Detailed Description

A QP problem with constraints of a specific type.

Definition at line 464 of file qp_problem.h.

#include <qp_problem.h>

Inheritance diagram for humoto::QPProblem_AB:

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 humoto::constraints::ContainerAB &	getEqualities () const
	get container with equalities More...

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	initializeConstraints (const HierarchyLevel &hlevel, const humoto::SolutionStructure &sol_structure)
	Generates (general) objective containing all constraints on this level. 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
humoto::constraints::ContainerAB	equality_constraints_

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

◆ getEqualities()

const humoto::constraints::ContainerAB& humoto::QPConstraints_AB::getEqualities ( ) const

inlineinherited

get container with equalities

Returns: constraints container

Definition at line 394 of file qp_problem.h.

◆ 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.

◆ initializeConstraints()

void humoto::QPConstraints_AB::initializeConstraints	(	const HierarchyLevel &	hlevel,
		const humoto::SolutionStructure &	sol_structure
	)

inlineinherited

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

Parameters

[in]	hlevel	hierarchy level
[in]	sol_structure	structure of the solution

Definition at line 380 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()

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

inlineinherited

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

◆ equality_constraints_

humoto::constraints::ContainerAB humoto::QPConstraints_AB::equality_constraints_

protectedinherited

Definition at line 370 of file qp_problem.h.

◆ 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.

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

core/include/humoto/qp_problem.h

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Enumeration Documentation

◆ HessianType

◆ Status

Member Function Documentation

◆ getEqualities()

◆ getGradient() [1/2]

◆ getGradient() [2/2]

◆ getHessian() [1/2]

◆ getHessian() [2/2]

◆ getHessianType()

◆ getStatus()

◆ initializeConstraints()

◆ initializeObjective()

◆ log()

◆ regularize()

Member Data Documentation

◆ equality_constraints_

◆ g_

◆ H_

◆ hessian_type_

◆ status_