GoldfarbIdnaniSolver.h

Go to the documentation of this file.

/* Copyright 2020 CNRS-AIST JRL */
 
#pragma once
 
#include <Eigen/Core>
 
#include <jrl-qp/DualSolver.h>
 
namespace jrl::qp
{
class JRLQP_DLLAPI GoldfarbIdnaniSolver : public DualSolver
{
public:
  GoldfarbIdnaniSolver();
  GoldfarbIdnaniSolver(int nbVar, int nbCstr, bool useBounds);
 
  virtual ~GoldfarbIdnaniSolver() = default;
 
  TerminationStatus solve(MatrixRef G,
                          const VectorConstRef & a,
                          const MatrixConstRef & C,
                          const VectorConstRef & bl,
                          const VectorConstRef & bu,
                          const VectorConstRef & xl,
                          const VectorConstRef & xu);
 
protected:
  struct Problem
  {
  public:
    Problem()
    : G(Eigen::Map<Eigen::MatrixXd>(0x0, 0, 0)), a(Eigen::VectorXd(0)), C(Eigen::MatrixXd(0, 0)),
      bl(Eigen::VectorXd(0)), bu(Eigen::VectorXd(0)), xl(Eigen::VectorXd(0)), xu(Eigen::VectorXd(0))
    {
    }
 
    // Map<const EigenObj> and thus Ref<const EigenObj> has its operator= deleted.
    // We thus need to delete as well for Problem. This is not an issue as a solver is not
    // meant to be copied. If it was needed to implement this operator, on would need to
    // use placement new tricks on the XXXConstRef members.
    Problem & operator=(const Problem &) = delete;
    MatrixRef G;
    VectorConstRef a;
    MatrixConstRef C;
    VectorConstRef bl;
    VectorConstRef bu;
    VectorConstRef xl;
    VectorConstRef xu;
  };
 
  internal::InitTermination init_() override;
  internal::SelectedConstraint selectViolatedConstraint_(const VectorConstRef & x) const override;
  void computeStep_(VectorRef z, VectorRef r, const internal::SelectedConstraint & sc) const override;
  StepLength computeStepLength_(const internal::SelectedConstraint & sc,
                                const VectorConstRef & x,
                                const VectorConstRef & u,
                                const VectorConstRef & z,
                                const VectorConstRef & r) const override;
  bool addConstraint_(const internal::SelectedConstraint & sc) override;
  bool removeConstraint_(int l) override;
  double dot_(const internal::SelectedConstraint & sc, const VectorConstRef & z) override;
  void resize_(int nbVar, int nbCstr, bool useBounds) override;
 
  virtual void initActiveSet();
 
  void addInitialConstraint(const internal::SelectedConstraint & sc);
 
  mutable internal::Workspace<> work_d_;
  internal::Workspace<> work_J_;
  internal::Workspace<> work_R_;
  Problem pb_;
};
 
} // namespace jrl::qp