tsid::solvers::SolverOSQP Class Reference

#include <solver-osqp.hpp>

Inheritance diagram for tsid::solvers::SolverOSQP:

Public Types
typedef math::ConstRefMatrix	ConstRefMatrix
typedef math::ConstRefVector	ConstRefVector
typedef math::RefVector	RefVector
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 ()
const QPData	getQPData () const
void	resize (unsigned int n, unsigned int neq, unsigned int nin)
void	retrieveQPData (const HQPData &problemData, const bool hessianRegularization=false)
void	setAlpha (double alpha)
void	setEpsilonAbsolute (double epsAbs)
void	setEpsilonRelative (double epsRel)
bool	setMaximumIterations (unsigned int maxIter)
void	setRho (double rho)
void	setSigma (double sigma)
void	setVerbose (bool isVerbose=false)
const HQPOutput &	solve (const HQPData &problemData)
	SolverOSQP (const std::string &name)
	SolverOSQP (const SolverOSQP &other)
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	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
double	m_alpha
double	m_epsAbs
double	m_epsRel
double	m_hessian_regularization
bool	m_isDataInitialized
bool	m_isVerbose
unsigned int	m_n
	number of inequality constraints More...
unsigned int	m_neq
unsigned int	m_nin
	number of equality constraints More...
double	m_objValue
QPDataTpl< double >	m_qpData
	number of variables More...
double	m_rho
double	m_sigma
OsqpEigen::Solver	m_solver
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

Definition at line 38 of file solvers/solver-osqp.hpp.

Member Typedef Documentation

ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverOSQP::ConstRefMatrix

Definition at line 46 of file solvers/solver-osqp.hpp.

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverOSQP::ConstRefVector

Definition at line 45 of file solvers/solver-osqp.hpp.

RefVector

typedef math::RefVector tsid::solvers::SolverOSQP::RefVector

Definition at line 44 of file solvers/solver-osqp.hpp.

Vector

typedef math::Vector tsid::solvers::SolverOSQP::Vector

Definition at line 43 of file solvers/solver-osqp.hpp.

Constructor & Destructor Documentation

SolverOSQP() [1/2]

tsid::solvers::SolverOSQP::SolverOSQP

(

const std::string &

name

)

Definition at line 26 of file solver-osqp.cpp.

SolverOSQP() [2/2]

tsid::solvers::SolverOSQP::SolverOSQP

(

const SolverOSQP &

other

)

Definition at line 41 of file solver-osqp.cpp.

Member Function Documentation

getObjectiveValue()

double tsid::solvers::SolverOSQP::getObjectiveValue ( )

virtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

Definition at line 275 of file solver-osqp.cpp.

getQPData()

const QPData tsid::solvers::SolverOSQP::getQPData ( ) const

inline

Return the QP data object.

Definition at line 58 of file solvers/solver-osqp.hpp.

resize()

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

virtual

Implements tsid::solvers::SolverHQPBase.

Definition at line 60 of file solver-osqp.cpp.

retrieveQPData()

void tsid::solvers::SolverOSQP::retrieveQPData ( const HQPData &  problemData, const bool  hessianRegularization = false  )

virtual

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

Implements tsid::solvers::SolverHQPBase.

Definition at line 107 of file solver-osqp.cpp.

sendMsg()

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

protected

Definition at line 56 of file solver-osqp.cpp.

setAlpha()

void tsid::solvers::SolverOSQP::setAlpha

(

double

alpha

)

Definition at line 287 of file solver-osqp.cpp.

setEpsilonAbsolute()

void tsid::solvers::SolverOSQP::setEpsilonAbsolute

(

double

epsAbs

)

Definition at line 296 of file solver-osqp.cpp.

setEpsilonRelative()

void tsid::solvers::SolverOSQP::setEpsilonRelative

(

double

epsRel

)

Definition at line 300 of file solver-osqp.cpp.

setMaximumIterations()

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

virtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

Definition at line 277 of file solver-osqp.cpp.

setRho()

void tsid::solvers::SolverOSQP::setRho

(

double

rho

)

Definition at line 292 of file solver-osqp.cpp.

setSigma()

void tsid::solvers::SolverOSQP::setSigma

(

double

sigma

)

Definition at line 283 of file solver-osqp.cpp.

setVerbose()

void tsid::solvers::SolverOSQP::setVerbose

(

bool

isVerbose = false

)

Definition at line 304 of file solver-osqp.cpp.

solve()

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

virtual

Solve the given Hierarchical Quadratic Program.

Implements tsid::solvers::SolverHQPBase.

Definition at line 189 of file solver-osqp.cpp.

Member Data Documentation

m_alpha

double tsid::solvers::SolverOSQP::m_alpha

protected

Definition at line 92 of file solvers/solver-osqp.hpp.

m_epsAbs

double tsid::solvers::SolverOSQP::m_epsAbs

protected

Definition at line 93 of file solvers/solver-osqp.hpp.

m_epsRel

double tsid::solvers::SolverOSQP::m_epsRel

protected

Definition at line 94 of file solvers/solver-osqp.hpp.

m_hessian_regularization

double tsid::solvers::SolverOSQP::m_hessian_regularization

protected

Definition at line 80 of file solvers/solver-osqp.hpp.

m_isDataInitialized

bool tsid::solvers::SolverOSQP::m_isDataInitialized

protected

Definition at line 96 of file solvers/solver-osqp.hpp.

m_isVerbose

bool tsid::solvers::SolverOSQP::m_isVerbose

protected

Definition at line 95 of file solvers/solver-osqp.hpp.

m_n

unsigned int tsid::solvers::SolverOSQP::m_n

protected

number of inequality constraints

Definition at line 86 of file solvers/solver-osqp.hpp.

m_neq

unsigned int tsid::solvers::SolverOSQP::m_neq

protected

Definition at line 84 of file solvers/solver-osqp.hpp.

m_nin

unsigned int tsid::solvers::SolverOSQP::m_nin

protected

number of equality constraints

Definition at line 85 of file solvers/solver-osqp.hpp.

m_objValue

double tsid::solvers::SolverOSQP::m_objValue

protected

Definition at line 79 of file solvers/solver-osqp.hpp.

m_qpData

QPDataTpl<double> tsid::solvers::SolverOSQP::m_qpData

protected

number of variables

Definition at line 88 of file solvers/solver-osqp.hpp.

m_rho

double tsid::solvers::SolverOSQP::m_rho

protected

Definition at line 90 of file solvers/solver-osqp.hpp.

m_sigma

double tsid::solvers::SolverOSQP::m_sigma

protected

Definition at line 91 of file solvers/solver-osqp.hpp.

m_solver

OsqpEigen::Solver tsid::solvers::SolverOSQP::m_solver

protected

Definition at line 82 of file solvers/solver-osqp.hpp.

Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverOSQP::Matrix

Definition at line 42 of file solvers/solver-osqp.hpp.

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

• solvers/solver-osqp.hpp
• solver-osqp.cpp