Solver class that only consider one level of importance for all tasks using QPOASES. More...

#include <OneLevelSolver.h>

Inheritance diagram for ocra::OneLevelSolverWithQPOASES:

Collaboration diagram for ocra::OneLevelSolverWithQPOASES:

Public Member Functions
virtual OneLevelSolver::Ptr	clone () const

	OneLevelSolverWithQPOASES ()

virtual	~OneLevelSolverWithQPOASES ()

Public Member Functions inherited from ocra::OneLevelSolver
	OneLevelSolver ()

virtual	~OneLevelSolver ()

virtual void	printValuesAtSolution ()

void	addObjective (ObjectiveType &obj)

void	removeObjective (ObjectiveType &obj)

void	addConstraint (ocra::LinearConstraint &constraint)

void	removeConstraint (ocra::LinearConstraint &constraint)

void	writePerformanceInStream (std::ostream &myOstream, bool addCommaAtEnd)

virtual void	setObjectiveLevel (ocra::GenericObjective &obj, int level)

virtual std::string	toString ()

const std::vector< ObjectiveType * > &	getObjectives ()

const Eigen::MatrixXd &	getQuadraticMatrix ()

const Eigen::VectorXd &	getQuadraticVector ()

Public Member Functions inherited from ocra::Solver
const std::vector< int > &	findMapping (Variable &var)

virtual	~Solver ()

const OptimizationResult &	solve ()

const OptimizationResult &	getLastResult () const

void	printStatus (std::ostream &os)

virtual const std::string &	getMoreInfo () const

void	setMemoryLevel (int level)

void	setAutoDumpFile (const std::string &file)

void	activateAutoDump ()

void	deactivateAutoDump ()

void	dump (const std::string &file="") const

int	n ()

Variable &	getProblemVariable ()

void	setVariableValue (const VectorXd &value)

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Protected Member Functions
virtual void	doSolve ()

virtual void	updateObjectiveEquations ()

virtual void	updateConstraintEquations ()

Protected Member Functions inherited from ocra::OneLevelSolver
virtual void	doPrepare ()

virtual void	doConclude ()

virtual void	prepareMatrices ()

void	reduceConstraints (const Eigen::MatrixXd &A, const Eigen::VectorXd &b, Eigen::MatrixXd &Ar, Eigen::VectorXd &br, double tolerance=1e-6)

Protected Member Functions inherited from ocra::Solver
	Solver ()

void	internalAddObjective (const GenericObjective &objective)

void	internalAddConstraint (const GenericConstraint &constraint)

void	internalRemoveObjective (const GenericObjective &objective)

void	internalRemoveConstraint (const GenericConstraint &constraint)

virtual void	onConstraintResize (int timestamp)

virtual void	onObjectiveResize (int timestamp)

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Static Protected Member Functions
static ocra::eReturnInfo	toOcraRetValue (const qpOASES::returnValue &ret)

Protected Attributes
std::unique_ptr< qpOASES::SQProblem >	sqp_prob

qpOASES::Options	sqp_options

std::vector< qpOASES::real_t >	H

qpOASES::real_t *	g

qpOASES::real_t *	lb

qpOASES::real_t *	ub

qpOASES::real_t *	A

qpOASES::real_t *	lbA

qpOASES::real_t *	ubA

Eigen::VectorXd	_xl

Eigen::VectorXd	_xu

MatrixXdRm	_AandG

MatrixXdRm	_C_row_major

Eigen::MatrixXd	_RegTerm

Eigen::VectorXd	_lbAandG

Eigen::VectorXd	_ubAandG

Eigen::VectorXd	_lbA

Eigen::VectorXd	_lbG

Eigen::VectorXd	_ubA

Eigen::VectorXd	_ubG

int	_nWSR_every_run

int	nWSR

Protected Attributes inherited from ocra::OneLevelSolver
std::vector< ObjectiveType * >	_objectives

std::vector< ocra::LinearConstraint * >	_equalityConstraints

Eigen::MatrixXd	_A

Eigen::VectorXd	_b

Eigen::MatrixXd	_Atotal

Eigen::VectorXd	_btotal

int	ne

std::vector< ocra::LinearConstraint * >	_inequalityConstraints

Eigen::MatrixXd	_G

Eigen::VectorXd	_h

int	ni

Eigen::VectorXd	Xsolution

Eigen::MatrixXd	_C

Eigen::VectorXd	_d

Protected Attributes inherited from ocra::Solver
OptimizationResult	_result

Additional Inherited Members
Public Types inherited from ocra::OneLevelSolver
using	ObjectiveType = ocra::QuadraticObjective

Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

Solver class that only consider one level of importance for all tasks using QPOASES.

