18 #ifndef __invdyn_solvers_hqp_eiquadprog_hpp__ 19 #define __invdyn_solvers_hqp_eiquadprog_hpp__ 34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 void resize(
unsigned int n,
unsigned int neq,
unsigned int nin);
51 double getObjectiveValue();
55 void sendMsg(
const std::string & s);
70 #ifdef ELIMINATE_EQUALITY_CONSTRAINTS 74 Eigen::CompleteOrthogonalDecomposition<Matrix> m_CE_dec;
87 #endif // ifndef __invdyn_solvers_hqp_eiquadprog_hpp__ std::size_t Index
Definition: fwd.hpp:55
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
tsid::math::Index m_activeSetSize
vector containing the indexes of the active inequalities
Definition: solver-HQP-eiquadprog.hpp:68
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
double m_hessian_regularization
Definition: solver-HQP-eiquadprog.hpp:65
Definition: solver-HQP-output.hpp:32
Matrix m_CI
Definition: solver-HQP-eiquadprog.hpp:61
unsigned int m_n
number of inequality constraints
Definition: solver-HQP-eiquadprog.hpp:82
math::Vector Vector
Definition: solver-HQP-eiquadprog.hpp:37
unsigned int m_nin
number of equality constraints
Definition: solver-HQP-eiquadprog.hpp:81
Eigen::VectorXi m_activeSet
Definition: solver-HQP-eiquadprog.hpp:67
math::ConstRefVector ConstRefVector
Definition: solver-HQP-eiquadprog.hpp:39
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-eiquadprog.hpp:30
Matrix m_H
Definition: solver-HQP-eiquadprog.hpp:57
math::RefVector RefVector
Definition: solver-HQP-eiquadprog.hpp:38
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
unsigned int m_neq
Definition: solver-HQP-eiquadprog.hpp:80
Vector m_ce0
Definition: solver-HQP-eiquadprog.hpp:60
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-eiquadprog.hpp:40
Matrix m_CE
Definition: solver-HQP-eiquadprog.hpp:59
Vector m_ci0
Definition: solver-HQP-eiquadprog.hpp:62
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-eiquadprog.hpp:36
Definition: constraint-bound.hpp:26
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
Vector m_g
Definition: solver-HQP-eiquadprog.hpp:58
double m_objValue
Definition: solver-HQP-eiquadprog.hpp:63
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36