tsid: tsid::solvers::SolverHQuadProgFast Class Reference

#include <solver-HQP-eiquadprog-fast.hpp>

Inheritance diagram for tsid::solvers::SolverHQuadProgFast:

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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 () override

const QPDataQuadProg	getQPData () const

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

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

bool	setMaximumIterations (unsigned int maxIter) override

const HQPOutput &	solve (const HQPData &problemData) override

	SolverHQuadProgFast (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	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
Eigen::VectorXi	m_activeSet

int	m_activeSetSize
	vector containing the indexes of the active inequalities More...

TSID_DEPRECATED Matrix	m_CE

TSID_DEPRECATED Vector	m_ce0

TSID_DEPRECATED Matrix	m_CI

TSID_DEPRECATED Vector	m_ci0
	twice the rows because inequality constraints are bilateral More...

TSID_DEPRECATED Vector	m_g

TSID_DEPRECATED Matrix	m_H

double	m_hessian_regularization

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

QPDataQuadProgTpl< double >	m_qpData
	number of variables More...

eiquadprog::solvers::EiquadprogFast	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 const std::string	HQP_status_string [5]

Detailed Description

Definition at line 30 of file solver-HQP-eiquadprog-fast.hpp.

Member Typedef Documentation

◆ ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProgFast::ConstRefMatrix

Definition at line 38 of file solver-HQP-eiquadprog-fast.hpp.

◆ ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQuadProgFast::ConstRefVector

Definition at line 37 of file solver-HQP-eiquadprog-fast.hpp.

◆ RefVector

typedef math::RefVector tsid::solvers::SolverHQuadProgFast::RefVector

Definition at line 36 of file solver-HQP-eiquadprog-fast.hpp.

◆ Vector

typedef math::Vector tsid::solvers::SolverHQuadProgFast::Vector

Definition at line 35 of file solver-HQP-eiquadprog-fast.hpp.

Constructor & Destructor Documentation

◆ SolverHQuadProgFast()

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

Definition at line 31 of file solver-HQP-eiquadprog-fast.cpp.

Member Function Documentation

◆ getObjectiveValue()

double tsid::solvers::SolverHQuadProgFast::getObjectiveValue ( )

overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

Definition at line 232 of file solver-HQP-eiquadprog-fast.cpp.

◆ getQPData()

const QPDataQuadProg tsid::solvers::SolverHQuadProgFast::getQPData ( ) const

inline

Return the QP data object.

Definition at line 53 of file solver-HQP-eiquadprog-fast.hpp.

◆ resize()

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

overridevirtual

Implements tsid::solvers::SolverHQPBase.

Definition at line 43 of file solver-HQP-eiquadprog-fast.cpp.

◆ retrieveQPData()

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

overridevirtual

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

Implements tsid::solvers::SolverHQPBase.

Definition at line 84 of file solver-HQP-eiquadprog-fast.cpp.

◆ sendMsg()

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

protected

Definition at line 39 of file solver-HQP-eiquadprog-fast.cpp.

◆ setMaximumIterations()

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

overridevirtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

Definition at line 236 of file solver-HQP-eiquadprog-fast.cpp.

◆ solve()

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

overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Definition at line 169 of file solver-HQP-eiquadprog-fast.cpp.

Member Data Documentation

◆ m_activeSet

Eigen::VectorXi tsid::solvers::SolverHQuadProgFast::m_activeSet

protected

Definition at line 78 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_activeSetSize

int tsid::solvers::SolverHQuadProgFast::m_activeSetSize

protected

vector containing the indexes of the active inequalities

Definition at line 79 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_CE

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_CE

protected

Definition at line 69 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_ce0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_ce0

protected

Definition at line 70 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_CI

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_CI

protected

Definition at line 72 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_ci0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_ci0

protected

twice the rows because inequality constraints are bilateral

Definition at line 73 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_g

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_g

protected

Definition at line 68 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_H

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_H

protected

Definition at line 67 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_hessian_regularization

double tsid::solvers::SolverHQuadProgFast::m_hessian_regularization

protected

Definition at line 75 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_n

unsigned int tsid::solvers::SolverHQuadProgFast::m_n

protected

number of inequality constraints

Definition at line 83 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_neq

unsigned int tsid::solvers::SolverHQuadProgFast::m_neq

protected

Definition at line 81 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_nin

unsigned int tsid::solvers::SolverHQuadProgFast::m_nin

protected

number of equality constraints

Definition at line 82 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_objValue

double tsid::solvers::SolverHQuadProgFast::m_objValue

protected

Definition at line 74 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_qpData

QPDataQuadProgTpl<double> tsid::solvers::SolverHQuadProgFast::m_qpData

protected

number of variables

Definition at line 85 of file solver-HQP-eiquadprog-fast.hpp.

◆ m_solver

eiquadprog::solvers::EiquadprogFast tsid::solvers::SolverHQuadProgFast::m_solver

protected

Definition at line 65 of file solver-HQP-eiquadprog-fast.hpp.

◆ Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProgFast::Matrix

Definition at line 34 of file solver-HQP-eiquadprog-fast.hpp.

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

tsid
Author(s): Andrea Del Prete, Justin Carpentier
autogenerated on Sat May 3 2025 02:48:17