hpp-centroidal-dynamics  4.15.1
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
centroidal_dynamics::Solver_LP_qpoases Class Reference

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

Inheritance diagram for centroidal_dynamics::Solver_LP_qpoases:
Collaboration diagram for centroidal_dynamics::Solver_LP_qpoases:

Public Member Functions

 Solver_LP_qpoases ()
 
virtual ~Solver_LP_qpoases ()
 
LP_status solve (Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub, Ref_vectorX sol)
 
virtual LP_status getStatus ()
 
virtual double getObjectiveValue ()
 
virtual void getDualSolution (Ref_vectorX res)
 
- Public Member Functions inherited from centroidal_dynamics::Solver_LP_abstract
 Solver_LP_abstract ()
 
virtual ~Solver_LP_abstract ()
 
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 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)
 

Additional Inherited Members

- Static Public Member Functions inherited from centroidal_dynamics::Solver_LP_abstract
static Solver_LP_abstractgetNewSolver (SolverLP solverType)
 Create a new LP solver of the specified type. More...
 
- Protected Attributes inherited from centroidal_dynamics::Solver_LP_abstract
bool m_useWarmStart
 
int m_maxIter
 
double m_maxTime
 

Constructor & Destructor Documentation

◆ Solver_LP_qpoases()

centroidal_dynamics::Solver_LP_qpoases::Solver_LP_qpoases ( )

◆ ~Solver_LP_qpoases()

virtual centroidal_dynamics::Solver_LP_qpoases::~Solver_LP_qpoases ( )
inlinevirtual

Member Function Documentation

◆ getDualSolution()

virtual void centroidal_dynamics::Solver_LP_qpoases::getDualSolution ( Ref_vectorX  res)
inlinevirtual

Get the value of the dual variables.

Implements centroidal_dynamics::Solver_LP_abstract.

◆ getObjectiveValue()

virtual double centroidal_dynamics::Solver_LP_qpoases::getObjectiveValue ( )
inlinevirtual

Get the objective value of the last solved problem.

Implements centroidal_dynamics::Solver_LP_abstract.

◆ getStatus()

LP_status centroidal_dynamics::Solver_LP_qpoases::getStatus ( )
virtual

Get the status of the solver.

Implements centroidal_dynamics::Solver_LP_abstract.

◆ solve()

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

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

Implements centroidal_dynamics::Solver_LP_abstract.


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