qp_solver_collection
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Class of QP coefficient. More...
#include <QpSolverCollection.h>
Public Member Functions | |
QpCoeff () | |
Constructor. More... | |
void | setup (int dim_var, int dim_eq, int dim_ineq) |
Setup the coefficients with filling zero. More... | |
void | printInfo (bool verbose=false, const std::string &header="") const |
Print information. More... | |
void | dump (std::ofstream &ofs) const |
Dump coefficients. More... | |
Public Attributes | |
int | dim_var_ = 0 |
Dimension of decision variable. More... | |
int | dim_eq_ = 0 |
Dimension of equality constraint. More... | |
int | dim_ineq_ = 0 |
Dimension of inequality constraint. More... | |
Eigen::MatrixXd | obj_mat_ |
Objective matrix (corresponding to \(\boldsymbol{Q}\) in QpSolver::solve.) More... | |
Eigen::VectorXd | obj_vec_ |
Objective vector (corresponding to \(\boldsymbol{c}\) in QpSolver::solve.) More... | |
Eigen::MatrixXd | eq_mat_ |
Equality constraint matrix (corresponding to \(\boldsymbol{A}\) in QpSolver::solve.) More... | |
Eigen::VectorXd | eq_vec_ |
Equality constraint vector (corresponding to \(\boldsymbol{b}\) in QpSolver::solve.) More... | |
Eigen::MatrixXd | ineq_mat_ |
Inequality constraint matrix (corresponding to \(\boldsymbol{C}\) in QpSolver::solve.) More... | |
Eigen::VectorXd | ineq_vec_ |
Inequality constraint vector (corresponding to \(\boldsymbol{d}\) in QpSolver::solve.) More... | |
Eigen::VectorXd | x_min_ |
Lower bound (corresponding to \(\boldsymbol{x}_{min}\) in QpSolver::solve.) More... | |
Eigen::VectorXd | x_max_ |
Upper bound (corresponding to \(\boldsymbol{x}_{max}\) in QpSolver::solve.) More... | |
Class of QP coefficient.
Definition at line 137 of file QpSolverCollection.h.
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inline |
Constructor.
Definition at line 141 of file QpSolverCollection.h.
void QpSolverCollection::QpCoeff::dump | ( | std::ofstream & | ofs | ) | const |
Dump coefficients.
void QpSolverCollection::QpCoeff::printInfo | ( | bool | verbose = false , |
const std::string & | header = "" |
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) | const |
Print information.
void QpSolverCollection::QpCoeff::setup | ( | int | dim_var, |
int | dim_eq, | ||
int | dim_ineq | ||
) |
Setup the coefficients with filling zero.
dim_var | dimension of decision variable |
dim_eq | dimension of equality constraint |
dim_ineq | dimension of inequality constraint |
int QpSolverCollection::QpCoeff::dim_eq_ = 0 |
Dimension of equality constraint.
Definition at line 161 of file QpSolverCollection.h.
int QpSolverCollection::QpCoeff::dim_ineq_ = 0 |
Dimension of inequality constraint.
Definition at line 164 of file QpSolverCollection.h.
int QpSolverCollection::QpCoeff::dim_var_ = 0 |
Dimension of decision variable.
Definition at line 158 of file QpSolverCollection.h.
Eigen::MatrixXd QpSolverCollection::QpCoeff::eq_mat_ |
Equality constraint matrix (corresponding to \(\boldsymbol{A}\) in QpSolver::solve.)
Definition at line 173 of file QpSolverCollection.h.
Eigen::VectorXd QpSolverCollection::QpCoeff::eq_vec_ |
Equality constraint vector (corresponding to \(\boldsymbol{b}\) in QpSolver::solve.)
Definition at line 176 of file QpSolverCollection.h.
Eigen::MatrixXd QpSolverCollection::QpCoeff::ineq_mat_ |
Inequality constraint matrix (corresponding to \(\boldsymbol{C}\) in QpSolver::solve.)
Definition at line 179 of file QpSolverCollection.h.
Eigen::VectorXd QpSolverCollection::QpCoeff::ineq_vec_ |
Inequality constraint vector (corresponding to \(\boldsymbol{d}\) in QpSolver::solve.)
Definition at line 182 of file QpSolverCollection.h.
Eigen::MatrixXd QpSolverCollection::QpCoeff::obj_mat_ |
Objective matrix (corresponding to \(\boldsymbol{Q}\) in QpSolver::solve.)
Definition at line 167 of file QpSolverCollection.h.
Eigen::VectorXd QpSolverCollection::QpCoeff::obj_vec_ |
Objective vector (corresponding to \(\boldsymbol{c}\) in QpSolver::solve.)
Definition at line 170 of file QpSolverCollection.h.
Eigen::VectorXd QpSolverCollection::QpCoeff::x_max_ |
Upper bound (corresponding to \(\boldsymbol{x}_{max}\) in QpSolver::solve.)
Definition at line 188 of file QpSolverCollection.h.
Eigen::VectorXd QpSolverCollection::QpCoeff::x_min_ |
Lower bound (corresponding to \(\boldsymbol{x}_{min}\) in QpSolver::solve.)
Definition at line 185 of file QpSolverCollection.h.