wbc::OsqpSolver Class Reference

The OsqpSolver solves convex quadratic programs (QPs) of the form. More...

#include <OsqpSolver.hpp>

Inheritance diagram for wbc::OsqpSolver:

Public Member Functions
	OsqpSolver ()
	~OsqpSolver ()
virtual void	solve (const HierarchicalQP &hierarchical_qp, Eigen::VectorXd &solver_output, bool allow_warm_start=true)
	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()

Public Attributes
OsqpEigen::Solver	solver

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

Protected Attributes
bool	configured
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

Detailed Description

The OsqpSolver solves convex quadratic programs (QPs) of the form.

\[ \begin{array}{ccc} min(\mathbf{x}) & \frac{1}{2} \mathbf{x}^T\mathbf{P}\mathbf{x}+\mathbf{q}^T\mathbf{x}& \\ & & \\ s.t. & \mathbf{l} \leq Ax \leq u& \\ \end{array} \]

The solver runs the following ADMM algorithm, which is described in Stellato, B., Banjac, G., Goulart, P. et al. OSQP: an operator splitting solver for quadratic programs. Math. Prog. Comp. 12, 637–672 (2020). https://doi.org/10.1007/s12532-020-00179-2

Solver Parameters:

• Check OSQPSettings Struct in file osqp_api_types.h to see all parameters
• Check osqp_api_constants.h for the default settings
• To change parameters you can access the public solver variable: solver.settings()->setXY()

Constructor & Destructor Documentation

OsqpSolver()

wbc::OsqpSolver::OsqpSolver

(

)

~OsqpSolver()

wbc::OsqpSolver::~OsqpSolver

(

)

Member Function Documentation

exitFlagToString()

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

inlineprotected

resize()

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

protected

solve()

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

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 as vector

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

The osqp wrapper variable

upper_bound

Eigen::VectorXd wbc::OsqpSolver::upper_bound

protected

---

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

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