Optimization::Solver::PLDPSolver Class Reference

#include <Mathematics/PLDPSolver.hh>

List of all members.

Public Member Functions
	PLDPSolver (unsigned int CardU, double *iPu, double *Px, double *Pu, double *iLQ)
	Constructor.
	~PLDPSolver ()
	Destructor.
int	SolveProblem (double *CstPartOfTheCostFunction, unsigned int NbOfConstraints, double *LinearPartOfConstraints, double *CstPartOfConstraints, double *ZMPRef, double *XkYk, double *X, std::vector< int > &SimilarConstraint, unsigned int NumberOfRemovedConstraints, bool StartingSequence)
	Solve the optimization problem.
Protected Member Functions
void	InitializeSolver ()
void	AllocateMemoryForSolver ()
double	ComputeAlpha (vector< unsigned int > &NewActivatedConstraints, vector< int > &SimilarConstraint)
void	StoreCurrentZMPSolution (double *XkYk)
void	WriteCurrentZMPSolution (string filename, double *XkYk)
Initial solution methods related
int	ComputeInitialSolution (double *ZMPRef, double *XkYk, bool StartingSequence)
int	PrecomputeiPuPx ()
Projected descent direction methods related
int	ComputeProjectedDescentDirection ()
	Compute Projected descent direction.
int	ForwardSubstitution ()
	Forward substitution. First Phase EE^t v2 = v1 <-> LL^t v2 = v1 Now solving L y = v1.
int	BackwardSubstitution ()
	Compute v2 q (14b) in Dimitrov 2009. Second phase a Now solving LL^t v2 = v1 <-> L y = v1 with L^t v2 = y y solved with first phase. So now we are looking for v2.

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Detailed Description

This class implements a two stage strategy to solve the following optimal problem:

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Constructor & Destructor Documentation

PLDPSolver::PLDPSolver	(	unsigned int	CardU,
		double *	iPu,
		double *	Px,
		double *	Pu,
		double *	iLQ
	)

Constructor.

PLDPSolver::~PLDPSolver

(

)

Destructor.

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Member Function Documentation

void PLDPSolver::AllocateMemoryForSolver

(

)

[protected]

Allocate memory for solver.

int PLDPSolver::BackwardSubstitution

(

)

[protected]

Compute v2 q (14b) in Dimitrov 2009. Second phase a Now solving LL^t v2 = v1 <-> L y = v1 with L^t v2 = y y solved with first phase. So now we are looking for v2.

double PLDPSolver::ComputeAlpha	(	vector< unsigned int > &	NewActivatedConstraints,
		vector< int > &	SimilarConstraint
	)		[protected]

Detecting violated constraints

int PLDPSolver::ComputeInitialSolution	(	double *	ZMPRef,
		double *	XkYk,
		bool	StartingSequence
	)		[protected]

Compute the initial solution

The initial solution of the problem is given by eq(14) Dimitar ICRA 2008 U0 = iPu * Px [Xkt Ykt]t + iPu * ZMPRef The only part which can not be precomputed is ZMPRef.

int PLDPSolver::ComputeProjectedDescentDirection

(

)

[protected]

Compute Projected descent direction.

int PLDPSolver::ForwardSubstitution

(

)

[protected]

Forward substitution. First Phase EE^t v2 = v1 <-> LL^t v2 = v1 Now solving L y = v1.

void PLDPSolver::InitializeSolver

(

)

[protected]

Initialize the internal variables of the class.

int PLDPSolver::PrecomputeiPuPx

(

)

[protected]

Precompite iPuPx

int PLDPSolver::SolveProblem	(	double *	CstPartOfTheCostFunction,
		unsigned int	NbOfConstraints,
		double *	LinearPartOfConstraints,
		double *	CstPartOfConstraints,
		double *	ZMPRef,
		double *	XkYk,
		double *	X,
		std::vector< int > &	SimilarConstraint,
		unsigned int	NumberOfRemovedConstraints,
		bool	StartingSequence
	)

Solve the optimization problem.

Initialization de cholesky.

Step two: Compute the projected descent direction.

Step three : Compute alpha

Compute new solution.

void PLDPSolver::StoreCurrentZMPSolution

(

double *

XkYk

)

[protected]

Store the current ZMP solution for hot start purposes.

void PLDPSolver::WriteCurrentZMPSolution	(	string	filename,
		double *	XkYk
	)		[protected]

Write current ZMP ref trajectory associated with current value of m_Vk.