Loading...
Searching...
No Matches
solver-HQP-output.hpp
Go to the documentation of this file.
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_output_hpp__
19#define __invdyn_solvers_hqp_output_hpp__
20
21#include "tsid/solvers/fwd.hpp"
22#include "tsid/math/fwd.hpp"
23
24#include <vector>
25
26
27namespace tsid
28{
29 namespace solvers
30 {
31
33 {
34 public:
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36
39
40 HQPStatus status;
45
47
48 HQPOutput(int nVars, int nEqCon, int nInCon)
49 {
50 resize(nVars, nEqCon, nInCon);
51 }
52
53 void resize(int nVars, int nEqCon, int nInCon)
54 {
55 x.resize(nVars);
56 lambda.resize(nEqCon+nInCon);
57 activeSet.resize(nInCon);
58 }
59 };
60 }
61}
62
63#endif // ifndef __invdyn_solvers_hqp_output_hpp__
Definition: solver-HQP-output.hpp:33
HQPOutput()
number of iterations performed by the solver
Definition: solver-HQP-output.hpp:46
HQPStatus status
Definition: solver-HQP-output.hpp:40
math::VectorXi VectorXi
Definition: solver-HQP-output.hpp:38
VectorXi activeSet
Lagrange multipliers.
Definition: solver-HQP-output.hpp:43
Vector lambda
solution
Definition: solver-HQP-output.hpp:42
void resize(int nVars, int nEqCon, int nInCon)
Definition: solver-HQP-output.hpp:53
HQPOutput(int nVars, int nEqCon, int nInCon)
Definition: solver-HQP-output.hpp:48
Vector x
solver status
Definition: solver-HQP-output.hpp:41
int iterations
indexes of active inequalities
Definition: solver-HQP-output.hpp:44
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: solver-HQP-output.hpp:37
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Definition: constraint-bound.hpp:27