ocra::CascadeQP Class Reference

CascadeQP class. More...

#include <CascadeQP.h>

Collaboration diagram for ocra::CascadeQP:

Public Member Functions
	CascadeQP ()
virtual	~CascadeQP ()
std::size_t	addHierarchyLevel (ocra::HierarchyLevel::Ptr h)
std::size_t	addHierarchyLevel (const std::vector< HierarchyLevel::Ptr > &v)
void	clear (void)
const FinalSolution &	solveCascadeQP ()
const FinalSolution &	getSolution () const
const Eigen::VectorXd &	getSolutionOfLevel (int i) const
HierarchyLevel::Ptr	getHierarchyLevel (int i) const
std::size_t	getNumberOfHierarchyLevel () const

Protected Member Functions
void	addHierarchyLevel_barre (int i)
std::size_t	initializeHierarchyLevel_barre ()
void	computeMatrixPQ (int i)
void	computeEqualitiesConstraints (int i)
void	computeInequalitiesConstraints (int i)
void	computeHierarchyLevel_barre (int i)

Protected Attributes
std::vector< Solution::Ptr >	allSolution
std::vector< HierarchyLevel::Ptr >	allHierarchyLevel
std::vector< HierarchyLevel_barre::Ptr >	allHierarchyLevel_barre
std::vector< MatrixPQ::Ptr >	allMatrixPQ
std::vector< EqualitiesConstraints::Ptr >	allEqualitiesConstraints
std::vector< InequalitiesConstraints::Ptr >	allInequalitiesConstraints
std::vector< int >	indexConstraintsViolated
std::vector< int >	indexConstraintsNotViolated
FinalSolution	f

Detailed Description

CascadeQP class.

Definition at line 31 of file CascadeQP.h.

Constructor & Destructor Documentation

ocra::CascadeQP::CascadeQP

(

)

virtual ocra::CascadeQP::~CascadeQP ( )

virtual

Member Function Documentation

std::size_t ocra::CascadeQP::addHierarchyLevel

(

ocra::HierarchyLevel::Ptr

h

)

std::size_t ocra::CascadeQP::addHierarchyLevel

(

const std::vector< HierarchyLevel::Ptr > &

v

)

void ocra::CascadeQP::addHierarchyLevel_barre ( int  i )

protected

void ocra::CascadeQP::clear

(

void

)

void ocra::CascadeQP::computeEqualitiesConstraints ( int  i )

protected

void ocra::CascadeQP::computeHierarchyLevel_barre ( int  i )

protected

void ocra::CascadeQP::computeInequalitiesConstraints ( int  i )

protected

void ocra::CascadeQP::computeMatrixPQ ( int  i )

protected

HierarchyLevel::Ptr ocra::CascadeQP::getHierarchyLevel

(

int

i

)

const

std::size_t ocra::CascadeQP::getNumberOfHierarchyLevel

(

)

const

const FinalSolution& ocra::CascadeQP::getSolution

(

)

const

const Eigen::VectorXd& ocra::CascadeQP::getSolutionOfLevel

(

int

i

)

const

std::size_t ocra::CascadeQP::initializeHierarchyLevel_barre ( )

protected

const FinalSolution& ocra::CascadeQP::solveCascadeQP

(

)

Member Data Documentation

std::vector<EqualitiesConstraints::Ptr> ocra::CascadeQP::allEqualitiesConstraints

protected

Definition at line 64 of file CascadeQP.h.

std::vector<HierarchyLevel::Ptr> ocra::CascadeQP::allHierarchyLevel

protected

Definition at line 61 of file CascadeQP.h.

std::vector<HierarchyLevel_barre::Ptr> ocra::CascadeQP::allHierarchyLevel_barre

protected

Definition at line 62 of file CascadeQP.h.

std::vector<InequalitiesConstraints::Ptr> ocra::CascadeQP::allInequalitiesConstraints

protected

Definition at line 65 of file CascadeQP.h.

std::vector<MatrixPQ::Ptr> ocra::CascadeQP::allMatrixPQ

protected

Definition at line 63 of file CascadeQP.h.

std::vector<Solution::Ptr> ocra::CascadeQP::allSolution

protected

Definition at line 60 of file CascadeQP.h.

FinalSolution ocra::CascadeQP::f

protected

Definition at line 68 of file CascadeQP.h.

std::vector<int> ocra::CascadeQP::indexConstraintsNotViolated

protected

Definition at line 67 of file CascadeQP.h.

std::vector<int> ocra::CascadeQP::indexConstraintsViolated

protected

Definition at line 66 of file CascadeQP.h.

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

• CascadeQP.h