solver-HQP-qpmad.hpp

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//
// Copyright (c) 2022 Inria
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_solvers_hqp_qpmad_hpp__
#define __invdyn_solvers_hqp_qpmad_hpp__

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

#include <qpmad/solver.h>

namespace tsid {
namespace solvers {
class TSID_DLLAPI SolverHQpmad : public SolverHQPBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef math::Matrix Matrix;
  typedef math::Vector Vector;
  typedef math::RefVector RefVector;
  typedef math::ConstRefVector ConstRefVector;
  typedef math::ConstRefMatrix ConstRefMatrix;

  typedef qpmad::SolverParameters Settings;

  SolverHQpmad(const std::string& name);

  void resize(unsigned int n, unsigned int neq, unsigned int nin);

  const HQPOutput& solve(const HQPData& problemData);

  void retrieveQPData(const HQPData& problemData,
                      const bool hessianRegularization = true);

  double getObjectiveValue();

  Settings& settings() { return m_settings; }

 protected:
  void sendMsg(const std::string& s);

  qpmad::Solver m_solver;
  Settings m_settings;

  bool m_has_bounds;

  Matrix m_H;   // hessian matrix
  Vector m_g;   // gradient vector
  Vector m_lb;  // gradient vector
  Vector m_ub;  // gradient vector
  Matrix m_C;   // constraint matrix
  Vector m_cl;  // constraints lower bound
  Vector m_cu;  // constraints upper bound

  double m_hessian_regularization;

  unsigned int m_nc;  
  unsigned int m_n;   
};
}  // namespace solvers
}  // namespace tsid

#endif  // ifndef __invdyn_solvers_hqp_qpmad_hpp__