humoto::kktsolver::Solver Class Reference

Detailed Description

QP solver.

Definition at line 88 of file kktsolver.h.

#include <kktsolver.h>

Inheritance diagram for humoto::kktsolver::Solver:

Public Member Functions
	Solver ()
	Default constructor (with default parameters) More...
	Solver (const SolverParameters &parameters)
	Set parameters. More...
	~Solver ()
	Destructor. More...
void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="kktsolver") const
	Log a QP problem. More...
void	setParameters (const SolverParameters &parameters)
	Construct solver with specified parameters. More...
void	solve (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy)
	Solve an optimization problem (using previously specified parameters) More...
void	solve (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy, const SolverParameters &parameters)
	Solve an optimization problem (using previously specified parameters) More...

Protected Member Functions
virtual void	checkInputs (const humoto::OptimizationProblem &hierarchy) const
	Checks input, does nothing by default, may include extra checks in mixins. More...
void	checkResults (const humoto::Solution &solution) const
	Check return status and crash if it indicates a failure and crashing is enabled. More...
virtual void	reset ()
	Reset solver. More...

Protected Attributes
SolverParameters	parameters_

Private Member Functions
void	initialize (const humoto::OptimizationProblem &hierarchy, const humoto::SolutionStructure &sol_structure)
	Initialize solver. More...
void	solveDirect (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy)
	Solve KKT system directly. More...
void	solveHierarchy (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy)
	Solve the hierarchy. More...
void	solveWithElimination (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy)
	Eliminate constraints and solve (only diagonal Hessians are supported). More...

Private Attributes
humoto::QPProblem_AB	qp_problem_

Constructor & Destructor Documentation

Solver() [1/2]

humoto::kktsolver::Solver::Solver ( )

inline

Default constructor (with default parameters)

Definition at line 212 of file kktsolver.h.

~Solver()

humoto::kktsolver::Solver::~Solver ( )

inline

Destructor.

Definition at line 220 of file kktsolver.h.

Solver() [2/2]

humoto::kktsolver::Solver::Solver ( const SolverParameters &  parameters )

inlineexplicit

Set parameters.

Parameters

[in]

parameters

parameters

Definition at line 230 of file kktsolver.h.

Member Function Documentation

checkInputs()

virtual void humoto::Solver< SolverParameters >::checkInputs ( const humoto::OptimizationProblem &  hierarchy ) const

inlineprotectedvirtualinherited

Checks input, does nothing by default, may include extra checks in mixins.

Parameters

[in]

hierarchy

Reimplemented in humoto::QPSolverMixin< humoto::Solver< SolverParameters > >, and humoto::QPSolverMixin< humoto::SolverGuessSolutionActiveSet< SolverParameters > >.

Definition at line 102 of file solver.h.

checkResults()

void humoto::Solver< SolverParameters >::checkResults ( const humoto::Solution &  solution ) const

inlineprotectedinherited

Check return status and crash if it indicates a failure and crashing is enabled.

Parameters

[in]

solution

Definition at line 85 of file solver.h.

initialize()

void humoto::kktsolver::Solver::initialize ( const humoto::OptimizationProblem &  hierarchy, const humoto::SolutionStructure &  sol_structure  )

inlineprivatevirtual

Initialize solver.

Parameters

[in]	hierarchy	hierarchy
[in]	sol_structure	solution structure

Implements humoto::Solver< SolverParameters >.

Definition at line 97 of file kktsolver.h.

log()

void humoto::kktsolver::Solver::log ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "kktsolver"  ) const

inline

Log a QP problem.

Parameters

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

Definition at line 243 of file kktsolver.h.

reset()

virtual void humoto::Solver< SolverParameters >::reset ( )

inlineprotectedvirtualinherited

Reset solver.

Reimplemented in humoto::qpoases::Solver.

Definition at line 110 of file solver.h.

setParameters()

void humoto::Solver< SolverParameters >::setParameters ( const SolverParameters &  parameters )

inlineinherited

Construct solver with specified parameters.

Parameters

[in]

parameters

parameters

Definition at line 141 of file solver.h.

solve() [1/2]

void humoto::Solver< SolverParameters >::solve ( humoto::Solution &  solution, const humoto::OptimizationProblem &  hierarchy  )

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[in]	hierarchy

Definition at line 155 of file solver.h.

solve() [2/2]

void humoto::Solver< SolverParameters >::solve ( humoto::Solution &  solution, const humoto::OptimizationProblem &  hierarchy, const SolverParameters &  parameters  )

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[in]	hierarchy
[in]	parameters	parameters

Definition at line 173 of file solver.h.

solveDirect()

void humoto::kktsolver::Solver::solveDirect ( humoto::Solution &  solution, const humoto::OptimizationProblem &  hierarchy  )

inlineprivate

Solve KKT system directly.

Parameters

[out]	solution
[in]	hierarchy

Definition at line 170 of file kktsolver.h.

solveHierarchy()

void humoto::kktsolver::Solver::solveHierarchy ( humoto::Solution &  solution, const humoto::OptimizationProblem &  hierarchy  )

inlineprivatevirtual

Solve the hierarchy.

Parameters

[out]	solution	solution
[in]	hierarchy	hierarchy

Implements humoto::Solver< SolverParameters >.

Definition at line 106 of file kktsolver.h.

solveWithElimination()

void humoto::kktsolver::Solver::solveWithElimination ( humoto::Solution &  solution, const humoto::OptimizationProblem &  hierarchy  )

inlineprivate

Eliminate constraints and solve (only diagonal Hessians are supported).

Parameters

[out]	solution
[in]	hierarchy

Definition at line 137 of file kktsolver.h.

Member Data Documentation

parameters_

SolverParameters humoto::Solver< SolverParameters >::parameters_

protectedinherited

Definition at line 67 of file solver.h.

qp_problem_

humoto::QPProblem_AB humoto::kktsolver::Solver::qp_problem_

private

Definition at line 91 of file kktsolver.h.

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

• core/include/kktsolver.h