humoto::qpoases::Solution Class Reference

Detailed Description

Solution of a QP.

Definition at line 21 of file solution.h.

#include <solution.h>

Inheritance diagram for humoto::qpoases::Solution:

Public Member Functions
void	addSolutionPart (const std::string &id, const std::size_t length)
	Add part of the solution. More...
const Eigen::VectorXd &	get_x () const
	Returns solution vector. More...
Eigen::VectorBlock< Eigen::VectorXd >	getData (const Location &location)
	Get data from solution vector. More...
Eigen::VectorXd	getData (const Location &location) const
	Get data from solution vector. More...
Eigen::Block< Eigen::MatrixXd >	getMatrixPart (const std::string &id, Eigen::MatrixXd &matrix) const
	Get part of a matrix corresponding to given part of the solution. More...
const Eigen::Block< const Eigen::MatrixXd >	getMatrixPart (const std::string &id, const Eigen::MatrixXd &matrix) const
	Get part of a matrix corresponding to given part of the solution. More...
std::size_t	getNumberOfVariables () const
	Get total number of variables in the solution vector. More...
Eigen::VectorBlock< Eigen::VectorXd >	getSolutionPart (const std::string &id)
	Get part of the solution by its id. More...
Eigen::VectorXd	getSolutionPart (const std::string &id) const
	Get part of the solution by its id. More...
Location	getSolutionPartLocation (const std::string &id) const
	Get location of a data in the solution vector. More...
std::string	getStatusDescription () const
	Status description. More...
void	initialize (const SolutionStructure &sol_structure)
	Initialize the solution vector. More...
void	initialize (const SolutionStructure &sol_structure, const double value)
	Initialize the solution vector. More...
void	initialize (const SolutionStructure &sol_structure, const Solution &old_solution)
	Initialize the solution vector using an old solution. More...
bool	isNonEmpty () const
	Checks if the structure is empty or not. More...
void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="solution") const
	Log a QP problem. More...
void	readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...
void	readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...
void	readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...
void	readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...
void	readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...
void	readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...
void	readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read nested configuration node. More...
void	reset ()
	Reset. More...
void	setDefaults ()
	No defaults. More...
void	writeConfig (t_Writer &writer) const
	Write configuration. More...
void	writeConfig (t_Writer &writer, const std::string &node_name) const
	Write configuration. More...
void	writeConfig (const std::string &file_name) const
	Write configuration. More...
void	writeConfig (const std::string &file_name, const std::string &node_name) const
	Write configuration. More...
void	writeNestedConfig (t_Writer &writer) const
	Write nested configuration node. More...
void	writeNestedConfig (t_Writer &writer, const std::string &node_name) const
	Write nested configuration node. More...

Public Attributes
int	number_of_iterations_
	Number of iterations made by the solver. More...
qpOASES::returnValue	qpoases_return_value_
	The return value of qpOASES. More...
SolverStatus::Status	return_status_
Eigen::VectorXd	x_

Protected Member Functions
virtual void	finalize ()
	This function is called automaticaly after reading a configuration file. Does nothing by default. More...
virtual const std::string &	getConfigSectionID () const=0
	Return the default name of a configuration node corresponding to this class. More...
virtual std::size_t	getNumberOfEntries () const=0
	Get number of entries in the corresponding configuration node. More...

Protected Attributes
std::size_t	number_of_variables_
std::map< std::string, Location >	variable_map_

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Member Function Documentation

addSolutionPart()

void humoto::SolutionStructure::addSolutionPart ( const std::string &  id, const std::size_t  length  )

inlineinherited

Add part of the solution.

Parameters

[in]	id	string id of the solution part
[in]	length	length of the solution part

Definition at line 72 of file solution.h.

finalize()

virtual void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::finalize ( )

inlineprotectedvirtualinherited

This function is called automaticaly after reading a configuration file. Does nothing by default.

Reimplemented in humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_mpc::MPCParameters, humoto::pepper_mpc::MotionParameters, humoto::walking::RobotFootParameters, humoto::wpg04::MPCParameters, humoto::pepper_mpc::RobotParameters, humoto::pepper_ik::WBCParameters, humoto::pepper_ik::GeneralizedCoordinates< t_features >, humoto::wpg04::TaskCoPPosition, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.

