humoto::QPProblemBase< t_Constraints > Class Template Reference

Detailed Description

template<class t_Constraints>
class humoto::QPProblemBase< t_Constraints >

QP problem base class.

Template Parameters

t_Constraints

Constraints container type.

Definition at line 424 of file qp_problem.h.

#include <qp_problem.h>

Inheritance diagram for humoto::QPProblemBase< t_Constraints >:

Public Types
enum	HessianType { HESSIAN_UNDEFINED = 0, HESSIAN_GENERIC = 1, HESSIAN_DIAGONAL = 2, HESSIAN_LOWER_TRIANGULAR = 3 }
enum	Status { UNDEFINED = 0, INITIALIZED = 1, MODIFIED = 2 }

Public Member Functions
const Eigen::VectorXd &	getGradient () const
	Const accessor. More...
Eigen::VectorXd &	getGradient ()
	Non-const accessor. More...
const Eigen::MatrixXd &	getHessian () const
	Const accessor. More...
Eigen::MatrixXd &	getHessian ()
	Non-const accessor. More...
HessianType	getHessianType () const
	Hessian type. More...
Status	getStatus () const
	Status of the objective. More...
void	initializeObjective (const humoto::HierarchyLevel &hlevel, const bool initialize_upper_triangular_part=true)
	Generates (general) objective containing all constraints on this level. More...
void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="qp_problem") const
	Log a QP problem. More...
void	regularize (const double regularization_factor)
	Adds regularization to the Hessian. More...

Protected Attributes
Eigen::VectorXd	g_
	Gradient vector. More...
Eigen::MatrixXd	H_
	Hessian. More...
HessianType	hessian_type_
Status	status_

Member Enumeration Documentation

HessianType

enum humoto::QPObjective::HessianType

inherited

Enumerator
HESSIAN_UNDEFINED
HESSIAN_GENERIC
HESSIAN_DIAGONAL
HESSIAN_LOWER_TRIANGULAR

Definition at line 29 of file qp_problem.h.

Status

enum humoto::QPObjective::Status

inherited

Enumerator
UNDEFINED
INITIALIZED
MODIFIED

Definition at line 22 of file qp_problem.h.

Member Function Documentation

getGradient() [1/2]

const Eigen::VectorXd& humoto::QPObjective::getGradient ( ) const

inlineinherited

Const accessor.

Returns

objective component

Definition at line 108 of file qp_problem.h.

getGradient() [2/2]

Eigen::VectorXd& humoto::QPObjective::getGradient ( )

inlineinherited

Non-const accessor.

Returns

objective component

Definition at line 132 of file qp_problem.h.

getHessian() [1/2]

const Eigen::MatrixXd& humoto::QPObjective::getHessian ( ) const

inlineinherited

Const accessor.

Returns

objective component

Definition at line 98 of file qp_problem.h.

getHessian() [2/2]

Eigen::MatrixXd& humoto::QPObjective::getHessian ( )

inlineinherited

Non-const accessor.

Returns

objective component

Definition at line 120 of file qp_problem.h.

getHessianType()

HessianType humoto::QPObjective::getHessianType ( ) const

inlineinherited

Hessian type.

Returns

Hessian type

Definition at line 157 of file qp_problem.h.

getStatus()

Status humoto::QPObjective::getStatus ( ) const

inlineinherited

Status of the objective.

Returns

status

Definition at line 145 of file qp_problem.h.

initializeObjective()

void humoto::QPObjective::initializeObjective ( const humoto::HierarchyLevel &  hlevel, const bool  initialize_upper_triangular_part = true  )

inlineinherited

Generates (general) objective containing all constraints on this level.

Parameters

[in]	hlevel	hierarchy level
[in]	initialize_upper_triangular_part

Definition at line 56 of file qp_problem.h.

log()

template<class t_Constraints>

void humoto::QPProblemBase< t_Constraints >::log ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "qp_problem"  ) const

inline

Log a QP problem.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Definition at line 434 of file qp_problem.h.

regularize()

void humoto::QPObjective::regularize ( const double  regularization_factor )

inlineinherited

Adds regularization to the Hessian.

Parameters

[in]

regularization_factor

Definition at line 168 of file qp_problem.h.

Member Data Documentation

g_

Eigen::VectorXd humoto::QPObjective::g_

protectedinherited

Gradient vector.

Definition at line 43 of file qp_problem.h.

H_

Eigen::MatrixXd humoto::QPObjective::H_

protectedinherited

Hessian.

Definition at line 40 of file qp_problem.h.

hessian_type_

HessianType humoto::QPObjective::hessian_type_

protectedinherited

Definition at line 45 of file qp_problem.h.

status_

Status humoto::QPObjective::status_

protectedinherited

Definition at line 46 of file qp_problem.h.

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

• core/include/humoto/qp_problem.h