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solver-HQP-eiquadprog-fast.hpp
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1//
2// Copyright (c) 2017 CNRS
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __invdyn_solvers_hqp_eiquadprog_fast_hpp__
19#define __invdyn_solvers_hqp_eiquadprog_fast_hpp__
20
22#include "eiquadprog/eiquadprog-fast.hpp"
23
24namespace tsid
25{
26 namespace solvers
27 {
32 {
33 public:
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35
41
42 SolverHQuadProgFast(const std::string & name);
43
44 void resize(unsigned int n, unsigned int neq, unsigned int nin);
45
48 const HQPOutput & solve(const HQPData & problemData);
49
51 double getObjectiveValue();
52
54 bool setMaximumIterations(unsigned int maxIter);
55
56 protected:
57
58 void sendMsg(const std::string & s);
59
60 // <nVars, nEqCon, 2*nIneqCon>
61 eiquadprog::solvers::EiquadprogFast m_solver;
62
69 double m_objValue;
70
72
73 Eigen::VectorXi m_activeSet;
75
76 unsigned int m_neq;
77 unsigned int m_nin;
78 unsigned int m_n;
79 };
80 }
81}
82
83#endif // ifndef __invdyn_solvers_hqp_eiquadprog_fast_hpp__
Definition: solver-HQP-output.hpp:33
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:37
Definition: solver-HQP-eiquadprog-fast.hpp:32
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-eiquadprog-fast.hpp:40
double m_objValue
Definition: solver-HQP-eiquadprog-fast.hpp:69
unsigned int m_neq
Definition: solver-HQP-eiquadprog-fast.hpp:76
unsigned int m_n
number of inequality constraints
Definition: solver-HQP-eiquadprog-fast.hpp:78
double m_hessian_regularization
Definition: solver-HQP-eiquadprog-fast.hpp:71
Matrix m_CE
Definition: solver-HQP-eiquadprog-fast.hpp:65
int m_activeSetSize
vector containing the indexes of the active inequalities
Definition: solver-HQP-eiquadprog-fast.hpp:74
math::Vector Vector
Definition: solver-HQP-eiquadprog-fast.hpp:37
unsigned int m_nin
number of equality constraints
Definition: solver-HQP-eiquadprog-fast.hpp:77
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-eiquadprog-fast.hpp:36
Vector m_g
Definition: solver-HQP-eiquadprog-fast.hpp:64
math::ConstRefVector ConstRefVector
Definition: solver-HQP-eiquadprog-fast.hpp:39
Eigen::VectorXi m_activeSet
Definition: solver-HQP-eiquadprog-fast.hpp:73
Vector m_ce0
Definition: solver-HQP-eiquadprog-fast.hpp:66
Vector m_ci0
twice the rows because inequality constraints are bilateral
Definition: solver-HQP-eiquadprog-fast.hpp:68
Matrix m_H
Definition: solver-HQP-eiquadprog-fast.hpp:63
Matrix m_CI
Definition: solver-HQP-eiquadprog-fast.hpp:67
eiquadprog::solvers::EiquadprogFast m_solver
Definition: solver-HQP-eiquadprog-fast.hpp:61
math::RefVector RefVector
Definition: solver-HQP-eiquadprog-fast.hpp:38
#define TSID_DLLAPI
Definition: config.hh:64
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
Definition: constraint-bound.hpp:27