QuadraticSolver.h

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#ifndef _OCRABASE_QUADRATIC_SOLVER_H_
#define _OCRABASE_QUADRATIC_SOLVER_H_

// includes
#include "ocra/optim/Solver.h"
#include "ocra/optim/Constraint.h"
#include "ocra/optim/Objective.h"
#include "ocra/optim/LinearFunction.h"
#include "ocra/optim/QuadraticFunction.h"

namespace ocra
{
  class QuadraticSolver: public Solver
  {
    // ------------------------ constructors ------------------------------------
  private:
    QuadraticSolver(const QuadraticSolver&);
    QuadraticSolver& operator= (const QuadraticSolver&);

  protected:
    QuadraticSolver(bool boundsAsConstraints = false)
      : NamedInstance("quadratic solver")
      , _m(0), _p(0), _ps(0), _boundsAsConstraints(boundsAsConstraints)
    {
    }

    // ------------------------ public interface --------------------------------
  public:
    void addObjective(QuadraticObjective& obj);
    void removeObjective(QuadraticFunction& obj);
    void removeObjective(QuadraticObjective& obj);

    void addConstraint(LinearConstraint& constraint);
    void removeConstraint(LinearConstraint& constraint);
    
    void addBounds(BoundConstraint& constraint);
    void addBounds(IdentityConstraint& constraint);
    void removeBounds(BoundConstraint& constraint);
    void removeBounds(IdentityConstraint& constraint);

    void clearObjectives();
    void clearConstraints();
    void clearEqualityConstraints();
    void clearInequalityConstraints();
    void clearBounds();

    void printValuesAtSolution();

    std::string toString();
    virtual MatrixXd getP() const = 0;
    virtual VectorXd getq() const = 0;
    virtual MatrixXd getA() const = 0;
    virtual VectorXd getb() const = 0;
    virtual VectorXd getbp() const = 0;
    virtual MatrixXd getC() const = 0;
    virtual VectorXd getd() const = 0;
    virtual VectorXd getl() const = 0;
    virtual VectorXd getu() const = 0;
    virtual VectorXd getxl() const = 0;
    virtual VectorXd getxu() const = 0;

    // ------------------------ protected methods ---------------------------------
  protected:
    void onConstraintResize(int timestamp);

    void recomputeMP();

    // ------------------------ private methods ---------------------------------
  private:
    void addBounds_(DiagonalLinearConstraint& constraint);
    void removeBounds_(DiagonalLinearConstraint& constraint);

    // ------------------------ protected members -------------------------------
  protected:
    std::vector<LinearConstraint*>              _equalityConstraints;   //< all the equality constraints in the problem 
    std::vector<LinearConstraint*>              _inequalityConstraints; //< all the inequality constraints in the problem 
    std::vector<QuadraticObjective*>            _objectives;            //< all the objectives in the problem 
    std::vector<DiagonalLinearConstraint*>      _bounds;                //< all the bounds in the problem 

    size_t _m;    //< number of unidimensional equality constraints (i.e. sum of dimension of equality constraints)
    size_t _p;    //< number of unidimensional inequality constraints (i.e. sum of dimension of inequality constraints)
    size_t _ps;   //< number of simple unidimensional inequality constraints (i.e. of the type Ax+b<=b' or Ax+b>=b')

    const bool  _boundsAsConstraints; //< true if the bounds should be treated as generic constraints
    bool        _invalidatedMP;       //< true when _m, _p and _ps are not up-to-date. 
  };
}

#endif  //_OCRABASE_QUADRATIC_SOLVER_H_

// cmake:sourcegroup=Solvers