QP solver NASOQ. More...
#include <QpSolverCollection.h>
Inheritance diagram for QpSolverCollection::QpSolverNasoq:
Collaboration diagram for QpSolverCollection::QpSolverNasoq:
Public Member Functions | |
| QpSolverNasoq () | |
| Constructor. 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... | |
Protected Attributes | |
| Eigen::SparseMatrix< double, Eigen::ColMajor, int > | Q_sparse_ |
| Eigen::SparseMatrix< double, Eigen::ColMajor, int > | A_sparse_ |
| Eigen::SparseMatrix< double, Eigen::ColMajor, int > | C_with_bound_sparse_ |
| double | sparse_duration_ = 0 |
| 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 NASOQ.
- Todo:
- Set without going through a dense matrix.
Definition at line 457 of file QpSolverCollection.h.
Constructor & Destructor Documentation
◆ QpSolverNasoq()
| QpSolverCollection::QpSolverNasoq::QpSolverNasoq | ( | ) |
Constructor.
Member Function Documentation
◆ solve()
|
overridevirtual |
Solve QP.
Implements QpSolverCollection::QpSolver.
Member Data Documentation
◆ A_sparse_
|
protected |
Definition at line 478 of file QpSolverCollection.h.
◆ C_with_bound_sparse_
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protected |
Definition at line 479 of file QpSolverCollection.h.
◆ Q_sparse_
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protected |
Definition at line 477 of file QpSolverCollection.h.
◆ sparse_duration_
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protected |
Definition at line 481 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
