Variables
float	A1 = rng.random((n, n)) + 0.001 * np.eye(n)

	A_eq = rng.random((neq, n))

	A_in = rng.random((nin, n))

float	A_lb = rng.random(nin) * NORMAL_DISTR_VAR

float	A_ub = rng.random(nin) * NORMAL_DISTR_VAR

	b1 = rng.random(n)

	b_eq = A_eq.dot(x)

	const1 = tsid.ConstraintLevel()

	const2 = tsid.ConstraintLevel()

	constrVal = A_in.dot(x)

	cost = tsid.ConstraintEquality("c1", A1, b1)

int	damping = 1e-10

int	EPS = 1e-3

	eq_const = tsid.ConstraintEquality("eq1", A_eq, b_eq)

int	GRADIENT_PERTURBATION_VARIANCE = 1e-2

list	gradientPerturbations = []

int	HESSIAN_PERTURBATION_VARIANCE = 1e-1

list	hessianPerturbations = []

	HQPData = tsid.HQPData()

	HQPoutput = solver.solve(HQPData)

	in_const = tsid.ConstraintInequality("ini1", A_in, A_lb, A_ub)

int	MARGIN_PERC = 1e-3

int	n = 60

int	neq = 36

int	nin = 40

float	NORMAL_DISTR_VAR = 10.0

int	nTest = 100

	rng = np.random.default_rng(seed=0)

	solver_eiquadprog = tsid.SolverHQuadProg("eiquadprog solver")

list	solver_list = []

	solver_osqp = tsid.SolverOSQP("osqp solver")

	solver_proxqp = tsid.SolverProxQP("proxqp solver")

	x = np.linalg.solve(A1, b1)

Variable Documentation

◆ A1

float test_Solvers.A1 = rng.random((n, n)) + 0.001 * np.eye(n)

Definition at line 63 of file test_Solvers.py.

◆ A_eq

test_Solvers.A_eq = rng.random((neq, n))

Definition at line 85 of file test_Solvers.py.

◆ A_in

test_Solvers.A_in = rng.random((nin, n))

Definition at line 69 of file test_Solvers.py.

◆ A_lb

float test_Solvers.A_lb = rng.random(nin) * NORMAL_DISTR_VAR

Definition at line 70 of file test_Solvers.py.

◆ A_ub

float test_Solvers.A_ub = rng.random(nin) * NORMAL_DISTR_VAR

Definition at line 71 of file test_Solvers.py.

◆ b1

test_Solvers.b1 = rng.random(n)

Definition at line 64 of file test_Solvers.py.

◆ b_eq

test_Solvers.b_eq = A_eq.dot(x)

Definition at line 86 of file test_Solvers.py.

◆ const1

test_Solvers.const1 = tsid.ConstraintLevel()

Definition at line 89 of file test_Solvers.py.

◆ const2

test_Solvers.const2 = tsid.ConstraintLevel()

Definition at line 95 of file test_Solvers.py.

◆ constrVal

test_Solvers.constrVal = A_in.dot(x)

Definition at line 72 of file test_Solvers.py.

◆ cost

test_Solvers.cost = tsid.ConstraintEquality("c1", A1, b1)

Definition at line 65 of file test_Solvers.py.

◆ damping

int test_Solvers.damping = 1e-10

Definition at line 15 of file test_Solvers.py.

◆ EPS

int test_Solvers.EPS = 1e-3

Definition at line 10 of file test_Solvers.py.

◆ eq_const

test_Solvers.eq_const = tsid.ConstraintEquality("eq1", A_eq, b_eq)

Definition at line 87 of file test_Solvers.py.

◆ GRADIENT_PERTURBATION_VARIANCE

int test_Solvers.GRADIENT_PERTURBATION_VARIANCE = 1e-2

Definition at line 18 of file test_Solvers.py.

◆ gradientPerturbations

list test_Solvers.gradientPerturbations = []

Definition at line 105 of file test_Solvers.py.

◆ HESSIAN_PERTURBATION_VARIANCE

int test_Solvers.HESSIAN_PERTURBATION_VARIANCE = 1e-1

Definition at line 19 of file test_Solvers.py.

◆ hessianPerturbations

list test_Solvers.hessianPerturbations = []

Definition at line 106 of file test_Solvers.py.

◆ HQPData

test_Solvers.HQPData = tsid.HQPData()

Definition at line 62 of file test_Solvers.py.

◆ HQPoutput

test_Solvers.HQPoutput = solver.solve(HQPData)

Definition at line 117 of file test_Solvers.py.

◆ in_const

test_Solvers.in_const = tsid.ConstraintInequality("ini1", A_in, A_lb, A_ub)

Definition at line 84 of file test_Solvers.py.

◆ MARGIN_PERC

int test_Solvers.MARGIN_PERC = 1e-3

Definition at line 20 of file test_Solvers.py.

◆ n

int test_Solvers.n = 60

Definition at line 12 of file test_Solvers.py.

◆ neq

int test_Solvers.neq = 36

Definition at line 13 of file test_Solvers.py.

◆ nin

int test_Solvers.nin = 40

Definition at line 14 of file test_Solvers.py.

◆ NORMAL_DISTR_VAR

float test_Solvers.NORMAL_DISTR_VAR = 10.0

Definition at line 17 of file test_Solvers.py.

◆ nTest

int test_Solvers.nTest = 100

Definition at line 11 of file test_Solvers.py.

◆ rng

test_Solvers.rng = np.random.default_rng(seed=0)

Definition at line 8 of file test_Solvers.py.

◆ solver_eiquadprog

test_Solvers.solver_eiquadprog = tsid.SolverHQuadProg("eiquadprog solver")

Definition at line 36 of file test_Solvers.py.

◆ solver_list

list test_Solvers.solver_list = []

Definition at line 34 of file test_Solvers.py.

◆ solver_osqp

test_Solvers.solver_osqp = tsid.SolverOSQP("osqp solver")

Definition at line 52 of file test_Solvers.py.

◆ solver_proxqp

test_Solvers.solver_proxqp = tsid.SolverProxQP("proxqp solver")

Definition at line 42 of file test_Solvers.py.

◆ x

test_Solvers.x = np.linalg.solve(A1, b1)

Definition at line 67 of file test_Solvers.py.

Variables