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18 #ifndef __invdyn_solvers_hqp_eiquadprog_rt_hpp__
19 #define __invdyn_solvers_hqp_eiquadprog_rt_hpp__
25 #include "eiquadprog/eiquadprog-rt.hpp"
34 template<
int nVars,
int nEqCon,
int nIneqCon>
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 void resize(
unsigned int n,
unsigned int neq,
unsigned int nin);
55 double getObjectiveValue();
58 bool setMaximumIterations(
unsigned int maxIter);
62 void sendMsg(
const std::string & s);
64 eiquadprog::solvers::RtEiquadprog<nVars, nEqCon, 2*nIneqCon>
m_solver;
66 typename RtMatrixX<nVars, nVars>::d
m_H;
67 typename RtVectorX<nVars>::d
m_g;
68 typename RtMatrixX<nEqCon, nVars>::d
m_CE;
69 typename RtVectorX<nEqCon>::d
m_ce0;
70 typename RtMatrixX<2*nIneqCon, nVars>::d
m_CI;
71 typename RtVectorX<2*nIneqCon>::d
m_ci0;
89 #endif // ifndef __invdyn_solvers_hqp_eiquadprog_rt_hpp__
math::RefVector RefVector
Definition: solver-HQP-eiquadprog-rt.hpp:42
RtVectorX< 2 *nIneqCon >::d m_ci0
twice the rows because inequality constraints are bilateral
Definition: solver-HQP-eiquadprog-rt.hpp:71
Eigen::VectorXi m_activeSet
Definition: solver-HQP-eiquadprog-rt.hpp:76
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-eiquadprog-rt.hpp:44
eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, 2 *nIneqCon > m_solver
Definition: solver-HQP-eiquadprog-rt.hpp:64
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
Definition: solver-HQP-eiquadprog-rt.hpp:35
double m_hessian_regularization
Definition: solver-HQP-eiquadprog-rt.hpp:74
class TSID_DLLAPI SolverHQuadProgRT
Definition: fwd.hpp:69
RtMatrixX< nVars, nVars >::d m_H
Definition: solver-HQP-eiquadprog-rt.hpp:66
int m_nin
number of equality constraints
Definition: solver-HQP-eiquadprog-rt.hpp:83
double m_objValue
Definition: solver-HQP-eiquadprog-rt.hpp:72
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
int m_n
number of inequality constraints
Definition: solver-HQP-eiquadprog-rt.hpp:84
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
RtMatrixX< 2 *nIneqCon, nVars >::d m_CI
Definition: solver-HQP-eiquadprog-rt.hpp:70
Definition: solver-HQP-output.hpp:32
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36
RtVectorX< nEqCon >::d m_ce0
Definition: solver-HQP-eiquadprog-rt.hpp:69
RtVectorX< nVars >::d m_g
Definition: solver-HQP-eiquadprog-rt.hpp:67
math::Vector Vector
Definition: solver-HQP-eiquadprog-rt.hpp:41
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
int m_activeSetSize
vector containing the indexes of the active inequalities
Definition: solver-HQP-eiquadprog-rt.hpp:77
int m_neq
Definition: solver-HQP-eiquadprog-rt.hpp:82
Definition: constraint-bound.hpp:26
math::ConstRefVector ConstRefVector
Definition: solver-HQP-eiquadprog-rt.hpp:43
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-eiquadprog-rt.hpp:40
const typedef Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
RtMatrixX< nEqCon, nVars >::d m_CE
Definition: solver-HQP-eiquadprog-rt.hpp:68
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91