Definition at line 102 of file config.h.

get_x()

const Eigen::VectorXd& humoto::Solution::get_x ( ) const

inlineinherited

Returns solution vector.

Returns

Solution vector (not a copy!)

Definition at line 337 of file solution.h.

getConfigSectionID()

virtual const std::string& humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getConfigSectionID ( ) const

protectedpure virtualinherited

Return the default name of a configuration node corresponding to this class.

Returns

the name

Attention

Implementation of this method is added automatically upon inclusion of define_accessors.h if HUMOTO_CONFIG_SECTION_ID is defined.

Implemented in humoto::TaskBase.

getData() [1/2]

Eigen::VectorBlock<Eigen::VectorXd> humoto::Solution::getData ( const Location &  location )

inlineinherited

Get data from solution vector.

Parameters

[in]

location

location of the data

Returns

data (not a copy!)

Definition at line 294 of file solution.h.

getData() [2/2]

Eigen::VectorXd humoto::Solution::getData ( const Location &  location ) const

inlineinherited

Get data from solution vector.

Parameters

[in]

location

location of the data

Returns

data

Definition at line 323 of file solution.h.

getMatrixPart() [1/2]

Eigen::Block<Eigen::MatrixXd> humoto::SolutionStructure::getMatrixPart ( const std::string &  id, Eigen::MatrixXd &  matrix  ) const

inlineinherited

Get part of a matrix corresponding to given part of the solution.

Parameters

[in]	id	id of the data block
[in]	matrix	matrix

Returns

Definition at line 147 of file solution.h.

getMatrixPart() [2/2]

const Eigen::Block<const Eigen::MatrixXd> humoto::SolutionStructure::getMatrixPart ( const std::string &  id, const Eigen::MatrixXd &  matrix  ) const

inlineinherited

Get part of a matrix corresponding to given part of the solution.

Parameters

[in]	id	id of the data block
[in]	matrix	matrix

Returns

Definition at line 163 of file solution.h.

getNumberOfEntries()

virtual std::size_t humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getNumberOfEntries ( ) const

protectedpure virtualinherited

Get number of entries in the corresponding configuration node.

Returns

number of entries

Implemented in humoto::ConfigurableOptimizationProblem.

getNumberOfVariables()

std::size_t humoto::SolutionStructure::getNumberOfVariables ( ) const

inlineinherited

Get total number of variables in the solution vector.

Returns

number of variables.

Attention

This method should be called only after addition of all solution parts.

Definition at line 109 of file solution.h.

getSolutionPart() [1/2]

Eigen::VectorBlock<Eigen::VectorXd> humoto::Solution::getSolutionPart ( const std::string &  id )

inlineinherited

Get part of the solution by its id.

Parameters

[in]

id

id of the solution part

Returns

part of the solution (not a copy!)

Definition at line 281 of file solution.h.

getSolutionPart() [2/2]

Eigen::VectorXd humoto::Solution::getSolutionPart ( const std::string &  id ) const

inlineinherited

Get part of the solution by its id.

Parameters

[in]

id

id of the solution part

Returns

part of the solution

Definition at line 309 of file solution.h.

getSolutionPartLocation()

Location humoto::SolutionStructure::getSolutionPartLocation ( const std::string &  id ) const

inlineinherited

Get location of a data in the solution vector.

Parameters

[in]

id

id of the data block

Returns

Location

Definition at line 122 of file solution.h.

getStatusDescription()

std::string humoto::qpoases::Solution::getStatusDescription ( ) const

inlinevirtual

Status description.

Returns

description of the status if available

Reimplemented from humoto::Solution.

Definition at line 37 of file solution.h.

initialize() [1/3]

void humoto::Solution::initialize ( const SolutionStructure &  sol_structure )

inlineinherited

Initialize the solution vector.

Parameters

[in]

sol_structure

structure of the solution

Definition at line 214 of file solution.h.

initialize() [2/3]

void humoto::Solution::initialize ( const SolutionStructure &  sol_structure, const double  value  )

inlineinherited

Initialize the solution vector.

