#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 () override

const QPData	getQPData () const

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

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

void	setAlpha (double alpha)

void	setEpsilonAbsolute (double epsAbs)

void	setEpsilonRelative (double epsRel)

bool	setMaximumIterations (unsigned int maxIter) override

void	setRho (double rho)

void	setSigma (double sigma)

void	setVerbose (bool isVerbose=false)

const HQPOutput &	solve (const HQPData &problemData) override

	SolverOSQP (const SolverOSQP &other)

	SolverOSQP (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
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 const std::string	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 ( )

overridevirtual

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
	)

overridevirtual

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`
	)

overridevirtual

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 )

overridevirtual

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 )

overridevirtual

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.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstRefMatrix

◆ ConstRefVector

◆ RefVector

◆ Vector

Constructor & Destructor Documentation

◆ SolverOSQP() [1/2]

◆ SolverOSQP() [2/2]

Member Function Documentation

◆ getObjectiveValue()

◆ getQPData()

◆ resize()

◆ retrieveQPData()

◆ sendMsg()

◆ setAlpha()

◆ setEpsilonAbsolute()

◆ setEpsilonRelative()

◆ setMaximumIterations()

◆ setRho()

◆ setSigma()

◆ setVerbose()

◆ solve()

Member Data Documentation

◆ m_alpha

◆ m_epsAbs

◆ m_epsRel

◆ m_hessian_regularization

◆ m_isDataInitialized

◆ m_isVerbose

◆ m_n

◆ m_neq

◆ m_nin

◆ m_objValue

◆ m_qpData

◆ m_rho

◆ m_sigma

◆ m_solver

◆ Matrix