Abstract interface for a Quadratic Program (HQP) solver. More...
#include <tsid/solvers/solver-HQP-base.hpp>
Public Types | |
typedef math::RefVector | RefVector |
typedef math::ConstRefVector | ConstRefVector |
typedef math::ConstRefMatrix | ConstRefMatrix |
Public Member Functions | |
SolverHQPBase (const std::string &name) | |
virtual | ~SolverHQPBase () |
virtual const std::string & | name () |
virtual void | resize (unsigned int n, unsigned int neq, unsigned int nin)=0 |
virtual const HQPOutput & | solve (const HQPData &problemData)=0 |
virtual double | getObjectiveValue ()=0 |
virtual bool | getUseWarmStart () |
virtual void | setUseWarmStart (bool useWarmStart) |
virtual unsigned int | getMaximumIterations () |
virtual bool | setMaximumIterations (unsigned int maxIter) |
virtual double | getMaximumTime () |
virtual bool | setMaximumTime (double seconds) |
Static Public Attributes | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const std::string | HQP_status_string [5] |
Protected Attributes | |
std::string | m_name |
bool | m_useWarmStart |
int | m_maxIter |
double | m_maxTime |
HQPOutput | m_output |
Abstract interface for a Quadratic Program (HQP) solver.
typedef math::ConstRefMatrix tsid::solvers::SolverHQPBase::ConstRefMatrix |
typedef math::ConstRefVector tsid::solvers::SolverHQPBase::ConstRefVector |
tsid::solvers::SolverHQPBase::SolverHQPBase | ( | const std::string & | name | ) |
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Get the current maximum number of iterations performed by the solver.
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Get the maximum time allowed to solve a problem.
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Get the objective value of the last solved problem.
Implemented in tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProgFast, and tsid::solvers::SolverHQuadProg.
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Return true if the solver is allowed to warm start, false otherwise.
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Set the current maximum number of iterations performed by the solver.
Reimplemented in tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, and tsid::solvers::SolverHQuadProgFast.
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Set the maximum time allowed to solve a problem.
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Specify whether the solver is allowed to use warm-start techniques.
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Solve the specified Hierarchical Quadratic Program.
Implemented in tsid::solvers::SolverHQuadProgRT< nVars, nEqCon, nIneqCon >, tsid::solvers::SolverHQpmad, tsid::solvers::SolverHQuadProgFast, and tsid::solvers::SolverHQuadProg.
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