#include <Tasks/GenQPSolver.h>

Inheritance diagram for tasks::qp::GenQPSolver:

Public Member Functions
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

Static Public Attributes
static const std::string	default_qp_solver
	Default QP solver. More...

Protected Attributes
std::vector< int >	fullToReduced_

std::vector< int >	reducedToFull_

std::vector< std::tuple< int, int, double > >	dependencies_

Eigen::SparseMatrix< double >	multipliers_

Detailed Description

Generic QP solver abstract interface. Solve the following problem:

\begin{align} \underset{x}{\text{minimize }} & \frac{1}{2} x^T Q x + x^T c\\ \text{s.t. } & L \leq \left\{ \begin{array}{c} x \\ A x \end{array} \right\} \leq U \end{align}

Constructor & Destructor Documentation

◆ ~GenQPSolver()

virtual tasks::qp::GenQPSolver::~GenQPSolver ( )

inlinevirtual

Member Function Documentation

◆ errorMsg()

virtual std::ostream& tasks::qp::GenQPSolver::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

pure virtual

Returns: Error message if GenQPSolver::solve has returned false.

Implemented in tasks::qp::LSSOLQPSolver, and tasks::qp::QLDQPSolver.

◆ name()

virtual std::string tasks::qp::GenQPSolver::name ( ) const

pure virtual

Returns: Name of the solver

Implemented in tasks::qp::LSSOLQPSolver, and tasks::qp::QLDQPSolver.

◆ result()

virtual const Eigen::VectorXd& tasks::qp::GenQPSolver::result ( ) const

pure virtual

Returns: Optimal \( x \) vector.

Implemented in tasks::qp::LSSOLQPSolver, and tasks::qp::QLDQPSolver.

◆ setDependencies()

virtual void tasks::qp::GenQPSolver::setDependencies	(	int	nrVars,
		std::vector< std::tuple< int, int, double >>	dependencies
	)

virtual

Setup dependent variables, only linear dependencies are supported

Parameters

nrVars	Variable number.
dependencies	List of tuple {primary, replica, factor, offset}

◆ solve()

virtual bool tasks::qp::GenQPSolver::solve ( )

pure virtual

Solve the quadratic program.

Returns: true of success false on failure.

Implemented in tasks::qp::LSSOLQPSolver, and tasks::qp::QLDQPSolver.

◆ updateMatrix()

virtual void tasks::qp::GenQPSolver::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
	)

pure virtual

Construct the QP matrices.

Parameters

tasks	Build \( Q \) and \( c \).
eqConstr	Build \( A x = b \) constraints.
inEqConstr	Build \( A x \geq b \) constraints.
genInEqConstr	Build \( L \leq A x \leq U \) constraints.
boundConstr	Build \( L \leq x \leq U \) constraints.

Implemented in tasks::qp::LSSOLQPSolver, and tasks::qp::QLDQPSolver.

◆ updateSize()

virtual void tasks::qp::GenQPSolver::updateSize	(	int	nrVars,
		int	nrEq,
		int	nrInEq,
		int	nrGenInEq
	)

pure virtual

Update the problem size.

Parameters

nrVars	Variable number.
nrEq	maximum number of equality.
nrInEq	maximum number of inequality.
nrGenInEq	maximum number of general inequality.

Implemented in tasks::qp::LSSOLQPSolver, and tasks::qp::QLDQPSolver.

Member Data Documentation

◆ default_qp_solver

const std::string tasks::qp::GenQPSolver::default_qp_solver

static

Default QP solver.

◆ dependencies_

std::vector<std::tuple<int, int, double> > tasks::qp::GenQPSolver::dependencies_

protected

Variable dependencies, each tuple gives the primary variable index in the full variable, replica variable index in the full variable and the factor and offset in the dependency equation: replica = factor * primary

◆ fullToReduced_

std::vector<int> tasks::qp::GenQPSolver::fullToReduced_

protected

Correspondence between full variable indices and reduced variables

◆ multipliers_

Eigen::SparseMatrix<double> tasks::qp::GenQPSolver::multipliers_

protected

Multipliers matrix M of size (nFull, nReduced) such that full = M * reduce

◆ reducedToFull_

std::vector<int> tasks::qp::GenQPSolver::reducedToFull_

protected

Correspondence between reduced variable indices and full variable indices

The documentation for this class was generated from the following file:

src/Tasks/GenQPSolver.h

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~GenQPSolver()

Member Function Documentation

◆ errorMsg()

◆ name()

◆ result()

◆ setDependencies()

◆ solve()

◆ updateMatrix()

◆ updateSize()

Member Data Documentation

◆ default_qp_solver

◆ dependencies_

◆ fullToReduced_

◆ multipliers_

◆ reducedToFull_