Inheritance diagram for rt_solver::RtQPSolver< nVars, nEqCon, nIneqCon >:

Collaboration diagram for rt_solver::RtQPSolver< nVars, nEqCon, nIneqCon >:

[legend]

Public Member Functions
bool	optimize ()

bool	isOptimized () const

Public Member Functions inherited from rt_solver::RtQPSolverInterface< nVars, nEqCon, nIneqCon >
RtVector< max_dim_qp >::d &	solution ()

const RtVector< max_dim_qp >::d &	solution () const

RtMatrix< max_dim_qp, max_dim_qp >::d &	objectiveQuadPart ()

const RtMatrix< max_dim_qp, max_dim_qp >::d &	objectiveQuadPart () const

RtVector< max_dim_qp >::d &	objectiveLinPart ()

const RtVector< max_dim_qp >::d &	objectiveLinPart () const

RtMatrix< max_num_eq, max_dim_qp >::d &	eqConstraintsMat ()

const RtMatrix< max_num_eq, max_dim_qp >::d &	eqConstraintsMat () const

RtVector< max_num_eq >::d &	eqConstraintsVec ()

const RtVector< max_num_eq >::d &	eqConstraintsVec () const

RtMatrix< max_num_ineq, max_dim_qp >::d &	ineqConstraintsMat ()

const RtMatrix< max_num_ineq, max_dim_qp >::d &	ineqConstraintsMat () const

RtVector< max_num_ineq >::d &	ineqConstraintsVec ()

const RtVector< max_num_ineq >::d &	ineqConstraintsVec () const

int	numVariables () const

int	numEqConstr () const

int	numIneqConstr () const

void	appendEqualities (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)

void	appendEqualities (const Eigen::MatrixBase< Derived > &mat)

void	appendInequalities (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)

void	appendInequalities (const Eigen::MatrixBase< Derived > &mat)

double	computeOptimalityCondition () const

virtual bool	checkSolution (bool print=true, double eq_threashold=0.001, double ineq_threashold=0.001)

void	printProblemCondition (std::ostream &stream)

Private Types
typedef RtQPSolverInterface< nVars, nEqCon, nIneqCon >	BaseClass

Private Member Functions
void	reset ()

void	reset (int dim_qp, int num_eq, int num_ineq)

template<typename Scalar >
Scalar	distance (Scalar a, Scalar b)

void	computeD (typename RtVector< nVars >::d &d, const typename RtMatrix< nVars, nVars >::d &J, const typename RtVector< nVars >::d &np)

void	updateZ (typename RtVector< nVars >::d &z, const typename RtMatrix< nVars, nVars >::d &J, const typename RtVector< nVars >::d &d, int iq)

void	updateR (const typename RtMatrix< nVars, nVars >::d &R, typename RtVector< nIneqCon+nEqCon >::d &r, const typename RtVector< nVars >::d &d, int iq)

bool	addConstraint (typename RtMatrix< nVars, nVars >::d &R, typename RtMatrix< nVars, nVars >::d &J, typename RtVector< nVars >::d &d, int &iq, double &R_norm)

void	deleteConstraint (typename RtMatrix< nVars, nVars >::d &R, typename RtMatrix< nVars, nVars >::d &J, typename RtVector< nIneqCon+nEqCon >::i &A, typename RtVector< nIneqCon+nEqCon >::d &u, int p, int &iq, int l)

double	solveQP (const typename RtMatrix< nVars, nVars >::d &Hess, const typename RtVector< nVars >::d &g0, const typename RtMatrix< nEqCon, nVars >::d &CE, const typename RtVector< nEqCon >::d &ce0, const typename RtMatrix< nIneqCon, nVars >::d &CI, const typename RtVector< nIneqCon >::d &ci0, typename RtVector< nVars >::d &x)
	Main function to solve QP using EigQuadProg min. More...

Private Attributes
bool	cleanup_ineqs_

double	solver_return_

bool	is_inverse_provided_

RtMatrix< nVars, nVars >::d	Hessian_factor_inv_

Eigen::LLT< typename RtMatrix< nVars, nVars >::d, Eigen::Lower >	chol_

Additional Inherited Members
Public Types inherited from rt_solver::RtQPSolverInterface< nVars, nEqCon, nIneqCon >
enum	QPProperties

Public Attributes inherited from rt_solver::RtQPSolverInterface< nVars, nEqCon, nIneqCon >
int	qp_properties_

Protected Attributes inherited from rt_solver::RtQPSolverInterface< nVars, nEqCon, nIneqCon >
RtVector< max_dim_qp >::d	g_

RtVector< max_dim_qp >::d	sol_

RtVector< max_num_eq >::d	eq_vec_

RtVector< max_num_ineq >::d	ineq_vec_

RtMatrix< max_dim_qp, max_dim_qp >::d	H_

RtMatrix< max_num_eq, max_dim_qp >::d	Eq_mat_

RtMatrix< max_num_ineq, max_dim_qp >::d	Ineq_mat_

Member Function Documentation

template<int nVars, int nEqCon, int nIneqCon>

double rt_solver::RtQPSolver< nVars, nEqCon, nIneqCon >::solveQP	(	const typename RtMatrix< nVars, nVars >::d &	Hess,
		const typename RtVector< nVars >::d &	g0,
		const typename RtMatrix< nEqCon, nVars >::d &	CE,
		const typename RtVector< nEqCon >::d &	ce0,
		const typename RtMatrix< nIneqCon, nVars >::d &	CI,
		const typename RtVector< nIneqCon >::d &	ci0,
		typename RtVector< nVars >::d &	x
	)

inlineprivate

Main function to solve QP using EigQuadProg min.

x' Hess x + 2 g0' x s.t. CE x + ce0 = 0 CI x + ci0 <= 0

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

include/solver/rt_optimizer/RtQPSolver.hpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation