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tsid::solvers::SolverHQuadProgFast Class Reference

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

Inheritance diagram for tsid::solvers::SolverHQuadProgFast:
Collaboration diagram for tsid::solvers::SolverHQuadProgFast:

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

 SolverHQuadProgFast (const std::string &name)
 
void resize (unsigned int n, unsigned int neq, unsigned int nin)
 
const HQPOutputsolve (const HQPData &problemData)
 
double getObjectiveValue ()
 
bool setMaximumIterations (unsigned int maxIter)
 
- Public Member Functions inherited from tsid::solvers::SolverHQPBase
 SolverHQPBase (const std::string &name)
 
virtual ~SolverHQPBase ()
 
virtual const std::string & name ()
 
virtual void resize (unsigned int n, unsigned int neq, unsigned int nin)=0
 
virtual const HQPOutputsolve (const HQPData &problemData)=0
 
virtual double getObjectiveValue ()=0
 
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

eiquadprog::solvers::EiquadprogFast m_solver
 
Matrix m_H
 
Vector m_g
 
Matrix m_CE
 
Vector m_ce0
 
Matrix m_CI
 
Vector m_ci0
 twice the rows because inequality constraints are bilateral More...
 
double m_objValue
 
double m_hessian_regularization
 
Eigen::VectorXi m_activeSet
 
int 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 std::string const HQP_status_string [5]
 

Member Typedef Documentation

◆ ConstRefMatrix

◆ ConstRefVector

◆ RefVector

◆ Vector

Constructor & Destructor Documentation

◆ SolverHQuadProgFast()

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

Member Function Documentation

◆ getObjectiveValue()

double tsid::solvers::SolverHQuadProgFast::getObjectiveValue ( )
virtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

◆ resize()

void tsid::solvers::SolverHQuadProgFast::resize ( unsigned int  n,
unsigned int  neq,
unsigned int  nin 
)
virtual

◆ sendMsg()

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

◆ setMaximumIterations()

bool tsid::solvers::SolverHQuadProgFast::setMaximumIterations ( unsigned int  maxIter)
virtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

◆ solve()

const HQPOutput & tsid::solvers::SolverHQuadProgFast::solve ( const HQPData problemData)
virtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

◆ m_activeSet

Eigen::VectorXi tsid::solvers::SolverHQuadProgFast::m_activeSet
protected

◆ m_activeSetSize

int tsid::solvers::SolverHQuadProgFast::m_activeSetSize
protected

vector containing the indexes of the active inequalities

◆ m_CE

Matrix tsid::solvers::SolverHQuadProgFast::m_CE
protected

◆ m_ce0

Vector tsid::solvers::SolverHQuadProgFast::m_ce0
protected

◆ m_CI

Matrix tsid::solvers::SolverHQuadProgFast::m_CI
protected

◆ m_ci0

Vector tsid::solvers::SolverHQuadProgFast::m_ci0
protected

twice the rows because inequality constraints are bilateral

◆ m_g

Vector tsid::solvers::SolverHQuadProgFast::m_g
protected

◆ m_H

Matrix tsid::solvers::SolverHQuadProgFast::m_H
protected

◆ m_hessian_regularization

double tsid::solvers::SolverHQuadProgFast::m_hessian_regularization
protected

◆ m_n

unsigned int tsid::solvers::SolverHQuadProgFast::m_n
protected

number of inequality constraints

◆ m_neq

unsigned int tsid::solvers::SolverHQuadProgFast::m_neq
protected

◆ m_nin

unsigned int tsid::solvers::SolverHQuadProgFast::m_nin
protected

number of equality constraints

◆ m_objValue

double tsid::solvers::SolverHQuadProgFast::m_objValue
protected

◆ m_solver

eiquadprog::solvers::EiquadprogFast tsid::solvers::SolverHQuadProgFast::m_solver
protected

◆ Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProgFast::Matrix

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