wbc::QPSwiftSolver Class Reference

#include <QPSwiftSolver.hpp>

Inheritance diagram for wbc::QPSwiftSolver:

Public Member Functions
	QPSwiftSolver ()
	~QPSwiftSolver ()
virtual void	solve (const wbc::HierarchicalQP &hierarchical_qp, base::VectorXd &solver_output)
	solve Solve the given quadratic program
void	setMaxIter (uint val)
void	setRelTol (double val)
void	setAbsTol (double val)
void	setSigma (double val)
void	setVerboseLevel (uint val)
Public Member Functions inherited from wbc::QPSolver
	QPSolver ()
virtual	~QPSolver ()
void	reset ()
	reset Enforces reconfiguration at next call to solve()

Protected Member Functions
void	toQpSwift (const QuadraticProgram &qp)

Protected Attributes
base::MatrixXd	P
base::VectorXd	c
base::MatrixXd	A
base::MatrixXd	G
base::VectorXd	b
base::VectorXd	h
int	n_dec
int	n_ineq
int	n_eq
int	n_bounds
QP *	my_qp
uint	max_iter
double	rel_tol
double	abs_tol
double	sigma
uint	verbose_level
Protected Attributes inherited from wbc::QPSolver
bool	configured

Constructor & Destructor Documentation

QPSwiftSolver()

wbc::QPSwiftSolver::QPSwiftSolver

(

)

~QPSwiftSolver()

wbc::QPSwiftSolver::~QPSwiftSolver

(

)

Member Function Documentation

setAbsTol()

void wbc::QPSwiftSolver::setAbsTol ( double val )

inline

setMaxIter()

void wbc::QPSwiftSolver::setMaxIter ( uint val )

inline

setRelTol()

void wbc::QPSwiftSolver::setRelTol ( double val )

inline

setSigma()

void wbc::QPSwiftSolver::setSigma ( double val )

inline

setVerboseLevel()

void wbc::QPSwiftSolver::setVerboseLevel ( uint val )

inline

solve()

void wbc::QPSwiftSolver::solve ( const wbc::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.

toQpSwift()

void wbc::QPSwiftSolver::toQpSwift ( const QuadraticProgram & qp )

protected

Verbose Levels, 0 - Print, >0 - Print Everything

Member Data Documentation

A

base::MatrixXd wbc::QPSwiftSolver::A

protected

Cost function gradient

abs_tol

double wbc::QPSwiftSolver::abs_tol

protected

Relative Tolerance

b

base::VectorXd wbc::QPSwiftSolver::b

protected

Inequality constraint matrix

c

base::VectorXd wbc::QPSwiftSolver::c

protected

Cost function Hessian matrix

G

base::MatrixXd wbc::QPSwiftSolver::G

protected

Equality constraint matrix

h

base::VectorXd wbc::QPSwiftSolver::h

protected

Equality constraint vector

max_iter

uint wbc::QPSwiftSolver::max_iter

protected

my_qp

QP* wbc::QPSwiftSolver::my_qp

protected

Number of lower/upper bounds on the decision variables

n_bounds

int wbc::QPSwiftSolver::n_bounds

protected

Number equality constraints

n_dec

int wbc::QPSwiftSolver::n_dec

protected

Inequality constraint vector

n_eq

int wbc::QPSwiftSolver::n_eq

protected

Number inequality constraints

n_ineq

int wbc::QPSwiftSolver::n_ineq

protected

Number decision variables

P

base::MatrixXd wbc::QPSwiftSolver::P

protected

rel_tol

double wbc::QPSwiftSolver::rel_tol

protected

Maximum number of Iterations of QP

sigma

double wbc::QPSwiftSolver::sigma

protected

Absolute Tolerance

verbose_level

uint wbc::QPSwiftSolver::verbose_level

protected

sigma desired

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

• src/solvers/qpswift/QPSwiftSolver.hpp
• src/solvers/qpswift/QPSwiftSolver.cpp