solver
Public Member Functions | Public Attributes | Private Attributes | List of all members
rt_solver::RtModel< Max_Ineq_Rows, Max_Eq_Rows, Num_OptVars > Class Template Reference
Collaboration diagram for rt_solver::RtModel< Max_Ineq_Rows, Max_Eq_Rows, Num_OptVars >:
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Public Member Functions

 RtModel (YAML::Node params)
 
bool solve ()
 
void initialize ()
 
virtual void update ()
 
template<typename VecDer >
double inequalitySlack (Eigen::MatrixBase< VecDer > &dist)
 
template<typename Mat >
void reduceColumns (Eigen::EigenBase< Mat > &mat) const
 
template<int Max_Rows, typename Mat_Type , typename Vec_Type >
void appendRowsOfRank (int rank_to_add, const typename rt_solver::RtVector< Max_Rows >::i &ranks, const Eigen::MatrixBase< Mat_Type > &subst_mat, const Eigen::MatrixBase< Vec_Type > &subst_vec, bool append_to_equalities, int starting_column)
 
rt_solver::RtVector< Max_Eq_Rows >::d & nextEqCostVec ()
 
rt_solver::RtVector< Max_Ineq_Rows >::d & nextIneqCostVec ()
 
rt_solver::RtMatrix< Max_Eq_Rows, Num_OptVars >::d & nextEqCostMat ()
 
rt_solver::RtMatrix< Max_Ineq_Rows, Num_OptVars >::d & nextIneqCostMat ()
 
const rt_solver::RtVector< Max_Eq_Rows >::d & nextEqCostVec () const
 
const rt_solver::RtVector< Max_Ineq_Rows >::d & nextIneqCostVec () const
 
const rt_solver::RtMatrix< Max_Eq_Rows, Num_OptVars >::d & nextEqCostMat () const
 
const rt_solver::RtMatrix< Max_Ineq_Rows, Num_OptVars >::d & nextIneqCostMat () const
 
std::vector< rt_solver::RtHQPCost * > & subCostComposers ()
 
void clean ()
 
solver::Var getVar (const int var_id)
 
bool checkIfHigherRanksLeft (const int rank)
 
void checkSlacknessOfHierarchy (const int rank)
 
void addCostsToHierarchy (const int rank_to_add)
 
void addLinConstr (const solver::LinExpr &lhs, const std::string sense, const solver::LinExpr &rhs, const int rank)
 
void print ()
 
std::vector< int > & hierarchiesWithoutSlacks ()
 
const std::vector< int > & hierarchiesWithoutSlacks () const
 

Public Attributes

double n_solved_ranks_
 
bool is_solution_valid_
 
int num_variables_optimized_
 
std::vector< double > qp_dur_
 
std::vector< double > svd_wait_
 
Eigen::Matrix< int, Num_OptVars, 1 > full_to_opt_variable_index_
 
rt_solver::RtHQPSolver< Max_Ineq_Rows, Num_OptVars, Max_Eq_Rows > hqp_solver_
 

Private Attributes

std::vector< solver::Var > vars_
 
std::vector< int > hierarchies_without_slacks_
 
std::vector< std::tuple< int, solver::LinExpr > > leqcons_
 
std::vector< std::tuple< int, solver::LinExpr > > lineqcons_
 
std::vector< rt_solver::RtHQPCost * > sub_cost_composers_
 
rt_solver::RtVector< Max_Eq_Rows >::d next_eq_cost_vec_
 
rt_solver::RtVector< Max_Ineq_Rows >::d next_ineq_cost_vec_
 
rt_solver::RtMatrix< Max_Eq_Rows, Num_OptVars >::d next_eq_cost_mat_
 
rt_solver::RtMatrix< Max_Ineq_Rows, Num_OptVars >::d next_ineq_cost_mat_
 

Member Function Documentation

template<int Max_Ineq_Rows, int Max_Eq_Rows, int Num_OptVars>
void rt_solver::RtModel< Max_Ineq_Rows, Max_Eq_Rows, Num_OptVars >::addCostsToHierarchy ( const int  rank_to_add)

appending linear equalities

appending linear inequalities

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