QpSolverCollection::QpSolver Class Reference

Virtual class of QP solver. More...

#include <QpSolverCollection.h>

Inheritance diagram for QpSolverCollection::QpSolver:

Public Types
using	clock = typename std::conditional< std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock >::type

Public Member Functions
	QpSolver ()
	Constructor. More...
void	printInfo (bool verbose=false, const std::string &header="") const
	Print information. More...
virtual Eigen::VectorXd	solve (int dim_var, int dim_eq, int dim_ineq, Eigen::Ref< Eigen::MatrixXd > Q, const Eigen::Ref< const Eigen::VectorXd > &c, const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const Eigen::MatrixXd > &C, const Eigen::Ref< const Eigen::VectorXd > &d, const Eigen::Ref< const Eigen::VectorXd > &x_min, const Eigen::Ref< const Eigen::VectorXd > &x_max)=0
	Solve QP. More...
virtual Eigen::VectorXd	solve (QpCoeff &qp_coeff)
	Solve QP. More...
QpSolverType	type () const
	Get QP solver type. More...
bool	solveFailed () const
	Get whether it failed to solve the QP. More...

Protected Attributes
QpSolverType	type_ = QpSolverType::Uninitialized
	QP solver type. More...
bool	solve_failed_ = false
	Whether it failed to solve the QP. More...

Detailed Description

Virtual class of QP solver.

Definition at line 192 of file QpSolverCollection.h.

Member Typedef Documentation

clock

using QpSolverCollection::QpSolver::clock = typename std::conditional<std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock>::type

Definition at line 195 of file QpSolverCollection.h.

Constructor & Destructor Documentation

QpSolver()

QpSolverCollection::QpSolver::QpSolver ( )

inline

Constructor.

Definition at line 201 of file QpSolverCollection.h.

Member Function Documentation

printInfo()

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

Print information.

solve() [1/2]

virtual Eigen::VectorXd QpSolverCollection::QpSolver::solve ( int  dim_var, int  dim_eq, int  dim_ineq, Eigen::Ref< Eigen::MatrixXd >  Q, const Eigen::Ref< const Eigen::VectorXd > &  c, const Eigen::Ref< const Eigen::MatrixXd > &  A, const Eigen::Ref< const Eigen::VectorXd > &  b, const Eigen::Ref< const Eigen::MatrixXd > &  C, const Eigen::Ref< const Eigen::VectorXd > &  d, const Eigen::Ref< const Eigen::VectorXd > &  x_min, const Eigen::Ref< const Eigen::VectorXd > &  x_max  )

pure virtual

Solve QP.

Parameters

dim_var	dimension of decision variable
dim_eq	dimension of equality constraint
dim_ineq	dimension of inequality constraint
Q	objective matrix (LSSOL requires non-const for Q)
c	objective vector
A	equality constraint matrix
b	equality constraint vector
C	inequality constraint matrix
d	inequality constraint vector
x_min	lower bound
x_max	upper bound

QP is formulated as follows:

\begin{align*} & min_{\boldsymbol{x}} \ \frac{1}{2}{\boldsymbol{x}^T \boldsymbol{Q} \boldsymbol{x}} + {\boldsymbol{c}^T \boldsymbol{x}} \\ & s.t. \ \ \boldsymbol{A} \boldsymbol{x} = \boldsymbol{b} \nonumber \\ & \phantom{s.t.} \ \ \boldsymbol{C} \boldsymbol{x} \leq \boldsymbol{d} \nonumber \\ & \phantom{s.t.} \ \ \boldsymbol{x}_{min} \leq \boldsymbol{x} \leq \boldsymbol{x}_{max} \nonumber \end{align*}

Todo:

Support both-sided inequality constraints (i.e., \(\boldsymbol{d}_{lower} \leq \boldsymbol{C} \boldsymbol{x} \leq \boldsymbol{d}_{upper}\)). QLD, QuadProg, and NASOQ support only one-sided constraints, while LSSOL, JRLQP, QPOASES, OSQP, HPIPM, PROXQP, and QPMAD support both-sided constraints.

Implemented in QpSolverCollection::QpSolverQpmad, QpSolverCollection::QpSolverProxqp, QpSolverCollection::QpSolverHpipm, QpSolverCollection::QpSolverNasoq, QpSolverCollection::QpSolverOsqp, QpSolverCollection::QpSolverQpoases, QpSolverCollection::QpSolverJrlqp, QpSolverCollection::QpSolverLssol, QpSolverCollection::QpSolverQuadprog, and QpSolverCollection::QpSolverQld.

solve() [2/2]

virtual Eigen::VectorXd QpSolverCollection::QpSolver::solve ( QpCoeff &  qp_coeff )

virtual

Solve QP.

Parameters

qp_coeff

QP coefficient

solveFailed()

bool QpSolverCollection::QpSolver::solveFailed ( ) const

inline

Get whether it failed to solve the QP.

Definition at line 256 of file QpSolverCollection.h.

type()

QpSolverType QpSolverCollection::QpSolver::type ( ) const

inline

Get QP solver type.

Definition at line 250 of file QpSolverCollection.h.

Member Data Documentation

solve_failed_

bool QpSolverCollection::QpSolver::solve_failed_ = false

protected

Whether it failed to solve the QP.

Definition at line 266 of file QpSolverCollection.h.

type_

QpSolverType QpSolverCollection::QpSolver::type_ = QpSolverType::Uninitialized

protected

QP solver type.

Definition at line 263 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