QpSolverCollection::QpSolverHpipm Class Reference

QP solver HPIPM. More...

#include <QpSolverCollection.h>

Inheritance diagram for QpSolverCollection::QpSolverHpipm:

Collaboration diagram for QpSolverCollection::QpSolverHpipm:

Public Member Functions
	QpSolverHpipm ()
	Constructor. More...
	~QpSolverHpipm ()
	Destructor. 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) override
	Solve QP. More...
Public Member Functions inherited from QpSolverCollection::QpSolver
	QpSolver ()
	Constructor. More...
void	printInfo (bool verbose=false, const std::string &header="") const
	Print information. 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...

Public Attributes
double	bound_limit_ = 1e10
	Maximum limits of inequality bounds. More...

Protected Attributes
std::unique_ptr< struct d_dense_qp_dim >	qp_dim_
std::unique_ptr< struct d_dense_qp >	qp_
std::unique_ptr< struct d_dense_qp_sol >	qp_sol_
std::unique_ptr< struct d_dense_qp_ipm_arg >	ipm_arg_
std::unique_ptr< struct d_dense_qp_ipm_ws >	ipm_ws_
void *	qp_dim_mem_ = nullptr
void *	qp_mem_ = nullptr
void *	qp_sol_mem_ = nullptr
void *	ipm_arg_mem_ = nullptr
void *	ipm_ws_mem_ = nullptr
double *	opt_x_mem_
Protected Attributes inherited from QpSolverCollection::QpSolver
QpSolverType	type_ = QpSolverType::Uninitialized
	QP solver type. More...
bool	solve_failed_ = false
	Whether it failed to solve the QP. More...

Additional Inherited Members
Public Types inherited from QpSolverCollection::QpSolver
using	clock = typename std::conditional< std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock >::type

Detailed Description

QP solver HPIPM.

Definition at line 487 of file QpSolverCollection.h.

Constructor & Destructor Documentation

QpSolverHpipm()

QpSolverCollection::QpSolverHpipm::QpSolverHpipm

(

)

Constructor.

~QpSolverHpipm()

QpSolverCollection::QpSolverHpipm::~QpSolverHpipm

(

)

Destructor.

Member Function Documentation

solve()

virtual Eigen::VectorXd QpSolverCollection::QpSolverHpipm::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  )

overridevirtual

Solve QP.

Implements QpSolverCollection::QpSolver.

Member Data Documentation

bound_limit_

double QpSolverCollection::QpSolverHpipm::bound_limit_ = 1e10

Maximum limits of inequality bounds.

Note

Setting very large values for inequality bounds will result in NaN or incorrect solutions. std::numeric_limits<double>::infinity(), std::numeric_limits<double>::max(), and even 1e20 have this problem.

Definition at line 515 of file QpSolverCollection.h.

ipm_arg_

std::unique_ptr<struct d_dense_qp_ipm_arg> QpSolverCollection::QpSolverHpipm::ipm_arg_

protected

Definition at line 521 of file QpSolverCollection.h.

ipm_arg_mem_

void* QpSolverCollection::QpSolverHpipm::ipm_arg_mem_ = nullptr

protected

Definition at line 527 of file QpSolverCollection.h.

ipm_ws_

std::unique_ptr<struct d_dense_qp_ipm_ws> QpSolverCollection::QpSolverHpipm::ipm_ws_

protected

Definition at line 522 of file QpSolverCollection.h.

ipm_ws_mem_

void* QpSolverCollection::QpSolverHpipm::ipm_ws_mem_ = nullptr

protected

Definition at line 528 of file QpSolverCollection.h.

opt_x_mem_

double* QpSolverCollection::QpSolverHpipm::opt_x_mem_

protected

Definition at line 530 of file QpSolverCollection.h.

qp_

std::unique_ptr<struct d_dense_qp> QpSolverCollection::QpSolverHpipm::qp_

protected

Definition at line 519 of file QpSolverCollection.h.

qp_dim_

std::unique_ptr<struct d_dense_qp_dim> QpSolverCollection::QpSolverHpipm::qp_dim_

protected

Definition at line 518 of file QpSolverCollection.h.

qp_dim_mem_

void* QpSolverCollection::QpSolverHpipm::qp_dim_mem_ = nullptr

protected

Definition at line 524 of file QpSolverCollection.h.

qp_mem_

void* QpSolverCollection::QpSolverHpipm::qp_mem_ = nullptr

protected

Definition at line 525 of file QpSolverCollection.h.

qp_sol_

std::unique_ptr<struct d_dense_qp_sol> QpSolverCollection::QpSolverHpipm::qp_sol_

protected

Definition at line 520 of file QpSolverCollection.h.

qp_sol_mem_

void* QpSolverCollection::QpSolverHpipm::qp_sol_mem_ = nullptr

protected

Definition at line 526 of file QpSolverCollection.h.

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

• /home/runner/work/QpSolverCollection/QpSolverCollection/catkin_ws/src/QpSolverCollection/include/qp_solver_collection/QpSolverCollection.h