Abstract interface for a Quadratic Program (HQP) solver. More...
#include <tsid/solvers/solver-HQP-eiquadprog.hpp>
Public Types | |
typedef math::Vector | Vector |
typedef math::RefVector | RefVector |
typedef math::ConstRefVector | ConstRefVector |
typedef math::ConstRefMatrix | ConstRefMatrix |
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typedef math::RefVector | RefVector |
typedef math::ConstRefVector | ConstRefVector |
typedef math::ConstRefMatrix | ConstRefMatrix |
Public Member Functions | |
SolverHQuadProg (const std::string &name) | |
void | resize (unsigned int n, unsigned int neq, unsigned int nin) |
const HQPOutput & | solve (const HQPData &problemData) |
double | getObjectiveValue () |
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SolverHQPBase (const std::string &name) | |
virtual | ~SolverHQPBase () |
virtual const std::string & | name () |
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 | |
Matrix | m_H |
Vector | m_g |
Matrix | m_CE |
Vector | m_ce0 |
Matrix | m_CI |
Vector | m_ci0 |
double | m_objValue |
double | m_hessian_regularization |
Eigen::VectorXi | m_activeSet |
tsid::math::Index | 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... | |
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std::string | m_name |
bool | m_useWarmStart |
int | m_maxIter |
double | m_maxTime |
HQPOutput | m_output |
Additional Inherited Members | |
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static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const std::string | HQP_status_string [5] |
Abstract interface for a Quadratic Program (HQP) solver.
typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProg::ConstRefMatrix |
typedef math::ConstRefVector tsid::solvers::SolverHQuadProg::ConstRefVector |
SolverHQuadProg::SolverHQuadProg | ( | const std::string & | name | ) |
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Get the objective value of the last solved problem.
Implements tsid::solvers::SolverHQPBase.
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Implements tsid::solvers::SolverHQPBase.
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Solve the given Hierarchical Quadratic Program
Implements tsid::solvers::SolverHQPBase.
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vector containing the indexes of the active inequalities
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number of inequality constraints
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number of equality constraints
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProg::Matrix |