solver-HQP-eiquadprog.hpp
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17 
18 #ifndef __invdyn_solvers_hqp_eiquadprog_hpp__
19 #define __invdyn_solvers_hqp_eiquadprog_hpp__
20 
22 
23 namespace tsid
24 {
25  namespace solvers
26  {
30  class TSID_DLLAPI SolverHQuadProg:
31  public SolverHQPBase
32  {
33  public:
34  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35 
41 
42  SolverHQuadProg(const std::string & name);
43 
44  void resize(unsigned int n, unsigned int neq, unsigned int nin);
45 
48  const HQPOutput & solve(const HQPData & problemData);
49 
51  double getObjectiveValue();
52 
53  protected:
54 
55  void sendMsg(const std::string & s);
56 
63  double m_objValue;
64 
66 
69 
70 #ifdef ELIMINATE_EQUALITY_CONSTRAINTS
71 // Eigen::FullPivLU<Matrix> m_CE_dec;
72 // Eigen::ColPivHouseholderQR<Matrix> m_CE_dec; // fast, but difficult to retrieve null space basis
73 // Eigen::FullPivHouseholderQR<Matrix> m_CE_dec; // doc says it is slow
74  Eigen::CompleteOrthogonalDecomposition<Matrix> m_CE_dec; // available from Eigen 3.3.0, 40 us for decomposition, 40 us to get null space basis, 40 us to project Hessian
75 // Eigen::JacobiSVD<Matrix, Eigen::HouseholderQRPreconditioner> m_CE_dec; // too slow
76  Matrix m_ZT_H_Z;
77  Matrix m_CI_Z;
78 #endif
79 
80  unsigned int m_neq;
81  unsigned int m_nin;
82  unsigned int m_n;
83  };
84  }
85 }
86 
87 #endif // ifndef __invdyn_solvers_hqp_eiquadprog_hpp__
tsid::solvers::SolverHQuadProg::m_n
unsigned int m_n
number of inequality constraints
Definition: solver-HQP-eiquadprog.hpp:82
tsid::solvers::SolverHQuadProg::m_CE
Matrix m_CE
Definition: solver-HQP-eiquadprog.hpp:59
tsid::solvers::SolverHQuadProg::m_CI
Matrix m_CI
Definition: solver-HQP-eiquadprog.hpp:61
tsid::solvers::SolverHQuadProg::m_ci0
Vector m_ci0
Definition: solver-HQP-eiquadprog.hpp:62
tsid::math::Vector
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
tsid::solvers::SolverHQuadProg::Vector
math::Vector Vector
Definition: solver-HQP-eiquadprog.hpp:37
tsid::math::Matrix
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
tsid::solvers::SolverHQuadProg::m_neq
unsigned int m_neq
Definition: solver-HQP-eiquadprog.hpp:80
tsid::solvers::SolverHQuadProg::m_objValue
double m_objValue
Definition: solver-HQP-eiquadprog.hpp:63
tsid::solvers::SolverHQuadProg::m_ce0
Vector m_ce0
Definition: solver-HQP-eiquadprog.hpp:60
tsid::solvers::SolverHQuadProg::m_H
Matrix m_H
Definition: solver-HQP-eiquadprog.hpp:57
tsid::solvers::SolverHQuadProg::m_g
Vector m_g
Definition: solver-HQP-eiquadprog.hpp:58
tsid::solvers::SolverHQuadProg::ConstRefVector
math::ConstRefVector ConstRefVector
Definition: solver-HQP-eiquadprog.hpp:39
tsid::math::Index
std::size_t Index
Definition: fwd.hpp:55
tsid::math::VectorXi
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
tsid::math::RefVector
Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
tsid::solvers::SolverHQuadProg::m_activeSet
Eigen::VectorXi m_activeSet
Definition: solver-HQP-eiquadprog.hpp:67
tsid::solvers::HQPOutput
Definition: solver-HQP-output.hpp:32
tsid::solvers::SolverHQuadProg::Matrix
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-eiquadprog.hpp:36
tsid::solvers::SolverHQuadProg::m_nin
unsigned int m_nin
number of equality constraints
Definition: solver-HQP-eiquadprog.hpp:81
tsid::solvers::SolverHQuadProg::m_activeSetSize
tsid::math::Index m_activeSetSize
vector containing the indexes of the active inequalities
Definition: solver-HQP-eiquadprog.hpp:68
tsid::solvers::SolverHQPBase
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36
tsid::solvers::SolverHQuadProg::RefVector
math::RefVector RefVector
Definition: solver-HQP-eiquadprog.hpp:38
solver-HQP-base.hpp
tsid::math::ConstRefVector
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
tsid::solvers::SolverHQuadProg::ConstRefMatrix
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-eiquadprog.hpp:40
tsid::solvers::SolverHQuadProg::m_hessian_regularization
double m_hessian_regularization
Definition: solver-HQP-eiquadprog.hpp:65
tsid
Definition: constraint-bound.hpp:26
tsid::math::ConstRefMatrix
const typedef Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
tsid::solvers::SolverHQuadProg
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-eiquadprog.hpp:30
tsid::solvers::HQPData
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91