of file solver-HQP-qpmad.hpp.

m_cl

Vector tsid::solvers::SolverHQpmad::m_cl

protected

Definition at line 72 of file solver-HQP-qpmad.hpp.

m_cu

Vector tsid::solvers::SolverHQpmad::m_cu

protected

Definition at line 73 of file solver-HQP-qpmad.hpp.

m_g

Vector tsid::solvers::SolverHQpmad::m_g

protected

Definition at line 68 of file solver-HQP-qpmad.hpp.

m_H

Matrix tsid::solvers::SolverHQpmad::m_H

protected

Definition at line 67 of file solver-HQP-qpmad.hpp.

m_has_bounds

bool tsid::solvers::SolverHQpmad::m_has_bounds

protected

Definition at line 65 of file solver-HQP-qpmad.hpp.

m_hessian_regularization

double tsid::solvers::SolverHQpmad::m_hessian_regularization

protected

Definition at line 75 of file solver-HQP-qpmad.hpp.

m_lb

Vector tsid::solvers::SolverHQpmad::m_lb

protected

Definition at line 69 of file solver-HQP-qpmad.hpp.

m_n

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

protected

number of equality-inequality constraints

Definition at line 78 of file solver-HQP-qpmad.hpp.

m_nc

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

protected

Definition at line 77 of file solver-HQP-qpmad.hpp.

m_settings

Settings tsid::solvers::SolverHQpmad::m_settings

protected

Definition at line 63 of file solver-HQP-qpmad.hpp.

m_solver

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

protected

Definition at line 62 of file solver-HQP-qpmad.hpp.

m_ub

Vector tsid::solvers::SolverHQpmad::m_ub

protected

Definition at line 70 of file solver-HQP-qpmad.hpp.

Matrix

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

Definition at line 34 of file solver-HQP-qpmad.hpp.

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

• solver-HQP-qpmad.hpp
• solver-HQP-qpmad.cpp