wbc::ProxQPSolver Class Reference

The ProxQPSolver class is a wrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: More...

#include <ProxQPSolver.hpp>

Inheritance diagram for wbc::ProxQPSolver:

Public Member Functions
	ProxQPSolver ()
virtual	~ProxQPSolver () noexcept
virtual void	solve (const wbc::HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output)
	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
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
size_t	_n_eq_init
size_t	_n_in_init
Eigen::MatrixXd	_C_mtx
Eigen::VectorXd	_l_vec
Eigen::VectorXd	_u_vec
Protected Attributes inherited from wbc::QPSolver
bool	configured

Detailed Description

The ProxQPSolver class is a wrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape:

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

Constructor & Destructor Documentation

ProxQPSolver()

wbc::ProxQPSolver::ProxQPSolver

(

)

~ProxQPSolver()

virtual wbc::ProxQPSolver::~ProxQPSolver ( )

inlinevirtualnoexcept

Member Function Documentation

getMaxNIter()

uint wbc::ProxQPSolver::getMaxNIter ( )

inline

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

getNter()

int wbc::ProxQPSolver::getNter ( )

inline

Get number of working set recalculations actually performed

setMaxNIter()

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

inline

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

solve()

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

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

solve problem: min 0.5 * x'Hx + g'x s.t. Ax = b l < Cx < u

Implements wbc::QPSolver.

Member Data Documentation

_actual_n_iter

int wbc::ProxQPSolver::_actual_n_iter

protected

_C_mtx

Eigen::MatrixXd wbc::ProxQPSolver::_C_mtx

protected

_eps_abs

double wbc::ProxQPSolver::_eps_abs = 1e-9

protected

_l_vec

Eigen::VectorXd wbc::ProxQPSolver::_l_vec

protected

_n_eq_init

size_t wbc::ProxQPSolver::_n_eq_init

protected

_n_in_init

size_t wbc::ProxQPSolver::_n_in_init

protected

_n_iter

int wbc::ProxQPSolver::_n_iter

protected

_n_var_init

size_t wbc::ProxQPSolver::_n_var_init

protected

_solver_ptr

std::shared_ptr<proxsuite::proxqp::dense::QP<double> > wbc::ProxQPSolver::_solver_ptr

protected

_u_vec

Eigen::VectorXd wbc::ProxQPSolver::_u_vec

protected

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

• src/solvers/proxqp/ProxQPSolver.hpp
• src/solvers/proxqp/ProxQPSolver.cpp