centroidal_dynamics::Solver_LP_abstract Class Reference

Abstract interface for a Linear Program (LP) solver. More...

#include <hpp/centroidal-dynamics/solver_LP_abstract.hh>

Public Member Functions
	Solver_LP_abstract ()
virtual	~Solver_LP_abstract ()
virtual LP_status	solve (Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub, Ref_vectorX sol)=0
virtual LP_status	solve (const std::string &filename, Ref_vectorX sol)
	Solve the linear program described in the specified file.
virtual bool	writeLpToFile (const std::string &filename, Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub)
	Write the specified Linear Program to binary file. minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub.
virtual bool	readLpFromFile (const std::string &filename, VectorX &c, VectorX &lb, VectorX &ub, MatrixXX &A, VectorX &Alb, VectorX &Aub)
	Read the data describing a Linear Program from the specified binary file. The vectors and matrices are resized inside the method. minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub.
virtual LP_status	getStatus ()=0
virtual double	getObjectiveValue ()=0
virtual void	getDualSolution (Ref_vectorX res)=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)

Static Public Member Functions
static Solver_LP_abstract *	getNewSolver (SolverLP solverType)
	Create a new LP solver of the specified type.

Protected Attributes
bool	m_useWarmStart
int	m_maxIter
double	m_maxTime

Detailed Description

Abstract interface for a Linear Program (LP) solver.

Constructor & Destructor Documentation

Solver_LP_abstract()

centroidal_dynamics::Solver_LP_abstract::Solver_LP_abstract ( )

inline

~Solver_LP_abstract()

virtual centroidal_dynamics::Solver_LP_abstract::~Solver_LP_abstract ( )

inlinevirtual

Member Function Documentation

getDualSolution()

virtual void centroidal_dynamics::Solver_LP_abstract::getDualSolution ( Ref_vectorX res )

pure virtual

Get the value of the dual variables.

getMaximumIterations()

virtual unsigned int centroidal_dynamics::Solver_LP_abstract::getMaximumIterations ( )

inlinevirtual

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

getMaximumTime()

virtual double centroidal_dynamics::Solver_LP_abstract::getMaximumTime ( )

inlinevirtual

Get the maximum time allowed to solve a problem.

getNewSolver()

Solver_LP_abstract * centroidal_dynamics::Solver_LP_abstract::getNewSolver ( SolverLP solverType )

static

Create a new LP solver of the specified type.

Parameters

solverType

Type of LP solver.

Returns

A pointer to the new solver.

getObjectiveValue()

virtual double centroidal_dynamics::Solver_LP_abstract::getObjectiveValue ( )

pure virtual

Get the objective value of the last solved problem.

getStatus()

virtual LP_status centroidal_dynamics::Solver_LP_abstract::getStatus ( )

pure virtual

Get the status of the solver.

getUseWarmStart()

virtual bool centroidal_dynamics::Solver_LP_abstract::getUseWarmStart ( )

inlinevirtual

Return true if the solver is allowed to warm start, false otherwise.

readLpFromFile()

bool centroidal_dynamics::Solver_LP_abstract::readLpFromFile ( const std::string & filename, VectorX & c, VectorX & lb, VectorX & ub, MatrixXX & A, VectorX & Alb, VectorX & Aub )

virtual

Read the data describing a Linear Program from the specified binary file. The vectors and matrices are resized inside the method. minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub.

Parameters

filename
c
lb
ub
A
Alb
Aub

Returns

True if the operation succeeded, false otherwise.

setMaximumIterations()

bool centroidal_dynamics::Solver_LP_abstract::setMaximumIterations ( unsigned int maxIter )

virtual

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

setMaximumTime()

bool centroidal_dynamics::Solver_LP_abstract::setMaximumTime ( double seconds )

virtual

Set the maximum time allowed to solve a problem.

setUseWarmStart()

virtual void centroidal_dynamics::Solver_LP_abstract::setUseWarmStart ( bool useWarmStart )

inlinevirtual

Specify whether the solver is allowed to use warm-start techniques.

solve() [1/2]

LP_status centroidal_dynamics::Solver_LP_abstract::solve ( const std::string & filename, Ref_vectorX sol )

virtual

Solve the linear program described in the specified file.

Parameters

filename	Name of the file containing the LP description.
sol	Output solution of the LP.

Returns

A flag describing the final status of the solver.

solve() [2/2]

virtual LP_status centroidal_dynamics::Solver_LP_abstract::solve ( Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub, Ref_vectorX sol )

pure virtual

Solve the linear program minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub

writeLpToFile()

bool centroidal_dynamics::Solver_LP_abstract::writeLpToFile ( const std::string & filename, Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub )

virtual

Write the specified Linear Program to binary file. minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub.

Parameters

filename
c
lb
ub
A
Alb
Aub

Returns

True if the operation succeeded, false otherwise.

Member Data Documentation

m_maxIter

int centroidal_dynamics::Solver_LP_abstract::m_maxIter

protected

m_maxTime

double centroidal_dynamics::Solver_LP_abstract::m_maxTime

protected

m_useWarmStart

bool centroidal_dynamics::Solver_LP_abstract::m_useWarmStart

protected

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

• include/hpp/centroidal-dynamics/solver_LP_abstract.hh
• src/solver_LP_abstract.cpp