QLDQPSolver.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// eigen-qld
#include <eigen-qld/QLD.h>
 
// Tasks
#include "Tasks/GenQPSolver.h"
 
namespace tasks
{
 
namespace qp
{
 
class TASKS_DLLAPI QLDQPSolver : public GenQPSolver
{
public:
  QLDQPSolver();
 
  virtual void updateSize(int nrVars, int nrEq, int nrInEq, int nrGenInEq) override;
  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) override;
  virtual bool solve() override;
  virtual const Eigen::VectorXd & result() const override;
  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 override;
  std::string name() const override;
 
private:
  Eigen::QLD qld_;
 
  Eigen::MatrixXd Aeq_, Aineq_;
  Eigen::VectorXd beq_, bineq_;
 
  Eigen::MatrixXd AeqFull_, AineqFull_;
 
  Eigen::VectorXd XL_;
  Eigen::VectorXd XU_;
 
  Eigen::VectorXd XLFull_;
  Eigen::VectorXd XUFull_;
 
  Eigen::MatrixXd Q_;
  Eigen::VectorXd C_;
 
  Eigen::MatrixXd QFull_;
  Eigen::VectorXd CFull_;
 
  Eigen::VectorXd XFull_;
 
  int nrAeqLines_;
  int nrAineqLines_;
};
 
} // namespace qp
 
} // namespace tasks