solver
Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
rt_solver::RtHQPSolver< All_A_Rows, Max_Num_Vars, Max_B_Rows > Class Template Reference
Collaboration diagram for rt_solver::RtHQPSolver< All_A_Rows, Max_Num_Vars, Max_B_Rows >:
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Public Member Functions

 RtHQPSolver (YAML::Node params)
 
void initialize ()
 
void reset (int num_vars)
 
template<typename EqMatDer , typename EqVecDer , typename IneqMatDer , typename IneqVecDer >
bool solveNextTask (const Eigen::MatrixBase< EqMatDer > &eq_mat, const Eigen::MatrixBase< EqVecDer > &eq_vec, const Eigen::MatrixBase< IneqMatDer > &ineq_mat, const Eigen::MatrixBase< IneqVecDer > &ineq_vec)
 
bool & applyIneqSlacks ()
 
const double & qpWaitDuration () const
 
const bool & applyIneqSlacks () const
 
const double & qpSolveDuration () const
 
int nullspaceDimension () const
 
RtVector< Max_Num_Vars >::d & solution ()
 
const RtVector< Max_Num_Vars >::d & solution () const
 

Private Types

typedef RtQPSolver< Max_Num_Vars+All_A_Rows, 0, All_A_Rows > QpSolver
 
typedef RtQPSolverInterface< Max_Num_Vars+All_A_Rows, 0, All_A_Rows > QpSolverInterface
 

Private Member Functions

int numVars () const
 
const RtMatrix< Max_Num_Vars, Max_Num_Vars >::d contrainedEqualityMat () const
 
void doSVDComputations ()
 
void stopSVD2ProblemConverter ()
 

Private Attributes

int cur_rank_
 
bool apply_ineq_slacks_
 
bool is_svd_computed_
 
bool stop_svd2problem_converter_
 
double wait_duration_
 
double qpsolve_duration_
 
double eq_condition_threash_
 
double inequality_relaxation_
 
double diag_addition_for_psd_hessian_
 
QpSolver qp_solver_
 
QpSolverInterface & qp_solver_interface_
 
RtVector< All_A_Rows >::d ahat_
 
RtVector< All_A_Rows >::d wopt_
 
RtVector< Max_Num_Vars >::d xopt_
 
RtVector< Max_Num_Vars >::d zopt_
 
RtMatrix< Max_Num_Vars, Max_Num_Vars >::d K_
 
RtMatrix< All_A_Rows, Max_Num_Vars >::d Ahat_
 
RtMatrix< Max_B_Rows, Max_Num_Vars >::d B_Nprev_
 
RtMatrix< Max_Num_Vars, Max_Num_Vars >::d Nprev_
 
RtMatrix< Max_Num_Vars, Max_Num_Vars >::d prev_K_ [num_max_ranks_]
 
Eigen::JacobiSVD< typename RtMatrix< Max_B_Rows, Max_Num_Vars >::d > svd_B_Nprev_
 
RtMutex mutex_
 
RtCond svd2problem_converter_
 
RtCond problem2svd_converter_
 
boost::shared_ptr< boost::thread > svd2problem_converter_thread_
 

Static Private Attributes

static const int num_max_ranks_ =7
 
The documentation for this class was generated from the following files: