QpSolverCollection::QpSolverOsqp Class Reference

QP solver OSQP. More...

#include <QpSolverCollection.h>

Inheritance diagram for QpSolverCollection::QpSolverOsqp:

Collaboration diagram for QpSolverCollection::QpSolverOsqp:

Public Member Functions
	QpSolverOsqp ()
	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...

Public Attributes
bool	force_initialize_ = true
	Whether to initialize each time instead of doing a warm start. More...

Protected Attributes
std::unique_ptr< OsqpEigen::Solver >	osqp_
Eigen::SparseMatrix< double >	Q_sparse_
Eigen::VectorXd	c_
Eigen::SparseMatrix< double >	AC_with_bound_sparse_
Eigen::VectorXd	bd_with_bound_min_
Eigen::VectorXd	bd_with_bound_max_
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 OSQP.

Todo:

Set without going through a dense matrix.

Definition at line 414 of file QpSolverCollection.h.

Constructor & Destructor Documentation

QpSolverOsqp()

QpSolverCollection::QpSolverOsqp::QpSolverOsqp

(

)

Constructor.

Member Function Documentation

solve()

virtual Eigen::VectorXd QpSolverCollection::QpSolverOsqp::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

AC_with_bound_sparse_

Eigen::SparseMatrix<double> QpSolverCollection::QpSolverOsqp::AC_with_bound_sparse_

protected

Definition at line 445 of file QpSolverCollection.h.

bd_with_bound_max_

Eigen::VectorXd QpSolverCollection::QpSolverOsqp::bd_with_bound_max_

protected

Definition at line 447 of file QpSolverCollection.h.

bd_with_bound_min_

Eigen::VectorXd QpSolverCollection::QpSolverOsqp::bd_with_bound_min_

protected

Definition at line 446 of file QpSolverCollection.h.

c_

Eigen::VectorXd QpSolverCollection::QpSolverOsqp::c_

protected

Definition at line 444 of file QpSolverCollection.h.

force_initialize_

bool QpSolverCollection::QpSolverOsqp::force_initialize_ = true

Whether to initialize each time instead of doing a warm start.

Note

Warm start did not give good results.

Definition at line 438 of file QpSolverCollection.h.

osqp_

std::unique_ptr<OsqpEigen::Solver> QpSolverCollection::QpSolverOsqp::osqp_

protected

Definition at line 441 of file QpSolverCollection.h.

Q_sparse_

Eigen::SparseMatrix<double> QpSolverCollection::QpSolverOsqp::Q_sparse_

protected

Definition at line 443 of file QpSolverCollection.h.

sparse_duration_

double QpSolverCollection::QpSolverOsqp::sparse_duration_ = 0

protected

Definition at line 449 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