Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
tsid::solvers::SolverProxQP Class Reference

#include <solver-proxqp.hpp>

Inheritance diagram for tsid::solvers::SolverProxQP:
Inheritance graph
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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 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 setEpsilonAbsolute (double epsAbs)
 
void setEpsilonRelative (double epsRel)
 
bool setMaximumIterations (unsigned int maxIter) override
 
void setMuEquality (double muEq)
 
void setMuInequality (double muIn)
 
void setRho (double rho)
 
void setVerbose (bool isVerbose=false)
 
const HQPOutput & solve (const HQPData &problemData) override
 
 SolverProxQP (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_epsAbs
 
double m_epsRel
 
double m_hessian_regularization
 
bool m_isVerbose
 
double m_muEq
 
double m_muIn
 
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
 
dense::QP< double > 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 42 of file solvers/solver-proxqp.hpp.

Member Typedef Documentation

◆ ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverProxQP::ConstRefMatrix

Definition at line 50 of file solvers/solver-proxqp.hpp.

◆ ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverProxQP::ConstRefVector

Definition at line 49 of file solvers/solver-proxqp.hpp.

◆ RefVector

typedef math::RefVector tsid::solvers::SolverProxQP::RefVector

Definition at line 48 of file solvers/solver-proxqp.hpp.

◆ Vector

typedef math::Vector tsid::solvers::SolverProxQP::Vector

Definition at line 47 of file solvers/solver-proxqp.hpp.

Constructor & Destructor Documentation

◆ SolverProxQP()

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

Definition at line 26 of file solver-proxqp.cpp.

Member Function Documentation

◆ getObjectiveValue()

double tsid::solvers::SolverProxQP::getObjectiveValue ( )
overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

Definition at line 243 of file solver-proxqp.cpp.

◆ getQPData()

const QPData tsid::solvers::SolverProxQP::getQPData ( ) const
inline

Return the QP data object.

Definition at line 61 of file solvers/solver-proxqp.hpp.

◆ resize()

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

Implements tsid::solvers::SolverHQPBase.

Definition at line 46 of file solver-proxqp.cpp.

◆ retrieveQPData()

void tsid::solvers::SolverProxQP::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 96 of file solver-proxqp.cpp.

◆ sendMsg()

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

Definition at line 42 of file solver-proxqp.cpp.

◆ setEpsilonAbsolute()

void tsid::solvers::SolverProxQP::setEpsilonAbsolute ( double  epsAbs)

Definition at line 265 of file solver-proxqp.cpp.

◆ setEpsilonRelative()

void tsid::solvers::SolverProxQP::setEpsilonRelative ( double  epsRel)

Definition at line 269 of file solver-proxqp.cpp.

◆ setMaximumIterations()

bool tsid::solvers::SolverProxQP::setMaximumIterations ( unsigned int  maxIter)
overridevirtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

Definition at line 247 of file solver-proxqp.cpp.

◆ setMuEquality()

void tsid::solvers::SolverProxQP::setMuEquality ( double  muEq)

Definition at line 257 of file solver-proxqp.cpp.

◆ setMuInequality()

void tsid::solvers::SolverProxQP::setMuInequality ( double  muIn)

Definition at line 253 of file solver-proxqp.cpp.

◆ setRho()

void tsid::solvers::SolverProxQP::setRho ( double  rho)

Definition at line 261 of file solver-proxqp.cpp.

◆ setVerbose()

void tsid::solvers::SolverProxQP::setVerbose ( bool  isVerbose = false)

Definition at line 273 of file solver-proxqp.cpp.

◆ solve()

const HQPOutput & tsid::solvers::SolverProxQP::solve ( const HQPData &  problemData)
overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Definition at line 177 of file solver-proxqp.cpp.

Member Data Documentation

◆ m_epsAbs

double tsid::solvers::SolverProxQP::m_epsAbs
protected

Definition at line 97 of file solvers/solver-proxqp.hpp.

◆ m_epsRel

double tsid::solvers::SolverProxQP::m_epsRel
protected

Definition at line 98 of file solvers/solver-proxqp.hpp.

◆ m_hessian_regularization

double tsid::solvers::SolverProxQP::m_hessian_regularization
protected

Definition at line 84 of file solvers/solver-proxqp.hpp.

◆ m_isVerbose

bool tsid::solvers::SolverProxQP::m_isVerbose
protected

Definition at line 99 of file solvers/solver-proxqp.hpp.

◆ m_muEq

double tsid::solvers::SolverProxQP::m_muEq
protected

Definition at line 96 of file solvers/solver-proxqp.hpp.

◆ m_muIn

double tsid::solvers::SolverProxQP::m_muIn
protected

Definition at line 95 of file solvers/solver-proxqp.hpp.

◆ m_n

unsigned int tsid::solvers::SolverProxQP::m_n
protected

number of inequality constraints

Definition at line 90 of file solvers/solver-proxqp.hpp.

◆ m_neq

unsigned int tsid::solvers::SolverProxQP::m_neq
protected

Definition at line 88 of file solvers/solver-proxqp.hpp.

◆ m_nin

unsigned int tsid::solvers::SolverProxQP::m_nin
protected

number of equality constraints

Definition at line 89 of file solvers/solver-proxqp.hpp.

◆ m_objValue

double tsid::solvers::SolverProxQP::m_objValue
protected

Definition at line 83 of file solvers/solver-proxqp.hpp.

◆ m_qpData

QPDataTpl<double> tsid::solvers::SolverProxQP::m_qpData
protected

number of variables

Definition at line 92 of file solvers/solver-proxqp.hpp.

◆ m_rho

double tsid::solvers::SolverProxQP::m_rho
protected

Definition at line 94 of file solvers/solver-proxqp.hpp.

◆ m_solver

dense::QP<double> tsid::solvers::SolverProxQP::m_solver
protected

Definition at line 86 of file solvers/solver-proxqp.hpp.

◆ Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverProxQP::Matrix

Definition at line 46 of file solvers/solver-proxqp.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