ProxQPSolver.hpp

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#ifndef WBC_SOLVERS_PROXQP_SOLVER_HPP
#define WBC_SOLVERS_PROXQP_SOLVER_HPP
 
#include "../../core/QPSolver.hpp"
 
#include <memory>
#include <iostream>
#include <base/Time.hpp>
 
#include <proxsuite/proxqp/dense/wrapper.hpp>
 
namespace wbc {
 
class HierarchicalQP;
 
class ProxQPSolver : public QPSolver{
private:
    static QPSolverRegistry<ProxQPSolver> reg;
 
public:
    ProxQPSolver();
    virtual ~ProxQPSolver() noexcept { };
 
    virtual void solve(const wbc::HierarchicalQP& hierarchical_qp, base::VectorXd& solver_output);
 
    void setMaxNIter(const uint& n){ _n_iter = n; }
 
    uint getMaxNIter(){ return _n_iter; }
 
    int getNter(){ return _actual_n_iter; }
 
protected:
 
    std::shared_ptr<proxsuite::proxqp::dense::QP<double>> _solver_ptr;
 
    double _eps_abs = 1e-9;
    int _n_iter;
    int _actual_n_iter;
 
    size_t _n_var_init; // number of variables in the configured solver instance
    size_t _n_eq_init;  // number of equalities in the configured solver instance
    size_t _n_in_init;  // number of inequalities in the configured solver instance (inclusing bounds)
 
    Eigen::MatrixXd _C_mtx; // inequalities matrix (including bounds)
    Eigen::VectorXd _l_vec; // inequalities lower bounds
    Eigen::VectorXd _u_vec; // inequalities upper bounds
};
 
}
 
#endif