#include <tsid/solvers/solver-HQP-eiquadprog-fast.hpp>

Inheritance diagram for tsid::solvers::SolverHQuadProgFast:

Collaboration diagram for tsid::solvers::SolverHQuadProgFast:

Public Types
typedef math::Vector	Vector
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix
Public Types inherited from tsid::solvers::SolverHQPBase
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef math::ConstRefMatrix	ConstRefMatrix

Public Member Functions
	SolverHQuadProgFast (const std::string &name)
void	resize (unsigned int n, unsigned int neq, unsigned int nin) override
const HQPOutput &	solve (const HQPData &problemData) override
void	retrieveQPData (const HQPData &problemData, const bool hessianRegularization=true) override
const QPDataQuadProg	getQPData () const
double	getObjectiveValue () override
bool	setMaximumIterations (unsigned int maxIter) override
Public Member Functions inherited from tsid::solvers::SolverHQPBase
	SolverHQPBase (const std::string &name)
virtual	~SolverHQPBase ()=default
virtual const std::string &	name () const
virtual bool	getUseWarmStart ()
virtual void	setUseWarmStart (bool useWarmStart)
virtual unsigned int	getMaximumIterations ()
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
eiquadprog::solvers::EiquadprogFast	m_solver
TSID_DEPRECATED Matrix	m_H
TSID_DEPRECATED Vector	m_g
TSID_DEPRECATED Matrix	m_CE
TSID_DEPRECATED Vector	m_ce0
TSID_DEPRECATED Matrix	m_CI
TSID_DEPRECATED Vector	m_ci0
	twice the rows because inequality constraints are bilateral
double	m_objValue
double	m_hessian_regularization
Eigen::VectorXi	m_activeSet
int	m_activeSetSize
	vector containing the indexes of the active inequalities
unsigned int	m_neq
unsigned int	m_nin
	number of equality constraints
unsigned int	m_n
	number of inequality constraints
QPDataQuadProgTpl< double >	m_qpData
	number of variables
Protected Attributes inherited from tsid::solvers::SolverHQPBase
std::string	m_name
bool	m_useWarmStart
unsigned int	m_maxIter
double	m_maxTime
HQPOutput	m_output

Additional Inherited Members
Static Public Attributes inherited from tsid::solvers::SolverHQPBase
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string const	HQP_status_string [5]

Member Typedef Documentation

◆ ConstRefMatrix

typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProgFast::ConstRefMatrix

◆ ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverHQuadProgFast::ConstRefVector

◆ RefVector

typedef math::RefVector tsid::solvers::SolverHQuadProgFast::RefVector

◆ Vector

typedef math::Vector tsid::solvers::SolverHQuadProgFast::Vector

Constructor & Destructor Documentation

◆ SolverHQuadProgFast()

tsid::solvers::SolverHQuadProgFast::SolverHQuadProgFast ( const std::string & name )

Member Function Documentation

◆ getObjectiveValue()

double tsid::solvers::SolverHQuadProgFast::getObjectiveValue ( )

overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

◆ getQPData()

const QPDataQuadProg tsid::solvers::SolverHQuadProgFast::getQPData ( ) const

inline

Return the QP data object.

◆ resize()

void tsid::solvers::SolverHQuadProgFast::resize	(	unsigned int	n,
		unsigned int	neq,
		unsigned int	nin )

overridevirtual

Implements tsid::solvers::SolverHQPBase.

◆ retrieveQPData()

void tsid::solvers::SolverHQuadProgFast::retrieveQPData	(	const HQPData &	problemData,
		const bool	hessianRegularization = true )

overridevirtual

Retrieve the matrices describing a QP problem from the problem data.

Implements tsid::solvers::SolverHQPBase.

◆ sendMsg()

void tsid::solvers::SolverHQuadProgFast::sendMsg ( const std::string & s )

protected

◆ setMaximumIterations()

bool tsid::solvers::SolverHQuadProgFast::setMaximumIterations ( unsigned int maxIter )

overridevirtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

◆ solve()

const HQPOutput & tsid::solvers::SolverHQuadProgFast::solve ( const HQPData & problemData )

overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

◆ m_activeSet

Eigen::VectorXi tsid::solvers::SolverHQuadProgFast::m_activeSet

protected

◆ m_activeSetSize

int tsid::solvers::SolverHQuadProgFast::m_activeSetSize

protected

vector containing the indexes of the active inequalities

◆ m_CE

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_CE

protected

◆ m_ce0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_ce0

protected

◆ m_CI

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_CI

protected

◆ m_ci0

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_ci0

protected

twice the rows because inequality constraints are bilateral

◆ m_g

TSID_DEPRECATED Vector tsid::solvers::SolverHQuadProgFast::m_g

protected

◆ m_H

TSID_DEPRECATED Matrix tsid::solvers::SolverHQuadProgFast::m_H

protected

◆ m_hessian_regularization

double tsid::solvers::SolverHQuadProgFast::m_hessian_regularization

protected

◆ m_n

unsigned int tsid::solvers::SolverHQuadProgFast::m_n

protected

number of inequality constraints

◆ m_neq

unsigned int tsid::solvers::SolverHQuadProgFast::m_neq

protected

◆ m_nin

unsigned int tsid::solvers::SolverHQuadProgFast::m_nin

protected

number of equality constraints

◆ m_objValue

double tsid::solvers::SolverHQuadProgFast::m_objValue

protected

◆ m_qpData

QPDataQuadProgTpl<double> tsid::solvers::SolverHQuadProgFast::m_qpData

protected

number of variables

◆ m_solver

eiquadprog::solvers::EiquadprogFast tsid::solvers::SolverHQuadProgFast::m_solver

protected

◆ Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProgFast::Matrix

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

include/tsid/solvers/solver-HQP-eiquadprog-fast.hpp
src/solvers/solver-HQP-eiquadprog-fast.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Typedef Documentation

◆ ConstRefMatrix

◆ ConstRefVector

◆ RefVector

◆ Vector

Constructor & Destructor Documentation

◆ SolverHQuadProgFast()

Member Function Documentation

◆ getObjectiveValue()

◆ getQPData()

◆ resize()

◆ retrieveQPData()

◆ sendMsg()

◆ setMaximumIterations()

◆ solve()

Member Data Documentation

◆ m_activeSet

◆ m_activeSetSize

◆ m_CE

◆ m_ce0

◆ m_CI

◆ m_ci0

◆ m_g

◆ m_H

◆ m_hessian_regularization

◆ m_n

◆ m_neq

◆ m_nin

◆ m_objValue

◆ m_qpData

◆ m_solver

◆ Matrix