solver-HQP-eiquadprog-rt.hpp
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17 
18 #ifndef __invdyn_solvers_hqp_eiquadprog_rt_hpp__
19 #define __invdyn_solvers_hqp_eiquadprog_rt_hpp__
20 
21 #include "tsid/math/fwd.hpp"
22 #include "tsid/solvers/fwd.hpp"
24 
25 #include "eiquadprog/eiquadprog-rt.hpp"
26 
27 namespace tsid
28 {
29  namespace solvers
30  {
34  template<int nVars, int nEqCon, int nIneqCon>
35  class TSID_DLLAPI SolverHQuadProgRT : public SolverHQPBase
36  {
37  public:
38  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 
45 
46  SolverHQuadProgRT(const std::string & name);
47 
48  void resize(unsigned int n, unsigned int neq, unsigned int nin);
49 
52  const HQPOutput & solve(const HQPData & problemData);
53 
55  double getObjectiveValue();
56 
58  bool setMaximumIterations(unsigned int maxIter);
59 
60  protected:
61 
62  void sendMsg(const std::string & s);
63 
64  eiquadprog::solvers::RtEiquadprog<nVars, nEqCon, 2*nIneqCon> m_solver;
65 
66  typename RtMatrixX<nVars, nVars>::d m_H;
67  typename RtVectorX<nVars>::d m_g;
68  typename RtMatrixX<nEqCon, nVars>::d m_CE;
69  typename RtVectorX<nEqCon>::d m_ce0;
70  typename RtMatrixX<2*nIneqCon, nVars>::d m_CI;
71  typename RtVectorX<2*nIneqCon>::d m_ci0;
72  double m_objValue;
73 
75 
78 
79 // Eigen::FullPivLU<template RtMatrixX<nEqCon, nVars> > m_CE_lu;
80  // ColPivHouseholderQR
81 
82  int m_neq;
83  int m_nin;
84  int m_n;
85  };
86  }
87 }
88 
89 #endif // ifndef __invdyn_solvers_hqp_eiquadprog_rt_hpp__
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, 2 *nIneqCon > m_solver
Definition: solver-HQP-eiquadprog-rt.hpp:64
Definition: solver-HQP-output.hpp:32
math::Vector Vector
Definition: solver-HQP-eiquadprog-rt.hpp:41
Eigen::VectorXi m_activeSet
Definition: solver-HQP-eiquadprog-rt.hpp:76
RtMatrixX< nEqCon, nVars >::d m_CE
Definition: solver-HQP-eiquadprog-rt.hpp:68
class TSID_DLLAPI SolverHQuadProgRT
Definition: fwd.hpp:69
int m_neq
Definition: solver-HQP-eiquadprog-rt.hpp:82
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-eiquadprog-rt.hpp:44
RtVectorX< nVars >::d m_g
Definition: solver-HQP-eiquadprog-rt.hpp:67
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-eiquadprog-rt.hpp:40
int m_nin
number of equality constraints
Definition: solver-HQP-eiquadprog-rt.hpp:83
RtVectorX< nEqCon >::d m_ce0
Definition: solver-HQP-eiquadprog-rt.hpp:69
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
int m_n
number of inequality constraints
Definition: solver-HQP-eiquadprog-rt.hpp:84
int m_activeSetSize
vector containing the indexes of the active inequalities
Definition: solver-HQP-eiquadprog-rt.hpp:77
RtMatrixX< nVars, nVars >::d m_H
Definition: solver-HQP-eiquadprog-rt.hpp:66
double m_objValue
Definition: solver-HQP-eiquadprog-rt.hpp:72
Definition: solver-HQP-eiquadprog-rt.hpp:35
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
double m_hessian_regularization
Definition: solver-HQP-eiquadprog-rt.hpp:74
Definition: constraint-bound.hpp:26
RtMatrixX< 2 *nIneqCon, nVars >::d m_CI
Definition: solver-HQP-eiquadprog-rt.hpp:70
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
math::ConstRefVector ConstRefVector
Definition: solver-HQP-eiquadprog-rt.hpp:43
math::RefVector RefVector
Definition: solver-HQP-eiquadprog-rt.hpp:42
RtVectorX< 2 *nIneqCon >::d m_ci0
twice the rows because inequality constraints are bilateral
Definition: solver-HQP-eiquadprog-rt.hpp:71
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36