CascadeQPSolver class. More...

#include <CascadeQPSolver.h>

Inheritance diagram for ocra::CascadeQPSolver:

Collaboration diagram for ocra::CascadeQPSolver:

Classes
struct	StandardObjectivesAndConstraints

Public Member Functions
	CascadeQPSolver (const std::string &_ctrlName, Model::Ptr _innerModel, OneLevelSolver::Ptr _levelSolver, bool _useReducedProblem)

void	addTask (Task::Ptr task)

void	addSolver (OneLevelSolver::Ptr solver, int level)

OneLevelSolver::Ptr	getSolver (int level)

virtual std::string	toString ()

const std::map< int, OneLevelSolver::Ptr > &	getSolvers ()

void	updateHierarchicalContraints (int level)

int	getNumberOfLevelsAbove (int current_level)

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 (void)

virtual void	doPrepare (void)

virtual void	doConclude ()

virtual void	printValuesAtSolution ()

void	excludeObjective (int at_level, const ocra::GenericObjective &obj)

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 ()

Protected Attributes
std::shared_ptr< StandardObjectivesAndConstraints >	own_obj

std::vector< int >	solverInitialized

std::map< int, std::shared_ptr< StandardObjectivesAndConstraints > >	std_obj

OneLevelSolver::Ptr	levelSolver

bool	useReducedProblem

Model::Ptr	innerModel

Protected Attributes inherited from ocra::Solver
OptimizationResult	_result

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

Detailed Description

CascadeQPSolver class.

Hierarchical solver based on CascadeQP

Definition at line 57 of file CascadeQPSolver.h.

Constructor & Destructor Documentation

ocra::CascadeQPSolver::CascadeQPSolver	(	const std::string &	_ctrlName,
		Model::Ptr	_innerModel,
		OneLevelSolver::Ptr	_levelSolver,
		bool	_useReducedProblem
	)

Definition at line 51 of file CascadeQPSolver.cpp.

Member Function Documentation

void ocra::CascadeQPSolver::addSolver	(	OneLevelSolver::Ptr	solver,
		int	level
	)

Definition at line 182 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::addTask ( Task::Ptr task )

Definition at line 232 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::doConclude ( )

protectedvirtual

Implements ocra::Solver.

Definition at line 167 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::doPrepare ( void )

protectedvirtual

Implements ocra::Solver.

Definition at line 161 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::doSolve ( void )

protectedvirtual

Implements ocra::Solver.

Definition at line 139 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::excludeObjective	(	int	at_level,
		const ocra::GenericObjective &	obj
	)

protected

Definition at line 218 of file CascadeQPSolver.cpp.

int ocra::CascadeQPSolver::getNumberOfLevelsAbove ( int current_level )

Definition at line 128 of file CascadeQPSolver.cpp.

OneLevelSolver::Ptr ocra::CascadeQPSolver::getSolver ( int level )

Definition at line 214 of file CascadeQPSolver.cpp.

const std::map< int, OneLevelSolver::Ptr > & ocra::CascadeQPSolver::getSolvers ( )

Definition at line 177 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::printValuesAtSolution ( void )

protectedvirtual

Implements ocra::Solver.

Definition at line 270 of file CascadeQPSolver.cpp.

std::string ocra::CascadeQPSolver::toString ( )

virtual

Returns the state of the solver (e.g. matrices) as a string.

Implements ocra::Solver.

Definition at line 173 of file CascadeQPSolver.cpp.

void ocra::CascadeQPSolver::updateHierarchicalContraints ( int level )

Definition at line 71 of file CascadeQPSolver.cpp.

Member Data Documentation

Model::Ptr ocra::CascadeQPSolver::innerModel

protected

Definition at line 91 of file CascadeQPSolver.h.

OneLevelSolver::Ptr ocra::CascadeQPSolver::levelSolver

protected

Definition at line 89 of file CascadeQPSolver.h.

std::shared_ptr<StandardObjectivesAndConstraints> ocra::CascadeQPSolver::own_obj

protected

Definition at line 85 of file CascadeQPSolver.h.

std::vector<int> ocra::CascadeQPSolver::solverInitialized

protected

Definition at line 87 of file CascadeQPSolver.h.

std::map<int,std::shared_ptr<StandardObjectivesAndConstraints> > ocra::CascadeQPSolver::std_obj

protected

Definition at line 88 of file CascadeQPSolver.h.

bool ocra::CascadeQPSolver::useReducedProblem

protected

Definition at line 90 of file CascadeQPSolver.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation