Detailed Description

QP solver.

Solves hierarchy as an optimization problem of the following form: minimize 1/2* x' H x + x' g subject to lb <= x <= ub lbA <= A x <= ubA where 'x' is solution, 'H' – Hessian matrix, 'g' – gradient vector, 'lb' and 'ub' vectors of simple lower and upper bounds, 'Ax' – matrix of general constraints with bounds 'lbA' and 'ubA'.

Definition at line 134 of file solver.h.

#include <solver.h>

Inheritance diagram for humoto::qpoases::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="qpoases") 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...

void	solve (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy, const humoto::Solution &solution_guess)
	Solve an optimization problem (using previously specified parameters) More...

void	solve (Solution &solution, ActiveSet &active_set, const humoto::OptimizationProblem &hierarchy, const ActiveSet &active_set_guess)
	Solve an optimization problem (using previously specified parameters) More...

void	solve (Solution &solution, const humoto::OptimizationProblem &hierarchy, const ActiveSet &active_set_guess)
	Solve an optimization problem (using previously specified parameters) More...

void	solve (humoto::Solution &solution, humoto::ActiveSet &active_set, const humoto::OptimizationProblem &hierarchy)
	Solve an optimization problem (using previously specified parameters) More...

void	solve (Solution &solution, ActiveSet &active_set, const humoto::OptimizationProblem &hierarchy, const humoto::Solution &solution_guess, const ActiveSet &active_set_guess)
	Solve an optimization problem (using previously specified parameters) More...

void	solve (Solution &solution, const humoto::OptimizationProblem &hierarchy, const humoto::Solution &solution_guess, const ActiveSet &active_set_guess)
	Solve an optimization problem (using previously specified parameters) More...

void	solve (humoto::Solution &solution, humoto::ActiveSet &active_set, const humoto::OptimizationProblem &hierarchy, const humoto::Solution &solution_guess)
	Solve an optimization problem (using previously specified parameters) More...

Protected Member Functions
virtual void	checkInputs (const humoto::OptimizationProblem &hierarchy) const

void	checkResults (const humoto::Solution &solution) const
	Check return status and crash if it indicates a failure and crashing is enabled. More...

Protected Attributes
SolverParameters	parameters_

Private Member Functions
void	getActiveSet (humoto::ActiveSet &active_set, const humoto::OptimizationProblem &hierarchy)
	Get active set. More...

void	initialize (const humoto::OptimizationProblem &hierarchy, const humoto::SolutionStructure &sol_structure)
	Initialize solver. More...

void	reset ()
	Reset solver. More...

void	setActiveSet (const humoto::ActiveSet &active_set, const humoto::OptimizationProblem &hierarchy)
	Set active set guess. More...

void	setSolutionGuess (const humoto::Solution &solution_guess)
	Set solution guess. More...

void	solveHierarchy (humoto::Solution &solution, const humoto::OptimizationProblem &hierarchy)
	Solve the hierarchy. More...

Private Attributes
bool	active_set_guess_provided_
	If set the active set is returned. More...

std::size_t	number_of_constraints_
	Nonzero if constraints are specified. More...

qpOASES::QProblem *	qp_

humoto::QPProblem_ILU_ALU	qp_problem_

Eigen::VectorXd	qpoases_active_set_bounds_

Eigen::VectorXd	qpoases_active_set_constraints_

const double *	solution_guess_
	Guess of the solution. More...


qpOASES::Bounds	qpoases_active_set_guess_bounds_
	The active set guess for qpOASES. More...

qpOASES::Constraints	qpoases_active_set_guess_constraints_

Constructor & Destructor Documentation

◆ Solver() [1/2]

humoto::qpoases::Solver::Solver ( )

inline

Default constructor (with default parameters)

Definition at line 494 of file solver.h.

◆ ~Solver()

humoto::qpoases::Solver::~Solver ( )

inline

Destructor.

Definition at line 504 of file solver.h.

◆ Solver() [2/2]

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

inlineexplicit

Set parameters.

Parameters

[in] parameters parameters

Definition at line 515 of file solver.h.

Member Function Documentation

◆ checkInputs()

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

inlineprotectedvirtualinherited

Reimplemented from humoto::Solver< SolverParameters >.

Definition at line 469 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.

◆ getActiveSet()

void humoto::qpoases::Solver::getActiveSet	(	humoto::ActiveSet &	active_set,
		const humoto::OptimizationProblem &	hierarchy
	)

inlineprivatevirtual

Get active set.

Parameters

[out]	active_set
[in]	hierarchy

Implements humoto::SolverGuessActiveSetMixin< Solver< SolverParameters > >.

Definition at line 296 of file solver.h.

◆ initialize()

void humoto::qpoases::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 166 of file solver.h.

◆ log()

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

inline

Log a QP problem.

Parameters

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

Definition at line 530 of file solver.h.

◆ reset()

void humoto::qpoases::Solver::reset ( )

inlineprivatevirtual

Reset solver.

Reimplemented from humoto::Solver< SolverParameters >.

Definition at line 474 of file solver.h.

◆ setActiveSet()

void humoto::qpoases::Solver::setActiveSet	(	const humoto::ActiveSet &	active_set,
		const humoto::OptimizationProblem &	hierarchy
	)

inlineprivatevirtual

Set active set guess.

Parameters

[in]	hierarchy
[in]	active_set

Attention: One variable may be simply bounded multiple times. In this case, the guess is set to the guess for the last bound on the level.

Implements humoto::SolverGuessActiveSetMixin< Solver< SolverParameters > >.

Definition at line 404 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.

◆ setSolutionGuess()

void humoto::qpoases::Solver::setSolutionGuess ( const humoto::Solution & solution_guess )

inlineprivatevirtual

Set solution guess.

Parameters

[in] solution_guess

Implements humoto::SolverGuessSolutionMixin< SolverGuessActiveSetMixin< Solver< SolverParameters > > >.

Definition at line 467 of file solver.h.

◆ solve() [1/9]

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() [2/9]

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.

◆ solve() [3/9]

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

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[in]	hierarchy
[in]	solution_guess

Definition at line 230 of file solver.h.

◆ solve() [4/9]

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

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[out]	active_set
[in]	hierarchy
[in]	active_set_guess

Definition at line 297 of file solver.h.

◆ solve() [5/9]

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

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[in]	hierarchy
[in]	active_set_guess

Definition at line 319 of file solver.h.

◆ solve() [6/9]

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

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[out]	active_set
[in]	hierarchy

Definition at line 339 of file solver.h.

◆ solve() [7/9]

void humoto::SolverGuessSolutionActiveSetMixin< SolverGuessSolutionMixin< SolverGuessActiveSetMixin< Solver< SolverParameters > > > >::solve	(	Solution &	solution,
		ActiveSet &	active_set,
		const humoto::OptimizationProblem &	hierarchy,
		const humoto::Solution &	solution_guess,
		const ActiveSet &	active_set_guess
	)

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[out]	active_set
[in]	hierarchy
[in]	solution_guess
[in]	active_set_guess

Definition at line 393 of file solver.h.

◆ solve() [8/9]

void humoto::SolverGuessSolutionActiveSetMixin< SolverGuessSolutionMixin< SolverGuessActiveSetMixin< Solver< SolverParameters > > > >::solve	(	Solution &	solution,
		const humoto::OptimizationProblem &	hierarchy,
		const humoto::Solution &	solution_guess,
		const ActiveSet &	active_set_guess
	)

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[in]	hierarchy
[in]	solution_guess
[in]	active_set_guess

Definition at line 418 of file solver.h.

◆ solve() [9/9]

void humoto::SolverGuessSolutionActiveSetMixin< SolverGuessSolutionMixin< SolverGuessActiveSetMixin< Solver< SolverParameters > > > >::solve	(	humoto::Solution &	solution,
		humoto::ActiveSet &	active_set,
		const humoto::OptimizationProblem &	hierarchy,
		const humoto::Solution &	solution_guess
	)

inlineinherited

Solve an optimization problem (using previously specified parameters)

Parameters

[out]	solution
[out]	active_set
[in]	hierarchy
[in]	solution_guess

Definition at line 441 of file solver.h.

◆ solveHierarchy()

void humoto::qpoases::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 182 of file solver.h.

Member Data Documentation

◆ active_set_guess_provided_

bool humoto::qpoases::Solver::active_set_guess_provided_

private

If set the active set is returned.

Definition at line 138 of file solver.h.

◆ number_of_constraints_

std::size_t humoto::qpoases::Solver::number_of_constraints_

private

Nonzero if constraints are specified.

Definition at line 159 of file solver.h.

◆ parameters_

SolverParameters humoto::Solver< SolverParameters >::parameters_

protectedinherited

Definition at line 67 of file solver.h.

◆ qp_

qpOASES::QProblem* humoto::qpoases::Solver::qp_

private

Definition at line 161 of file solver.h.

◆ qp_problem_

humoto::QPProblem_ILU_ALU humoto::qpoases::Solver::qp_problem_

private

Definition at line 141 of file solver.h.

◆ qpoases_active_set_bounds_

Eigen::VectorXd humoto::qpoases::Solver::qpoases_active_set_bounds_

private

Definition at line 154 of file solver.h.

◆ qpoases_active_set_constraints_

Eigen::VectorXd humoto::qpoases::Solver::qpoases_active_set_constraints_

private

Definition at line 155 of file solver.h.

◆ qpoases_active_set_guess_bounds_

qpOASES::Bounds humoto::qpoases::Solver::qpoases_active_set_guess_bounds_

private

The active set guess for qpOASES.

Definition at line 150 of file solver.h.

◆ qpoases_active_set_guess_constraints_

qpOASES::Constraints humoto::qpoases::Solver::qpoases_active_set_guess_constraints_

private

Definition at line 151 of file solver.h.

◆ solution_guess_

const double* humoto::qpoases::Solver::solution_guess_

private

Guess of the solution.

Definition at line 145 of file solver.h.

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

bridges/qpOASES/interface/qpoases/solver.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ Solver() [1/2]

◆ ~Solver()

◆ Solver() [2/2]

Member Function Documentation

◆ checkInputs()

◆ checkResults()

◆ getActiveSet()

◆ initialize()

◆ log()

◆ reset()

◆ setActiveSet()

◆ setParameters()

◆ setSolutionGuess()

◆ solve() [1/9]

◆ solve() [2/9]

◆ solve() [3/9]

◆ solve() [4/9]

◆ solve() [5/9]

◆ solve() [6/9]

◆ solve() [7/9]

◆ solve() [8/9]

◆ solve() [9/9]

◆ solveHierarchy()

Member Data Documentation

◆ active_set_guess_provided_

◆ number_of_constraints_

◆ parameters_

◆ qp_

◆ qp_problem_

◆ qpoases_active_set_bounds_

◆ qpoases_active_set_constraints_

◆ qpoases_active_set_guess_bounds_

◆ qpoases_active_set_guess_constraints_

◆ solution_guess_