It uses a linear quadratic program which comes from https://projects.coin-or.org/qpOASES .

QPOASES solve the following problem:

$\begin{align*} \argmin{\x} &: \; \frac{1}{2} \x\tp G \x + \vec{g}_0\tp \x \\ & CE \x + \vec{ce}_0 = \vec{0} \\ & CI \x + \vec{ci}_0 \geq \vec{0} \end{align*}$

Definition at line 184 of file OneLevelSolver.h.

Constructor & Destructor Documentation

OneLevelSolverWithQPOASES::OneLevelSolverWithQPOASES ( )

Definition at line 395 of file OneLevelSolver.cpp.

virtual ocra::OneLevelSolverWithQPOASES::~OneLevelSolverWithQPOASES ( )

inlinevirtual

Definition at line 191 of file OneLevelSolver.h.

Member Function Documentation

virtual OneLevelSolver::Ptr ocra::OneLevelSolverWithQPOASES::clone ( ) const

inlinevirtual

retuns a pointer to a new instance, very usefull in Hocra

Implements ocra::OneLevelSolver.

Definition at line 188 of file OneLevelSolver.h.

void OneLevelSolverWithQPOASES::doSolve ( void )

protectedvirtual

Implements ocra::OneLevelSolver.

Definition at line 560 of file OneLevelSolver.cpp.

eReturnInfo OneLevelSolverWithQPOASES::toOcraRetValue ( const qpOASES::returnValue & ret )

staticprotected

Definition at line 547 of file OneLevelSolver.cpp.

void OneLevelSolverWithQPOASES::updateConstraintEquations ( )

protectedvirtual

Implements ocra::OneLevelSolver.

Definition at line 406 of file OneLevelSolver.cpp.

void OneLevelSolverWithQPOASES::updateObjectiveEquations ( )

protectedvirtual

Implements ocra::OneLevelSolver.

Definition at line 519 of file OneLevelSolver.cpp.

Member Data Documentation

MatrixXdRm ocra::OneLevelSolverWithQPOASES::_AandG

protected

Definition at line 209 of file OneLevelSolver.h.

MatrixXdRm ocra::OneLevelSolverWithQPOASES::_C_row_major

protected

Definition at line 209 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_lbA

protected

Definition at line 212 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_lbAandG

protected

Definition at line 211 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_lbG

protected

Definition at line 212 of file OneLevelSolver.h.

int ocra::OneLevelSolverWithQPOASES::_nWSR_every_run

protected

Definition at line 214 of file OneLevelSolver.h.

Eigen::MatrixXd ocra::OneLevelSolverWithQPOASES::_RegTerm

protected

Definition at line 210 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_ubA

protected

Definition at line 212 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_ubAandG

protected

Definition at line 211 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_ubG

protected

Definition at line 212 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_xl

protected

Definition at line 206 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQPOASES::_xu

protected

Definition at line 207 of file OneLevelSolver.h.

qpOASES::real_t* ocra::OneLevelSolverWithQPOASES::A

protected

Definition at line 201 of file OneLevelSolver.h.

qpOASES::real_t* ocra::OneLevelSolverWithQPOASES::g

protected

Definition at line 198 of file OneLevelSolver.h.

std::vector<qpOASES::real_t> ocra::OneLevelSolverWithQPOASES::H

protected

Definition at line 197 of file OneLevelSolver.h.

qpOASES::real_t* ocra::OneLevelSolverWithQPOASES::lb

protected

Definition at line 199 of file OneLevelSolver.h.

qpOASES::real_t* ocra::OneLevelSolverWithQPOASES::lbA

protected

Definition at line 202 of file OneLevelSolver.h.

int ocra::OneLevelSolverWithQPOASES::nWSR

protected

Definition at line 214 of file OneLevelSolver.h.

qpOASES::Options ocra::OneLevelSolverWithQPOASES::sqp_options

protected

Definition at line 195 of file OneLevelSolver.h.

std::unique_ptr<qpOASES::SQProblem> ocra::OneLevelSolverWithQPOASES::sqp_prob

protected

Definition at line 191 of file OneLevelSolver.h.

qpOASES::real_t* ocra::OneLevelSolverWithQPOASES::ub

protected

Definition at line 200 of file OneLevelSolver.h.

qpOASES::real_t* ocra::OneLevelSolverWithQPOASES::ubA

protected

Definition at line 203 of file OneLevelSolver.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation