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, Eigen::VectorXd &solver_output, bool allow_warm_start=true)
	solve Solve the given quadratic program
int	getNter ()
void	setOptions (proxsuite::proxqp::Settings< double > opt)
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
int	_actual_n_iter
Eigen::MatrixXd	_C_mtx
Eigen::VectorXd	_l_vec
Eigen::VectorXd	_u_vec
proxsuite::proxqp::Settings< double >	settings
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:

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

Reference: Antoine Bambade, Sarah El-Kazdadi, Adrien Taylor, Justin Carpentier. PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond. RSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States. ⟨hal-03683733⟩

Parameters:

• See proxsuite::proxqp::Setting in settings.h for all possible options and default values.

Constructor & Destructor Documentation

ProxQPSolver()

wbc::ProxQPSolver::ProxQPSolver

(

)

~ProxQPSolver()

virtual wbc::ProxQPSolver::~ProxQPSolver ( )

inlinevirtualnoexcept

Member Function Documentation

getNter()

int wbc::ProxQPSolver::getNter ( )

inline

Get number of working set recalculations actually performed

setOptions()

void wbc::ProxQPSolver::setOptions ( proxsuite::proxqp::Settings< double > opt )

inline

Set Solver options. Has to be called before first call to solve()!

solve()

void wbc::ProxQPSolver::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

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

_l_vec

Eigen::VectorXd wbc::ProxQPSolver::_l_vec

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

settings

proxsuite::proxqp::Settings<double> wbc::ProxQPSolver::settings

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