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...

Detailed Description

Class of QP coefficient.

Definition at line 137 of file QpSolverCollection.h.

Constructor & Destructor Documentation

◆ QpCoeff()

QpSolverCollection::QpCoeff::QpCoeff ( )

inline

Constructor.

Definition at line 141 of file QpSolverCollection.h.

Member Function Documentation

◆ dump()

void QpSolverCollection::QpCoeff::dump ( std::ofstream & ofs ) const

Dump coefficients.

◆ printInfo()

void QpSolverCollection::QpCoeff::printInfo	(	bool	verbose = `false`,
		const std::string &	header = `""`
	)		const

Print information.

◆ setup()

void QpSolverCollection::QpCoeff::setup	(	int	dim_var,
		int	dim_eq,
		int	dim_ineq
	)

Setup the coefficients with filling zero.

Parameters

dim_var	dimension of decision variable
dim_eq	dimension of equality constraint
dim_ineq	dimension of inequality constraint

Member Data Documentation

◆ dim_eq_

int QpSolverCollection::QpCoeff::dim_eq_ = 0

Dimension of equality constraint.

Definition at line 161 of file QpSolverCollection.h.

◆ dim_ineq_

int QpSolverCollection::QpCoeff::dim_ineq_ = 0

Dimension of inequality constraint.

Definition at line 164 of file QpSolverCollection.h.

◆ dim_var_

int QpSolverCollection::QpCoeff::dim_var_ = 0

Dimension of decision variable.

Definition at line 158 of file QpSolverCollection.h.

◆ eq_mat_

Eigen::MatrixXd QpSolverCollection::QpCoeff::eq_mat_

Equality constraint matrix (corresponding to \(\boldsymbol{A}\) in QpSolver::solve.)

Definition at line 173 of file QpSolverCollection.h.

◆ eq_vec_

Eigen::VectorXd QpSolverCollection::QpCoeff::eq_vec_

Equality constraint vector (corresponding to \(\boldsymbol{b}\) in QpSolver::solve.)

Definition at line 176 of file QpSolverCollection.h.

◆ ineq_mat_

Eigen::MatrixXd QpSolverCollection::QpCoeff::ineq_mat_

Inequality constraint matrix (corresponding to \(\boldsymbol{C}\) in QpSolver::solve.)

Definition at line 179 of file QpSolverCollection.h.

◆ ineq_vec_

Eigen::VectorXd QpSolverCollection::QpCoeff::ineq_vec_

Inequality constraint vector (corresponding to \(\boldsymbol{d}\) in QpSolver::solve.)

Definition at line 182 of file QpSolverCollection.h.

◆ obj_mat_

Eigen::MatrixXd QpSolverCollection::QpCoeff::obj_mat_

Objective matrix (corresponding to \(\boldsymbol{Q}\) in QpSolver::solve.)

Definition at line 167 of file QpSolverCollection.h.

◆ obj_vec_

Eigen::VectorXd QpSolverCollection::QpCoeff::obj_vec_

Objective vector (corresponding to \(\boldsymbol{c}\) in QpSolver::solve.)

Definition at line 170 of file QpSolverCollection.h.

◆ x_max_

Eigen::VectorXd QpSolverCollection::QpCoeff::x_max_

Upper bound (corresponding to \(\boldsymbol{x}_{max}\) in QpSolver::solve.)

Definition at line 188 of file QpSolverCollection.h.

◆ x_min_

Eigen::VectorXd QpSolverCollection::QpCoeff::x_min_

Lower bound (corresponding to \(\boldsymbol{x}_{min}\) in QpSolver::solve.)

Definition at line 185 of file QpSolverCollection.h.

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

/home/runner/work/QpSolverCollection/QpSolverCollection/colcon_ws/src/isri-aist/QpSolverCollection/include/qp_solver_collection/QpSolverCollection.h

Public Member Functions

Public Attributes