#include <QpSolverCollection.h>
Inheritance diagram for QpSolverCollection::QpSolverQpoases:
Collaboration diagram for QpSolverCollection::QpSolverQpoases:
Public Member Functions | |
| QpSolverQpoases () | |
| 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 | |
| int | n_wsr_ = 10000 |
| bool | force_initialize_ = true |
| Whether to initialize each time instead of doing a warm start. More... | |
Protected Attributes | |
| std::unique_ptr< qpOASES::SQProblem > | qpoases_ |
| 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 qpOASES.
- Todo:
- Support an efficient interface (QProblemB) dedicated to QP with only box constraints.
Definition at line 377 of file QpSolverCollection.h.
Constructor & Destructor Documentation
◆ QpSolverQpoases()
| QpSolverCollection::QpSolverQpoases::QpSolverQpoases | ( | ) |
Constructor.
Member Function Documentation
◆ solve()
|
overridevirtual |
Solve QP.
Implements QpSolverCollection::QpSolver.
Member Data Documentation
◆ force_initialize_
| bool QpSolverCollection::QpSolverQpoases::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 403 of file QpSolverCollection.h.
◆ n_wsr_
| int QpSolverCollection::QpSolverQpoases::n_wsr_ = 10000 |
Definition at line 397 of file QpSolverCollection.h.
◆ qpoases_
|
protected |
Definition at line 406 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