Parameters

[in]	sol_structure	structure of the solution
[in]	value

Definition at line 229 of file solution.h.

initialize() [3/3]

void humoto::Solution::initialize ( const SolutionStructure &  sol_structure, const Solution &  old_solution  )

inlineinherited

Initialize the solution vector using an old solution.

Parameters

[in]	sol_structure	structure of the solution
[in]	old_solution	old solution

Definition at line 251 of file solution.h.

isNonEmpty()

bool humoto::SolutionStructure::isNonEmpty ( ) const

inlineinherited

Checks if the structure is empty or not.

Returns

true / false

Definition at line 88 of file solution.h.

log()

void humoto::qpoases::Solution::log ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "solution"  ) const

inlinevirtual

Log a QP problem.

Parameters

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

Reimplemented from humoto::Solution.

Definition at line 55 of file solution.h.

readConfig() [1/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig ( t_Reader &  reader, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry

Definition at line 167 of file config.h.

readConfig() [2/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig ( t_Reader &  reader, const std::string &  node_name, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 183 of file config.h.

readConfig() [3/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig ( t_Reader &  reader, const char *  node_name, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note

Intercept implicit conversion of a pointer to bool.

Definition at line 202 of file config.h.

readConfig() [4/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig ( const std::string &  file_name, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry

Definition at line 218 of file config.h.

readConfig() [5/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig ( const std::string &  file_name, const std::string &  node_name, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty
[in]	crash_on_missing_entry

Definition at line 235 of file config.h.

readConfig() [6/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig ( const std::string &  file_name, const char *  node_name, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note

Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.h.

readNestedConfig()

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readNestedConfig ( t_Reader &  reader, const std::string &  node_name, const bool  crash_on_missing_entry = default_crash_on_missing_entry_  )

inlineinherited

Read nested configuration node.

Parameters

[in]	reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 132 of file config.h.

reset()

void humoto::SolutionStructure::reset ( )

inlineinherited

Reset.

Definition at line 59 of file solution.h.

setDefaults()

void humoto::Solution::setDefaults ( )

inlinevirtualinherited

No defaults.

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 206 of file solution.h.

writeConfig() [1/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer &  writer ) const

inlineinherited

Write configuration.

Parameters

[in,out]

writer

configuration writer

Definition at line 300 of file config.h.

writeConfig() [2/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer &  writer, const std::string &  node_name  ) const

inlineinherited

Write configuration.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 313 of file config.h.

writeConfig() [3/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string &  file_name ) const

inlineinherited

Write configuration.

Parameters

[in]

file_name

file name

Definition at line 328 of file config.h.

writeConfig() [4/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string &  file_name, const std::string &  node_name  ) const

inlineinherited

Write configuration.

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty

Definition at line 342 of file config.h.

writeNestedConfig() [1/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer &  writer ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out]

writer

configuration writer

Definition at line 272 of file config.h.

writeNestedConfig() [2/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer &  writer, const std::string &  node_name  ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

default_crash_on_missing_entry_

const bool humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::default_crash_on_missing_entry_

staticprotectedinherited

Definition at line 67 of file config.h.

number_of_iterations_

int humoto::qpoases::Solution::number_of_iterations_

Number of iterations made by the solver.

Definition at line 25 of file solution.h.

number_of_variables_

std::size_t humoto::SolutionStructure::number_of_variables_

protectedinherited

Definition at line 36 of file solution.h.

qpoases_return_value_

qpOASES::returnValue humoto::qpoases::Solution::qpoases_return_value_

The return value of qpOASES.

Definition at line 28 of file solution.h.

return_status_

SolverStatus::Status humoto::Solution::return_status_

inherited

Definition at line 187 of file solution.h.

variable_map_

std::map<std::string, Location> humoto::SolutionStructure::variable_map_

protectedinherited

Definition at line 37 of file solution.h.

x_

Eigen::VectorXd humoto::Solution::x_

inherited

Definition at line 186 of file solution.h.

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

• bridges/qpOASES/interface/qpoases/solution.h