GenQPSolver.h

Go to the documentation of this file.

/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// std
#include <vector>
 
// Tasks
#include <tasks/config.hh>
 
// Eigen
#include <Eigen/Core>
#include <Eigen/Sparse>
 
// forward declaration
// RBDyn
namespace rbd
{
class MultiBody;
}
 
namespace tasks
{
 
namespace qp
{
// forward declarition
class Task;
class Equality;
class Inequality;
class GenInequality;
class Bound;
class GenQPSolver;
 
TASKS_DLLAPI GenQPSolver * createQPSolver(const std::string & name);
 
class TASKS_DLLAPI GenQPSolver
{
public:
  static const std::string default_qp_solver;
 
public:
  virtual ~GenQPSolver() {}
 
  virtual void updateSize(int nrVars, int nrEq, int nrInEq, int nrGenInEq) = 0;
 
  virtual void setDependencies(int nrVars, std::vector<std::tuple<int, int, double>> dependencies);
 
  virtual void updateMatrix(const std::vector<Task *> & tasks,
                            const std::vector<Equality *> & eqConstr,
                            const std::vector<Inequality *> & inEqConstr,
                            const std::vector<GenInequality *> & genInEqConstr,
                            const std::vector<Bound *> & boundConstr) = 0;
 
  virtual bool solve() = 0;
 
  virtual const Eigen::VectorXd & result() const = 0;
 
  virtual std::ostream & errorMsg(const std::vector<rbd::MultiBody> & mbs,
                                  const std::vector<Task *> & tasks,
                                  const std::vector<Equality *> & eqConstr,
                                  const std::vector<Inequality *> & inEqConstr,
                                  const std::vector<GenInequality *> & genInEqConstr,
                                  const std::vector<Bound *> & boundConstr,
                                  std::ostream & out) const = 0;
 
  virtual std::string name() const = 0;
 
protected:
  std::vector<int> fullToReduced_;
  std::vector<int> reducedToFull_;
  std::vector<std::tuple<int, int, double>> dependencies_;
  Eigen::SparseMatrix<double> multipliers_;
};
 
} // namespace qp
 
} // namespace tasks