solver-proxqp.hpp

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//
// Copyright (c) 2022 INRIA
//
// 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 __solvers_proxqp_hpp__
#define __solvers_proxqp_hpp__

#include "tsid/solvers/solver-HQP-base.hpp"
#include <proxsuite/proxqp/dense/dense.hpp>
#include <proxsuite/proxqp/sparse/sparse.hpp>
#include <proxsuite/proxqp/results.hpp>

#ifdef PROFILE_PROXQP
#define START_PROFILER_PROXQP(x) START_PROFILER(x)
#define STOP_PROFILER_PROXQP(x) STOP_PROFILER(x)
#else
#define START_PROFILER_PROXQP(x)
#define STOP_PROFILER_PROXQP(x)
#endif

using namespace proxsuite;
using namespace proxsuite::proxqp;

namespace tsid {
namespace solvers {
class TSID_DLLAPI SolverProxQP : 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;

 SolverProxQP(const std::string& name);

 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 { return m_qpData; }

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

 double getObjectiveValue() override;

 bool setMaximumIterations(unsigned int maxIter) override;

 void setMuInequality(double muIn);
 void setMuEquality(double muEq);
 void setRho(double rho);
 void setEpsilonAbsolute(double epsAbs);
 void setEpsilonRelative(double epsRel);
 void setVerbose(bool isVerbose = false);

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

 double m_objValue;
 double m_hessian_regularization;

 dense::QP<double> m_solver;

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

 QPDataTpl<double> m_qpData;

 double m_rho;
 double m_muIn;
 double m_muEq;
 double m_epsAbs;
 double m_epsRel;
 bool m_isVerbose;
};
} // namespace solvers
} // namespace tsid

#endif // ifndef __solvers_proxqp_hpp__