tsid::solvers::SolverHQuadProg Class Reference

Abstract interface for a Quadratic Program (HQP) solver. More...

#include <tsid/solvers/solver-HQP-eiquadprog.hpp>

Inheritance diagram for tsid::solvers::SolverHQuadProg:

Collaboration diagram for tsid::solvers::SolverHQuadProg:

Public Types
typedef math::Vector	Vector
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix
Public Types inherited from tsid::solvers::SolverHQPBase
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix

Public Member Functions
	SolverHQuadProg (const std::string &name)
void	resize (unsigned int n, unsigned int neq, unsigned int nin)
const HQPOutput &	solve (const HQPData &problemData)
double	getObjectiveValue ()
Public Member Functions inherited from tsid::solvers::SolverHQPBase
	SolverHQPBase (const std::string &name)
virtual	~SolverHQPBase ()
virtual const std::string &	name ()
virtual bool	getUseWarmStart ()
virtual void	setUseWarmStart (bool useWarmStart)
virtual unsigned int	getMaximumIterations ()
virtual bool	setMaximumIterations (unsigned int maxIter)
virtual double	getMaximumTime ()
virtual bool	setMaximumTime (double seconds)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix	Matrix

Protected Member Functions
void	sendMsg (const std::string &s)

Protected Attributes
Matrix	m_H
Vector	m_g
Matrix	m_CE
Vector	m_ce0
Matrix	m_CI
Vector	m_ci0
double	m_objValue
double	m_hessian_regularization
Eigen::VectorXi	m_activeSet
tsid::math::Index	m_activeSetSize
	vector containing the indexes of the active inequalities More...
unsigned int	m_neq
unsigned int	m_nin
	number of equality constraints More...
unsigned int	m_n
	number of inequality constraints More...
Protected Attributes inherited from tsid::solvers::SolverHQPBase
std::string	m_name
bool	m_useWarmStart
int	m_maxIter
double	m_maxTime
HQPOutput	m_output

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

Abstract interface for a Quadratic Program (HQP) solver.

Member Typedef Documentation

ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProg::ConstRefMatrix

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQuadProg::ConstRefVector

RefVector

typedef math::RefVector tsid::solvers::SolverHQuadProg::RefVector

Vector

typedef math::Vector tsid::solvers::SolverHQuadProg::Vector

Constructor & Destructor Documentation

SolverHQuadProg()

SolverHQuadProg::SolverHQuadProg

(

const std::string &

name

)

Member Function Documentation

getObjectiveValue()

double SolverHQuadProg::getObjectiveValue ( )

virtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

resize()

void SolverHQuadProg::resize ( unsigned int  n, unsigned int  neq, unsigned int  nin  )

virtual

Implements tsid::solvers::SolverHQPBase.

sendMsg()

void SolverHQuadProg::sendMsg ( const std::string &  s )

protected

solve()

const HQPOutput & SolverHQuadProg::solve ( const HQPData &  problemData )

virtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

m_activeSet

Eigen::VectorXi tsid::solvers::SolverHQuadProg::m_activeSet

protected

m_activeSetSize

tsid::math::Index tsid::solvers::SolverHQuadProg::m_activeSetSize

protected

vector containing the indexes of the active inequalities

m_CE

Matrix tsid::solvers::SolverHQuadProg::m_CE

protected

m_ce0

Vector tsid::solvers::SolverHQuadProg::m_ce0

protected

m_CI

Matrix tsid::solvers::SolverHQuadProg::m_CI

protected

m_ci0

Vector tsid::solvers::SolverHQuadProg::m_ci0

protected

m_g

Vector tsid::solvers::SolverHQuadProg::m_g

protected

m_H

Matrix tsid::solvers::SolverHQuadProg::m_H

protected

m_hessian_regularization

double tsid::solvers::SolverHQuadProg::m_hessian_regularization

protected

m_n

unsigned int tsid::solvers::SolverHQuadProg::m_n

protected

number of inequality constraints

m_neq

unsigned int tsid::solvers::SolverHQuadProg::m_neq

protected

m_nin

unsigned int tsid::solvers::SolverHQuadProg::m_nin

protected

number of equality constraints

m_objValue

double tsid::solvers::SolverHQuadProg::m_objValue

protected

Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProg::Matrix

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

• include/tsid/solvers/solver-HQP-eiquadprog.hpp
• src/solvers/solver-HQP-eiquadprog.cpp