Implementation of Quadratic Program (HQP) solver using qpmad. More...
#include <solver-HQP-qpmad.hpp>
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 () override |
| void | resize (unsigned int n, unsigned int neq, unsigned int nin) override |
| void | retrieveQPData (const HQPData &problemData, const bool hessianRegularization=true) override |
| Settings & | settings () |
| const HQPOutput & | solve (const HQPData &problemData) override |
| 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 ()=default |
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 const std::string | 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
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
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()
|
overridevirtual |
Get the objective value of the last solved problem.
Implements tsid::solvers::SolverHQPBase.
Definition at line 206 of file solver-HQP-qpmad.cpp.
◆ resize()
|
overridevirtual |
Implements tsid::solvers::SolverHQPBase.
Definition at line 42 of file solver-HQP-qpmad.cpp.
◆ retrieveQPData()
|
overridevirtual |
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()
|
protected |
Definition at line 38 of file solver-HQP-qpmad.cpp.
◆ settings()
|
inline |
Definition at line 57 of file solver-HQP-qpmad.hpp.
◆ solve()
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
|
protected |
Definition at line 71 of file solver-HQP-qpmad.hpp.
◆ m_cl
|
protected |
Definition at line 72 of file solver-HQP-qpmad.hpp.
◆ m_cu
|
protected |
Definition at line 73 of file solver-HQP-qpmad.hpp.
◆ m_g
|
protected |
Definition at line 68 of file solver-HQP-qpmad.hpp.
◆ m_H
|
protected |
Definition at line 67 of file solver-HQP-qpmad.hpp.
◆ m_has_bounds
|
protected |
Definition at line 65 of file solver-HQP-qpmad.hpp.
◆ m_hessian_regularization
|
protected |
Definition at line 75 of file solver-HQP-qpmad.hpp.
◆ m_lb
|
protected |
Definition at line 69 of file solver-HQP-qpmad.hpp.
◆ m_n
|
protected |
number of equality-inequality constraints
Definition at line 78 of file solver-HQP-qpmad.hpp.
◆ m_nc
|
protected |
Definition at line 77 of file solver-HQP-qpmad.hpp.
◆ m_settings
|
protected |
Definition at line 63 of file solver-HQP-qpmad.hpp.
◆ m_solver
|
protected |
Definition at line 62 of file solver-HQP-qpmad.hpp.
◆ 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.
The documentation for this class was generated from the following files: