CmlQuadraticSolver class. More...

#include <CmlQuadraticSolver.h>

Inheritance diagram for ocra::CmlQuadraticSolver:

Collaboration diagram for ocra::CmlQuadraticSolver:

Public Types
enum	eCmlQPSolverType { CMLQPSOLVER_LEMKE, CMLQPSOLVER_GAUSS_SEIDEL }

Public Member Functions
	CmlQuadraticSolver (int type=xde::cmlQPSolver::LEMKE_SOLVER)

void	setTolerance (double epsilon)

void	setMaxIteration (cfl_size_t maxIter)

cfl_size_t	getMaxIteration (void) const

virtual const std::string &	getMoreInfo (void) const

virtual void	addLinearEqualityConstraint (LinearConstraint *constraint)

virtual void	addLinearInequalityConstraint (LinearConstraint *constraint)

virtual void	removeConstraint (LinearConstraint *constraint)

virtual void	setObjective (QuadraticFunction *obj, real weight=1.)

virtual void	addObjective (QuadraticFunction *obj, real weight=1.)

virtual void	removeObjective (QuadraticFunction *obj)

virtual void	printValuesAtSolution (void)

bool	checkConstraints (void)

virtual const MatrixBase &	getP (void) const

virtual const MatrixBase &	getA (void) const

virtual const MatrixBase &	getC (void) const

virtual const VectorBase &	getq (void) const

virtual const VectorBase &	getb (void) const

virtual const VectorBase &	getd (void) const

virtual const VectorBase &	getu (void) const

virtual const VectorBase &	getl (void) const

Public Member Functions inherited from ocra::QuadraticSolver
void	printValuesAtSolution ()

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 ()

std::string	toString ()

virtual VectorXd	getbp () const =0

virtual VectorXd	getxl () const =0

virtual VectorXd	getxu () const =0

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)

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 const Solver::Result &	doSolve (void)

virtual void	doPrepare (void)

virtual void	recomputeVariable (void)

Protected Member Functions inherited from ocra::QuadraticSolver
	QuadraticSolver (bool boundsAsConstraints=false)

void	onConstraintResize (int timestamp)

void	recomputeMP ()

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	onObjectiveResize (int timestamp)

virtual void	doConclude ()=0

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 ()

Additional Inherited Members
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

Protected Attributes inherited from ocra::QuadraticSolver
std::vector< LinearConstraint * >	_equalityConstraints

std::vector< LinearConstraint * >	_inequalityConstraints

std::vector< QuadraticObjective * >	_objectives

std::vector< DiagonalLinearConstraint * >	_bounds

size_t	_m

size_t	_p

size_t	_ps

const bool	_boundsAsConstraints

bool	_invalidatedMP

Protected Attributes inherited from ocra::Solver
OptimizationResult	_result