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

#include <OneLevelSolver.h>

Inheritance diagram for ocra::OneLevelSolverWithQLD:

Collaboration diagram for ocra::OneLevelSolverWithQLD:

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

	OneLevelSolverWithQLD ()

virtual	~OneLevelSolverWithQLD ()

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 ()

Protected Attributes
Eigen::VectorXd	_xl

Eigen::VectorXd	_xu

Eigen::MatrixXd	AandG

Eigen::VectorXd	bandh

ocra::ObjQLD *	_QLDsolver

MatrixMap	MapP

VectorMap	Mapq

MatrixMap	MapAandG

VectorMap	Mapbandh

VectorMap	MapXsol

VectorMap	MapXl

VectorMap	MapXu

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 QLD.

It uses a linear quadratic program which is included in the ocra framework.

QLD solve the following problem:

$\begin{align*} \argmin{\x} &: \; \frac{1}{2} \x\tp P \x + \vec{q}\tp \x \\ & \A \x + \b \geqq \vec{0} \\ & \x_{min} \leq \x \leq \x_{max} \end{align*}$

with

$\begin{align*} \A \x + \b &\geqq \vec{0} & &\Leftrightarrow &\begin{bmatrix} CE \\ CI \end{bmatrix} \x + \begin{bmatrix} \vec{ce}_0 \\ \vec{ci}_0 \end{bmatrix} & \quad \begin{matrix} = \\ \geq \end{matrix} \quad \begin{bmatrix} \vec{0} \\ \vec{0} \end{bmatrix} \end{align*}$

Definition at line 245 of file OneLevelSolver.h.

Constructor & Destructor Documentation

OneLevelSolverWithQLD::OneLevelSolverWithQLD ( )

Instanciate a concrete one level solver with QLD.

Definition at line 600 of file OneLevelSolver.cpp.

OneLevelSolverWithQLD::~OneLevelSolverWithQLD ( )

virtual

Destructor

Definition at line 618 of file OneLevelSolver.cpp.

Member Function Documentation

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

inlinevirtual

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

Implements ocra::OneLevelSolver.

Definition at line 249 of file OneLevelSolver.h.

void OneLevelSolverWithQLD::doSolve ( void )

protectedvirtual

Do the call QLD to find a solution of the problem.

Implements ocra::OneLevelSolver.

Definition at line 746 of file OneLevelSolver.cpp.

void OneLevelSolverWithQLD::updateConstraintEquations ( )

protectedvirtual

Update the constraint set, by considering all the active ones.

Implements ocra::OneLevelSolver.

Definition at line 657 of file OneLevelSolver.cpp.

void OneLevelSolverWithQLD::updateObjectiveEquations ( )

protectedvirtual

Update the objective function, by considering all the active registered tasks.

Implements ocra::OneLevelSolver.

Definition at line 628 of file OneLevelSolver.cpp.

Member Data Documentation

ocra::ObjQLD* ocra::OneLevelSolverWithQLD::_QLDsolver

protected

Definition at line 270 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQLD::_xl

protected

Definition at line 264 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQLD::_xu

protected

Definition at line 265 of file OneLevelSolver.h.

Eigen::MatrixXd ocra::OneLevelSolverWithQLD::AandG

protected

Definition at line 267 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolverWithQLD::bandh

protected

Definition at line 268 of file OneLevelSolver.h.

MatrixMap ocra::OneLevelSolverWithQLD::MapAandG

protected

Definition at line 276 of file OneLevelSolver.h.

VectorMap ocra::OneLevelSolverWithQLD::Mapbandh

protected

Definition at line 277 of file OneLevelSolver.h.

MatrixMap ocra::OneLevelSolverWithQLD::MapP

protected

Definition at line 273 of file OneLevelSolver.h.

VectorMap ocra::OneLevelSolverWithQLD::Mapq

protected

Definition at line 274 of file OneLevelSolver.h.

VectorMap ocra::OneLevelSolverWithQLD::MapXl

protected

Definition at line 280 of file OneLevelSolver.h.

VectorMap ocra::OneLevelSolverWithQLD::MapXsol

protected

Definition at line 279 of file OneLevelSolver.h.

VectorMap ocra::OneLevelSolverWithQLD::MapXu

protected

Definition at line 281 of file OneLevelSolver.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation