wbc::QPOASESSolver Class Reference

The QPOASESSolver class is a wrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: More...

#include <QPOasesSolver.hpp>

Inheritance diagram for wbc::QPOASESSolver:

Public Member Functions
	QPOASESSolver ()
virtual	~QPOASESSolver ()
virtual void	solve (const wbc::HierarchicalQP &hierarchical_qp, Eigen::VectorXd &solver_output, bool allow_warm_start=true)
	solve Solve the given quadratic program
void	setMaxNoWSR (const uint &n)
uint	getMaxNoWSR ()
int	getReturnValue ()
int	getNoWSR ()
qpOASES::Options	getOptions ()
void	setOptions (const qpOASES::Options &opt)
const qpOASES::SQProblem &	getSQProblem ()
Public Member Functions inherited from wbc::QPSolver
	QPSolver ()
virtual	~QPSolver ()
void	reset ()
	reset Enforces reconfiguration at next call to solve()

Protected Attributes
qpOASES::Options	options
qpOASES::SQProblem	sq_problem
int	n_wsr
int	actual_n_wsr
qpOASES::returnValue	ret_val
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	H
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	A
size_t	nc
size_t	nv
Protected Attributes inherited from wbc::QPSolver
bool	configured

Detailed Description

The QPOASESSolver class is a wrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape:

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

Reference: Ferreau, H.J., Kirches, C., Potschka, A. et al. qpOASES: a parametric active-set algorithm for quadratic programming. Math. Prog. Comp. 6, 327–363 (2014). https://doi.org/10.1007/s12532-014-0071-1

Solver parameters:

• Check qpOASES::Options
• Different sets of default options can be selected:
  • options.setToDefault( );
  • options.setToReliable( ); // for maximum reliability
  • options.setToMPC( ); // for maximum speed

Constructor & Destructor Documentation

QPOASESSolver()

wbc::QPOASESSolver::QPOASESSolver

(

)

~QPOASESSolver()

wbc::QPOASESSolver::~QPOASESSolver ( )

virtual

Member Function Documentation

getMaxNoWSR()

uint wbc::QPOASESSolver::getMaxNoWSR ( )

inline

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

getNoWSR()

int wbc::QPOASESSolver::getNoWSR ( )

inline

Get number of working set recalculations actually performed

getOptions()

qpOASES::Options wbc::QPOASESSolver::getOptions ( )

inline

Return current solver options

getReturnValue()

int wbc::QPOASESSolver::getReturnValue

(

)

Retrieve the return value from the last QP calculation

getSQProblem()

const qpOASES::SQProblem & wbc::QPOASESSolver::getSQProblem ( )

inline

Get Quadratic program

setMaxNoWSR()

void wbc::QPOASESSolver::setMaxNoWSR ( const uint & n )

inline

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

setOptions()

void wbc::QPOASESSolver::setOptions

(

const qpOASES::Options &

opt

)

Set new solver options

solve()

void wbc::QPOASESSolver::solve ( const wbc::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

Implements wbc::QPSolver.

Member Data Documentation

A

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> wbc::QPOASESSolver::A

protected

actual_n_wsr

int wbc::QPOASESSolver::actual_n_wsr

protected

H

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> wbc::QPOASESSolver::H

protected

n_wsr

int wbc::QPOASESSolver::n_wsr

protected

nc

size_t wbc::QPOASESSolver::nc

protected

nv

size_t wbc::QPOASESSolver::nv

protected

options

qpOASES::Options wbc::QPOASESSolver::options

protected

ret_val

qpOASES::returnValue wbc::QPOASESSolver::ret_val

protected

sq_problem

qpOASES::SQProblem wbc::QPOASESSolver::sq_problem

protected

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

• src/solvers/qpoases/QPOasesSolver.hpp
• src/solvers/qpoases/QPOasesSolver.cpp