wbc::EiquadprogSolver Class Reference

The EiquadprogSolver class is a wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape: More...

#include <EiquadprogSolver.hpp>

Inheritance diagram for wbc::EiquadprogSolver:

Public Member Functions
	EiquadprogSolver ()
virtual	~EiquadprogSolver ()
virtual void	solve (const wbc::HierarchicalQP &hierarchical_qp, Eigen::VectorXd &solver_output, bool allow_warm_start=true)
	solve Solve the given quadratic program
void	setMaxNIter (const uint &n)
uint	getMaxNIter ()
int	getNter ()
Public Member Functions inherited from wbc::QPSolver
	QPSolver ()
virtual	~QPSolver ()
void	reset ()
	reset Enforces reconfiguration at next call to solve()

Protected Attributes
eiquadprog::solvers::EiquadprogFast	_solver
int	_n_iter
int	_actual_n_iter
Eigen::MatrixXd	_CI_mtx
Eigen::VectorXd	_ci0_vec
Protected Attributes inherited from wbc::QPSolver
bool	configured

Detailed Description

The EiquadprogSolver class is a wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape:

\[ \begin{array}{ccc} min(\mathbf{x}) & \frac{1}{2} \mathbf{x}^T\mathbf{G}\mathbf{x}+\mathbf{x}^T\mathbf{g0}& \\ & & \\ s.t. & \mathbf{CE}x + ce0 = 0& \\ & \mathbf{CI}x + ci0 \geq 0& \\ \end{array} \]

The implements the algorithm of Goldfarb and Idnani for the solution of a (convex) Quadratic Programming problem: D. Goldfarb, A. Idnani. A numerically stable dual method for solving strictly convex quadratic programs. Mathematical Programming 27 (1983) pp. 1-33.

Solver parameters

• MaxNIter: Maximum number of working set recalculations to be performed during the initial homotopy

Constructor & Destructor Documentation

EiquadprogSolver()

wbc::EiquadprogSolver::EiquadprogSolver

(

)

~EiquadprogSolver()

wbc::EiquadprogSolver::~EiquadprogSolver ( )

virtual

Member Function Documentation

getMaxNIter()

uint wbc::EiquadprogSolver::getMaxNIter ( )

inline

Get the maximum number of working set recalculations to be performed during the initial homotopy

getNter()

int wbc::EiquadprogSolver::getNter ( )

inline

Get number of working set recalculations actually performed

setMaxNIter()

void wbc::EiquadprogSolver::setMaxNIter ( const uint & n )

inline

Set the maximum number of working set recalculations to be performed during the initial homotopy

solve()

void wbc::EiquadprogSolver::solve ( const wbc::HierarchicalQP & hierarchical_qp, Eigen::VectorXd & solver_output, bool allow_warm_start = true )

virtual

solve Solve the given quadratic program

Parameters

constraints	Description of the hierarchical quadratic program to solve. Each vector entry correspond to a stage in the hierarchy where the first entry has the highest priority. Currently only one priority level is implemented.
solver_output	solution of the quadratic program

Implements wbc::QPSolver.

Member Data Documentation

_actual_n_iter

int wbc::EiquadprogSolver::_actual_n_iter

protected

_ci0_vec

Eigen::VectorXd wbc::EiquadprogSolver::_ci0_vec

protected

_CI_mtx

Eigen::MatrixXd wbc::EiquadprogSolver::_CI_mtx

protected

_n_iter

int wbc::EiquadprogSolver::_n_iter

protected

_solver

eiquadprog::solvers::EiquadprogFast wbc::EiquadprogSolver::_solver

protected

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The documentation for this class was generated from the following files:

• src/solvers/eiquadprog/EiquadprogSolver.hpp
• src/solvers/eiquadprog/EiquadprogSolver.cpp