18 #ifndef __invdyn_solvers_hqp_eiquadprog_fast_hpp__ 19 #define __invdyn_solvers_hqp_eiquadprog_fast_hpp__ 22 #include "eiquadprog/eiquadprog-fast.hpp" 34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 void resize(
unsigned int n,
unsigned int neq,
unsigned int nin);
51 double getObjectiveValue();
54 bool setMaximumIterations(
unsigned int maxIter);
58 void sendMsg(
const std::string & s);
83 #endif // ifndef __invdyn_solvers_hqp_eiquadprog_fast_hpp__ Eigen::Ref< Vector > RefVector
Definition: fwd.hpp:49
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
Definition: solver-HQP-output.hpp:32
int m_activeSetSize
vector containing the indexes of the active inequalities
Definition: solver-HQP-eiquadprog-fast.hpp:74
Eigen::VectorXi m_activeSet
Definition: solver-HQP-eiquadprog-fast.hpp:73
math::ConstRefVector ConstRefVector
Definition: solver-HQP-eiquadprog-fast.hpp:39
Vector m_g
Definition: solver-HQP-eiquadprog-fast.hpp:64
double m_hessian_regularization
Definition: solver-HQP-eiquadprog-fast.hpp:71
eiquadprog::solvers::EiquadprogFast m_solver
Definition: solver-HQP-eiquadprog-fast.hpp:61
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
Matrix m_H
Definition: solver-HQP-eiquadprog-fast.hpp:63
math::ConstRefMatrix ConstRefMatrix
Definition: solver-HQP-eiquadprog-fast.hpp:40
Definition: solver-HQP-eiquadprog-fast.hpp:31
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-fast.hpp:76
math::Vector Vector
Definition: solver-HQP-eiquadprog-fast.hpp:37
Matrix m_CE
Definition: solver-HQP-eiquadprog-fast.hpp:65
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
math::RefVector RefVector
Definition: solver-HQP-eiquadprog-fast.hpp:38
Vector m_ci0
twice the rows because inequality constraints are bilateral
Definition: solver-HQP-eiquadprog-fast.hpp:68
Definition: constraint-bound.hpp:26
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix Matrix
Definition: solver-HQP-eiquadprog-fast.hpp:36
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
unsigned int m_n
number of inequality constraints
Definition: solver-HQP-eiquadprog-fast.hpp:78
Vector m_ce0
Definition: solver-HQP-eiquadprog-fast.hpp:66
Matrix m_CI
Definition: solver-HQP-eiquadprog-fast.hpp:67
double m_objValue
Definition: solver-HQP-eiquadprog-fast.hpp:69
unsigned int m_nin
number of equality constraints
Definition: solver-HQP-eiquadprog-fast.hpp:77
Abstract interface for a Quadratic Program (HQP) solver.
Definition: solver-HQP-base.hpp:36