solver-HQP-eiquadprog-rt.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_solvers_hqp_eiquadprog_rt_hpp__
#define __invdyn_solvers_hqp_eiquadprog_rt_hpp__

#include "tsid/math/fwd.hpp"
#include "tsid/solvers/fwd.hpp"
#include "tsid/solvers/solver-HQP-base.hpp"

#include "eiquadprog/eiquadprog-rt.hpp"

namespace tsid {
namespace solvers {
template <int nVars, int nEqCon, int nIneqCon>
class TSID_DLLAPI SolverHQuadProgRT : public SolverHQPBase {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Matrix Matrix;
 typedef math::Vector Vector;
 typedef math::RefVector RefVector;
 typedef math::ConstRefVector ConstRefVector;
 typedef math::ConstRefMatrix ConstRefMatrix;

 SolverHQuadProgRT(const std::string& name);

 void resize(unsigned int n, unsigned int neq, unsigned int nin) override;

 const HQPOutput& solve(const HQPData& problemData) override;

 // TODO: change eiquadprog-rt to new API
 void retrieveQPData(const HQPData& /*problemData*/,
 const bool /*hessianRegularization = true*/) override {}

 // /** Return the QP data object. */
 // const QPDataQuadProg getQPData() const { return m_qpData; }

 double getObjectiveValue() override;

 bool setMaximumIterations(unsigned int maxIter) override;

 protected:
 void sendMsg(const std::string& s);

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

 typename RtMatrixX<nVars, nVars>::d m_H;
 typename RtVectorX<nVars>::d m_g;
 typename RtMatrixX<nEqCon, nVars>::d m_CE;
 typename RtVectorX<nEqCon>::d m_ce0;
 typename RtMatrixX<2 * nIneqCon, nVars>::d
 m_CI;
 typename RtVectorX<2 * nIneqCon>::d m_ci0;
 double m_objValue;

 double m_hessian_regularization;

 Eigen::VectorXi
 m_activeSet;
 int m_activeSetSize;

 // Eigen::FullPivLU<template RtMatrixX<nEqCon, nVars> > m_CE_lu;
 // ColPivHouseholderQR

 int m_neq;
 int m_nin;
 int m_n;
};
} // namespace solvers
} // namespace tsid

#endif // ifndef __invdyn_solvers_hqp_eiquadprog_rt_hpp__