wbc::OsqpSolver Class Reference

#include <OsqpSolver.hpp>

Inheritance diagram for wbc::OsqpSolver:

Public Member Functions
	OsqpSolver ()
	~OsqpSolver ()
virtual void	solve (const HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output)
	solve Solve the given quadratic program
Public Member Functions inherited from wbc::QPSolver
	QPSolver ()
virtual	~QPSolver ()
void	reset ()
	reset Enforces reconfiguration at next call to solve()

Protected Member Functions
void	resetData (uint nq, uint nc)
std::string	exitFlagToString (OsqpEigen::ErrorExitFlag flag)

Protected Attributes
bool	configured
OsqpEigen::Solver	solver
Eigen::MatrixXd	hessian_dense
Eigen::SparseMatrix< double >	hessian_sparse
Eigen::MatrixXd	constraint_mat_dense
Eigen::SparseMatrix< double >	constraint_mat_sparse
Eigen::VectorXd	gradient
Eigen::VectorXd	lower_bound
Eigen::VectorXd	upper_bound
Protected Attributes inherited from wbc::QPSolver
bool	configured

Constructor & Destructor Documentation

OsqpSolver()

wbc::OsqpSolver::OsqpSolver

(

)

~OsqpSolver()

wbc::OsqpSolver::~OsqpSolver

(

)

Member Function Documentation

exitFlagToString()

std::string wbc::OsqpSolver::exitFlagToString ( OsqpEigen::ErrorExitFlag flag )

inlineprotected

resetData()

void wbc::OsqpSolver::resetData ( uint nq, uint nc )

protected

solve()

void wbc::OsqpSolver::solve ( const HierarchicalQP & hierarchical_qp, base::VectorXd & solver_output )

virtual

solve Solve the given quadratic program

Parameters

hierarchical_qp	Description of the hierarchical quadratic program to solve.
solver_output	solution of the quadratic program

Implements wbc::QPSolver.

Member Data Documentation

configured

bool wbc::OsqpSolver::configured

protected

constraint_mat_dense

Eigen::MatrixXd wbc::OsqpSolver::constraint_mat_dense

protected

constraint_mat_sparse

Eigen::SparseMatrix<double> wbc::OsqpSolver::constraint_mat_sparse

protected

gradient

Eigen::VectorXd wbc::OsqpSolver::gradient

protected

hessian_dense

Eigen::MatrixXd wbc::OsqpSolver::hessian_dense

protected

hessian_sparse

Eigen::SparseMatrix<double> wbc::OsqpSolver::hessian_sparse

protected

lower_bound

Eigen::VectorXd wbc::OsqpSolver::lower_bound

protected

solver

OsqpEigen::Solver wbc::OsqpSolver::solver

protected

upper_bound

Eigen::VectorXd wbc::OsqpSolver::upper_bound

protected

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

• src/solvers/osqp/OsqpSolver.hpp
• src/solvers/osqp/OsqpSolver.cpp