tasks::qp::QLDQPSolver Class Reference

#include <QLDQPSolver.h>

Inheritance diagram for tasks::qp::QLDQPSolver:

Collaboration diagram for tasks::qp::QLDQPSolver:

Public Member Functions
	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
Public Member Functions inherited from tasks::qp::GenQPSolver
virtual	~GenQPSolver ()
virtual void	setDependencies (int nrVars, std::vector< std::tuple< int, int, double >> dependencies)

Additional Inherited Members
Static Public Attributes inherited from tasks::qp::GenQPSolver
static const std::string	default_qp_solver
	Default QP solver. More...
Protected Attributes inherited from tasks::qp::GenQPSolver
std::vector< int >	fullToReduced_
std::vector< int >	reducedToFull_
std::vector< std::tuple< int, int, double > >	dependencies_
Eigen::SparseMatrix< double >	multipliers_

Detailed Description

GenQPSolver interface implementation with the QLD QP solver.

Constructor & Destructor Documentation

QLDQPSolver()

tasks::qp::QLDQPSolver::QLDQPSolver

(

)

Member Function Documentation

errorMsg()

virtual std::ostream& tasks::qp::QLDQPSolver::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

overridevirtual

Returns

Error message if GenQPSolver::solve has returned false.

Implements tasks::qp::GenQPSolver.

name()

std::string tasks::qp::QLDQPSolver::name ( ) const

overridevirtual

Returns

Name of the solver

Implements tasks::qp::GenQPSolver.

result()

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

overridevirtual

Returns

Optimal \( x \) vector.

Implements tasks::qp::GenQPSolver.

solve()

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

overridevirtual

Solve the quadratic program.

Returns

true of success false on failure.

Implements tasks::qp::GenQPSolver.

updateMatrix()

virtual void tasks::qp::QLDQPSolver::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  )

overridevirtual

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.

Implements tasks::qp::GenQPSolver.

updateSize()

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

overridevirtual

Update the problem size.

Parameters

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

Implements tasks::qp::GenQPSolver.

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

• src/QLDQPSolver.h