hpp-centroidal-dynamics
4.14.0
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
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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. More... | |
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. More... | |
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. More... | |
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. More... | |
Protected Attributes | |
bool | m_useWarmStart |
int | m_maxIter |
double | m_maxTime |
Abstract interface for a Linear Program (LP) solver.
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inline |
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inlinevirtual |
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pure virtual |
Get the value of the dual variables.
Implemented in centroidal_dynamics::Solver_LP_qpoases.
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inlinevirtual |
Get the current maximum number of iterations performed by the solver.
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inlinevirtual |
Get the maximum time allowed to solve a problem.
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static |
Create a new LP solver of the specified type.
solverType | Type of LP solver. |
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pure virtual |
Get the objective value of the last solved problem.
Implemented in centroidal_dynamics::Solver_LP_qpoases.
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pure virtual |
Get the status of the solver.
Implemented in centroidal_dynamics::Solver_LP_qpoases.
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inlinevirtual |
Return true if the solver is allowed to warm start, false otherwise.
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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.
filename | |
c | |
lb | |
ub | |
A | |
Alb | |
Aub |
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virtual |
Set the current maximum number of iterations performed by the solver.
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virtual |
Set the maximum time allowed to solve a problem.
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inlinevirtual |
Specify whether the solver is allowed to use warm-start techniques.
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pure virtual |
Solve the linear program minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub
Implemented in centroidal_dynamics::Solver_LP_qpoases.
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virtual |
Solve the linear program described in the specified file.
filename | Name of the file containing the LP description. |
sol | Output solution of the LP. |
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virtual |
Write the specified Linear Program to binary file. minimize c' x subject to Alb <= A x <= Aub lb <= x <= ub.
filename | |
c | |
lb | |
ub | |
A | |
Alb | |
Aub |
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protected |
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protected |
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protected |