Abstract interface for a Quadratic Program (HQP) solver. More...

#include <solver-HQP-base.hpp>

Inheritance diagram for tsid::solvers::SolverHQPBase:

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Public Types
typedef math::ConstRefMatrix	ConstRefMatrix

typedef math::ConstRefVector	ConstRefVector

typedef math::RefVector	RefVector

Public Member Functions
virtual unsigned int	getMaximumIterations ()

virtual double	getMaximumTime ()

virtual double	getObjectiveValue ()=0

virtual bool	getUseWarmStart ()

virtual const std::string &	name () const

virtual void	resize (unsigned int n, unsigned int neq, unsigned int nin)=0

virtual void	retrieveQPData (const HQPData &problemData, const bool hessianRegularization)=0

virtual bool	setMaximumIterations (unsigned int maxIter)

virtual bool	setMaximumTime (double seconds)

virtual void	setUseWarmStart (bool useWarmStart)

virtual const HQPOutput &	solve (const HQPData &problemData)=0

	SolverHQPBase (const std::string &name)

virtual	~SolverHQPBase ()=default

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const std::string	HQP_status_string [5]

Protected Attributes
unsigned int	m_maxIter

double	m_maxTime

std::string	m_name

HQPOutput	m_output

bool	m_useWarmStart

Detailed Description

Abstract interface for a Quadratic Program (HQP) solver.

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

Member Typedef Documentation

◆ ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQPBase::ConstRefMatrix

Definition at line 42 of file solver-HQP-base.hpp.

◆ ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQPBase::ConstRefVector

Definition at line 41 of file solver-HQP-base.hpp.

◆ RefVector

typedef math::RefVector tsid::solvers::SolverHQPBase::RefVector

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

Constructor & Destructor Documentation

◆ SolverHQPBase()

tsid::solvers::SolverHQPBase::SolverHQPBase ( const std::string & name )

Definition at line 29 of file solver-HQP-base.cpp.

◆ ~SolverHQPBase()

virtual tsid::solvers::SolverHQPBase::~SolverHQPBase ( )

virtualdefault

Member Function Documentation

◆ getMaximumIterations()

virtual unsigned int tsid::solvers::SolverHQPBase::getMaximumIterations ( )

inlinevirtual

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

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

◆ getMaximumTime()

virtual double tsid::solvers::SolverHQPBase::getMaximumTime ( )

inlinevirtual

Get the maximum time allowed to solve a problem.

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

◆ getObjectiveValue()

virtual double tsid::solvers::SolverHQPBase::getObjectiveValue ( )

pure virtual

Get the objective value of the last solved problem.

Implemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, tsid::solvers::SolverHQuadProgFast, tsid::solvers::SolverHQuadProg, and tsid::solvers::SolverHQpmad.

◆ getUseWarmStart()

virtual bool tsid::solvers::SolverHQPBase::getUseWarmStart ( )

inlinevirtual

Return true if the solver is allowed to warm start, false otherwise.

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

◆ name()

virtual const std::string& tsid::solvers::SolverHQPBase::name ( ) const

inlinevirtual

Definition at line 47 of file solver-HQP-base.hpp.

◆ resize()

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

pure virtual

Implemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProgFast, and tsid::solvers::SolverHQuadProg.

◆ retrieveQPData()

virtual void tsid::solvers::SolverHQPBase::retrieveQPData	(	const HQPData &	problemData,
		const bool	hessianRegularization
	)

pure virtual

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

Implemented in tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProgFast, tsid::solvers::SolverHQuadProg, tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, and tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >.

◆ setMaximumIterations()

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

virtual

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

Reimplemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, and tsid::solvers::SolverHQuadProgFast.

Definition at line 36 of file solver-HQP-base.cpp.

◆ setMaximumTime()

bool tsid::solvers::SolverHQPBase::setMaximumTime ( double seconds )

virtual

Set the maximum time allowed to solve a problem.

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

◆ setUseWarmStart()

virtual void tsid::solvers::SolverHQPBase::setUseWarmStart ( bool useWarmStart )

inlinevirtual

Specify whether the solver is allowed to use warm-start techniques.

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

◆ solve()

virtual const HQPOutput& tsid::solvers::SolverHQPBase::solve ( const HQPData & problemData )

pure virtual

Solve the specified Hierarchical Quadratic Program.

Implemented in tsid::solvers::SolverProxQP, tsid::solvers::SolverOSQP, tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProgFast, and tsid::solvers::SolverHQuadProg.

Member Data Documentation

◆ HQP_status_string

const std::string tsid::solvers::SolverHQPBase::HQP_status_string

static

Initial value:

= {
    "HQP_STATUS_OPTIMAL", "HQP_STATUS_INFEASIBLE", "HQP_STATUS_UNBOUNDED",
    "HQP_STATUS_MAX_ITER_REACHED", "HQP_STATUS_ERROR"}

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

◆ m_maxIter

unsigned int tsid::solvers::SolverHQPBase::m_maxIter

protected

Definition at line 82 of file solver-HQP-base.hpp.

◆ m_maxTime

double tsid::solvers::SolverHQPBase::m_maxTime

protected

Definition at line 83 of file solver-HQP-base.hpp.

◆ m_name

std::string tsid::solvers::SolverHQPBase::m_name

protected

Definition at line 80 of file solver-HQP-base.hpp.

◆ m_output

HQPOutput tsid::solvers::SolverHQPBase::m_output

protected

Definition at line 84 of file solver-HQP-base.hpp.

◆ m_useWarmStart

bool tsid::solvers::SolverHQPBase::m_useWarmStart

protected

Definition at line 81 of file solver-HQP-base.hpp.

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

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstRefMatrix

◆ ConstRefVector

◆ RefVector

Constructor & Destructor Documentation

◆ SolverHQPBase()

◆ ~SolverHQPBase()

Member Function Documentation

◆ getMaximumIterations()

◆ getMaximumTime()

◆ getObjectiveValue()

◆ getUseWarmStart()

◆ name()

◆ resize()

◆ retrieveQPData()

◆ setMaximumIterations()

◆ setMaximumTime()

◆ setUseWarmStart()

◆ solve()

Member Data Documentation

◆ HQP_status_string

◆ m_maxIter

◆ m_maxTime

◆ m_name

◆ m_output

◆ m_useWarmStart