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

Inheritance diagram for tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >:

Collaboration diagram for tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >:

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
	SolverHQuadProgRT (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 &, const bool) override
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::RtEiquadprog< nVars, nEqCon, 2 *nIneqCon >	m_solver
RtMatrixX< nVars, nVars >::d	m_H
RtVectorX< nVars >::d	m_g
RtMatrixX< nEqCon, nVars >::d	m_CE
RtVectorX< nEqCon >::d	m_ce0
RtMatrixX< 2 *nIneqCon, nVars >::d	m_CI
RtVectorX< 2 *nIneqCon >::d	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
int	m_neq
int	m_nin
	number of equality constraints
int	m_n
	number of inequality constraints
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

template<int nVars, int nEqCon, int nIneqCon>

typedef math::ConstRefMatrix tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::ConstRefMatrix

◆ ConstRefVector

template<int nVars, int nEqCon, int nIneqCon>

typedef math::ConstRefVector tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::ConstRefVector

◆ RefVector

template<int nVars, int nEqCon, int nIneqCon>

typedef math::RefVector tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::RefVector

◆ Vector

template<int nVars, int nEqCon, int nIneqCon>

typedef math::Vector tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::Vector

Constructor & Destructor Documentation

◆ SolverHQuadProgRT()

template<int nVars, int nEqCon, int nIneqCon>

tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::SolverHQuadProgRT ( const std::string & name )

Member Function Documentation

◆ getObjectiveValue()

template<int nVars, int nEqCon, int nIneqCon>

double tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::getObjectiveValue ( )

overridevirtual

Return the QP data object. Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

◆ resize()

template<int nVars, int nEqCon, int nIneqCon>

void tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::resize	(	unsigned int	n,
		unsigned int	neq,
		unsigned int	nin )

overridevirtual

Implements tsid::solvers::SolverHQPBase.

◆ retrieveQPData()

template<int nVars, int nEqCon, int nIneqCon>

void tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::retrieveQPData	(	const HQPData &	,
		const bool	)

inlineoverridevirtual

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

Implements tsid::solvers::SolverHQPBase.

◆ sendMsg()

template<int nVars, int nEqCon, int nIneqCon>

void tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::sendMsg ( const std::string & s )

protected

◆ setMaximumIterations()

template<int nVars, int nEqCon, int nIneqCon>

bool tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::setMaximumIterations ( unsigned int maxIter )

overridevirtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

◆ solve()

template<int nVars, int nEqCon, int nIneqCon>

const HQPOutput & tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::solve ( const HQPData & problemData )

overridevirtual

Solve the given Hierarchical Quadratic Program

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

◆ m_activeSet

template<int nVars, int nEqCon, int nIneqCon>

Eigen::VectorXi tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_activeSet

protected

◆ m_activeSetSize

template<int nVars, int nEqCon, int nIneqCon>

int tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_activeSetSize

protected

vector containing the indexes of the active inequalities

◆ m_CE

template<int nVars, int nEqCon, int nIneqCon>

RtMatrixX<nEqCon,nVars>::d tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_CE

protected

◆ m_ce0

template<int nVars, int nEqCon, int nIneqCon>

RtVectorX<nEqCon>::d tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_ce0

protected

◆ m_CI

template<int nVars, int nEqCon, int nIneqCon>

RtMatrixX<2*nIneqCon,nVars>::d tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_CI

protected

◆ m_ci0

template<int nVars, int nEqCon, int nIneqCon>

RtVectorX<2*nIneqCon>::d tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_ci0

protected

twice the rows because inequality constraints are bilateral

◆ m_g

template<int nVars, int nEqCon, int nIneqCon>

RtVectorX<nVars>::d tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_g

protected

◆ m_H

template<int nVars, int nEqCon, int nIneqCon>

RtMatrixX<nVars,nVars>::d tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_H

protected

◆ m_hessian_regularization

template<int nVars, int nEqCon, int nIneqCon>

double tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_hessian_regularization

protected

◆ m_n

template<int nVars, int nEqCon, int nIneqCon>

int tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_n

protected

number of inequality constraints

◆ m_neq

template<int nVars, int nEqCon, int nIneqCon>

int tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_neq

protected

◆ m_nin

template<int nVars, int nEqCon, int nIneqCon>

int tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_nin

protected

number of equality constraints

◆ m_objValue

template<int nVars, int nEqCon, int nIneqCon>

double tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_objValue

protected

◆ m_solver

template<int nVars, int nEqCon, int nIneqCon>

eiquadprog::solvers::RtEiquadprog<nVars, nEqCon, 2 * nIneqCon> tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::m_solver

protected

◆ Matrix

template<int nVars, int nEqCon, int nIneqCon>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >::Matrix

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

include/tsid/solvers/solver-HQP-eiquadprog-rt.hpp
include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx

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

◆ SolverHQuadProgRT()

Member Function Documentation

◆ getObjectiveValue()

◆ 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_solver

◆ Matrix