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, 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
settings	options

Protected Member Functions
void	toQpSwift (const QuadraticProgram &qp)
void	setOptions (settings opt)

Protected Attributes
Eigen::MatrixXd	P
Eigen::VectorXd	c
Eigen::MatrixXd	A
Eigen::MatrixXd	G
Eigen::VectorXd	b
Eigen::VectorXd	h
int	n_dec
int	n_ineq
int	n_eq
int	n_bounds
QP *	my_qp
Protected Attributes inherited from wbc::QPSolver
bool	configured

Detailed Description

The QPSwiftSolver solves a quadratic problem of type

Reference: Pandala, Abhishek Goud and Ding, Yanran and Park, Hae-Won. QpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications, IEEE Robotics and Automation Letters, 2019

Parameters:

• See Struct settings in Auxiliary.g
• default values are defined in GlobalOptions.h

Constructor & Destructor Documentation

QPSwiftSolver()

wbc::QPSwiftSolver::QPSwiftSolver

(

)

~QPSwiftSolver()

wbc::QPSwiftSolver::~QPSwiftSolver

(

)

Member Function Documentation

setOptions()

void wbc::QPSwiftSolver::setOptions ( settings opt )

inlineprotected

solve()

void wbc::QPSwiftSolver::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.

toQpSwift()

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

protected

Member Data Documentation

A

Eigen::MatrixXd wbc::QPSwiftSolver::A

protected

Cost function gradient

b

Eigen::VectorXd wbc::QPSwiftSolver::b

protected

Inequality constraint matrix

c

Eigen::VectorXd wbc::QPSwiftSolver::c

protected

Cost function Hessian matrix

G

Eigen::MatrixXd wbc::QPSwiftSolver::G

protected

Equality constraint matrix

h

Eigen::VectorXd wbc::QPSwiftSolver::h

protected

Equality constraint vector

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

options

settings wbc::QPSwiftSolver::options

P

Eigen::MatrixXd wbc::QPSwiftSolver::P

protected

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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