solver-HQP-eiquadprog.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_hpp__
#define __invdyn_solvers_hqp_eiquadprog_hpp__

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

namespace tsid {
namespace solvers {
class TSID_DLLAPI SolverHQuadProg : 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;

 SolverHQuadProg(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 { return m_qpData; }

 double getObjectiveValue() override;

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

 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;
 double m_objValue;
 double m_hessian_regularization;

 Eigen::VectorXi
 m_activeSet;
 tsid::math::Index m_activeSetSize;

#ifdef ELIMINATE_EQUALITY_CONSTRAINTS
 // Eigen::FullPivLU<Matrix> m_CE_dec;
 // Eigen::ColPivHouseholderQR<Matrix> m_CE_dec; // fast, but
 // difficult to retrieve null space basis
 // Eigen::FullPivHouseholderQR<Matrix> m_CE_dec; // doc says
 // it is slow
 Eigen::CompleteOrthogonalDecomposition<Matrix>
 m_CE_dec; // available from Eigen 3.3.0, 40 us for decomposition, 40 us
 // to get null space basis, 40 us to project Hessian
 // Eigen::JacobiSVD<Matrix, Eigen::HouseholderQRPreconditioner> m_CE_dec;
 // // too slow
 Matrix m_ZT_H_Z;
 Matrix m_CI_Z;
#endif

 unsigned int m_neq;
 unsigned int m_nin;
 unsigned int m_n;

 QPDataQuadProgTpl<double> m_qpData;
};
} // namespace solvers
} // namespace tsid

#endif // ifndef __invdyn_solvers_hqp_eiquadprog_hpp__