tsid::solvers::SolverOSQP Class Reference

#include <tsid/solvers/solver-osqp.hpp>

Inheritance diagram for tsid::solvers::SolverOSQP:

Collaboration diagram for tsid::solvers::SolverOSQP:

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
	SolverOSQP (const std::string &name)
	SolverOSQP (const SolverOSQP &other)
void	resize (unsigned int n, unsigned int neq, unsigned int nin) override
void	retrieveQPData (const HQPData &problemData, const bool hessianRegularization=false) override
const QPData	getQPData () const
const HQPOutput &	solve (const HQPData &problemData) override
double	getObjectiveValue () override
bool	setMaximumIterations (unsigned int maxIter) override
void	setSigma (double sigma)
void	setAlpha (double alpha)
void	setRho (double rho)
void	setEpsilonAbsolute (double epsAbs)
void	setEpsilonRelative (double epsRel)
void	setVerbose (bool isVerbose=false)
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
double	m_objValue
double	m_hessian_regularization
OsqpEigen::Solver	m_solver
unsigned int	m_neq
unsigned int	m_nin
	number of equality constraints
unsigned int	m_n
	number of inequality constraints
QPDataTpl< double >	m_qpData
	number of variables
double	m_rho
double	m_sigma
double	m_alpha
double	m_epsAbs
double	m_epsRel
bool	m_isVerbose
bool	m_isDataInitialized
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::SolverOSQP::ConstRefMatrix

ConstRefVector

typedef math::ConstRefVector tsid::solvers::SolverOSQP::ConstRefVector

RefVector

typedef math::RefVector tsid::solvers::SolverOSQP::RefVector

Vector

typedef math::Vector tsid::solvers::SolverOSQP::Vector

Constructor & Destructor Documentation

SolverOSQP() [1/2]

tsid::solvers::SolverOSQP::SolverOSQP

(

const std::string &

name

)

SolverOSQP() [2/2]

tsid::solvers::SolverOSQP::SolverOSQP

(

const SolverOSQP &

other

)

Member Function Documentation

getObjectiveValue()

double tsid::solvers::SolverOSQP::getObjectiveValue ( )

overridevirtual

Get the objective value of the last solved problem.

Implements tsid::solvers::SolverHQPBase.

getQPData()

const QPData tsid::solvers::SolverOSQP::getQPData ( ) const

inline

Return the QP data object.

resize()

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

overridevirtual

Implements tsid::solvers::SolverHQPBase.

retrieveQPData()

void tsid::solvers::SolverOSQP::retrieveQPData ( const HQPData & problemData, const bool hessianRegularization = false )

overridevirtual

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

Implements tsid::solvers::SolverHQPBase.

sendMsg()

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

protected

setAlpha()

void tsid::solvers::SolverOSQP::setAlpha

(

double

alpha

)

setEpsilonAbsolute()

void tsid::solvers::SolverOSQP::setEpsilonAbsolute

(

double

epsAbs

)

setEpsilonRelative()

void tsid::solvers::SolverOSQP::setEpsilonRelative

(

double

epsRel

)

setMaximumIterations()

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

overridevirtual

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

Reimplemented from tsid::solvers::SolverHQPBase.

setRho()

void tsid::solvers::SolverOSQP::setRho

(

double

rho

)

setSigma()

void tsid::solvers::SolverOSQP::setSigma

(

double

sigma

)

setVerbose()

void tsid::solvers::SolverOSQP::setVerbose

(

bool

isVerbose = false

)

solve()

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

overridevirtual

Solve the given Hierarchical Quadratic Program.

Implements tsid::solvers::SolverHQPBase.

Member Data Documentation

m_alpha

double tsid::solvers::SolverOSQP::m_alpha

protected

m_epsAbs

double tsid::solvers::SolverOSQP::m_epsAbs

protected

m_epsRel

double tsid::solvers::SolverOSQP::m_epsRel

protected

m_hessian_regularization

double tsid::solvers::SolverOSQP::m_hessian_regularization

protected

m_isDataInitialized

bool tsid::solvers::SolverOSQP::m_isDataInitialized

protected

m_isVerbose

bool tsid::solvers::SolverOSQP::m_isVerbose

protected

m_n

unsigned int tsid::solvers::SolverOSQP::m_n

protected

number of inequality constraints

m_neq

unsigned int tsid::solvers::SolverOSQP::m_neq

protected

m_nin

unsigned int tsid::solvers::SolverOSQP::m_nin

protected

number of equality constraints

m_objValue

double tsid::solvers::SolverOSQP::m_objValue

protected

m_qpData

QPDataTpl<double> tsid::solvers::SolverOSQP::m_qpData

protected

number of variables

m_rho

double tsid::solvers::SolverOSQP::m_rho

protected

m_sigma

double tsid::solvers::SolverOSQP::m_sigma

protected

m_solver

OsqpEigen::Solver tsid::solvers::SolverOSQP::m_solver

protected

Matrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix tsid::solvers::SolverOSQP::Matrix

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

• include/tsid/solvers/solver-osqp.hpp
• src/solvers/solver-osqp.cpp