solver-HQP-qpmad.hpp

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//
// Copyright (c) 2022 Inria
//

#ifndef __invdyn_solvers_hqp_qpmad_hpp__
#define __invdyn_solvers_hqp_qpmad_hpp__

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

#include <qpmad/solver.h>

namespace tsid {
namespace solvers {
class TSID_DLLAPI SolverHQpmad : 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;

 typedef qpmad::SolverParameters Settings;

 SolverHQpmad(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;

 double getObjectiveValue() override;

 Settings& settings() { return m_settings; }

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

 qpmad::Solver m_solver;
 Settings m_settings;

 bool m_has_bounds;

 Matrix m_H; // hessian matrix
 Vector m_g; // gradient vector
 Vector m_lb; // gradient vector
 Vector m_ub; // gradient vector
 Matrix m_C; // constraint matrix
 Vector m_cl; // constraints lower bound
 Vector m_cu; // constraints upper bound

 double m_hessian_regularization;

 unsigned int m_nc;
 unsigned int m_n;
};
} // namespace solvers
} // namespace tsid

#endif // ifndef __invdyn_solvers_hqp_qpmad_hpp__