GenericSolver.hpp

// This file is part of Qontrol, a quadratic optimization library to
// control robot.
//
// Copyright (C) 2023 Lucas Joseph <lucas.joseph@inria.fr>
//
// Qontrol is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 3 of
// the License, or (at your option) any later version.
//
// Qontrol is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Qontrol. If not, see <http://www.gnu.org/licenses/>.
 
#pragma once
#include <Eigen/Dense>
#include <Qontrol/Model/GenericModel.hpp>
#include <Qontrol/Utils/Size.hpp>
#include <iostream>
#include <memory>
#include <exception>
namespace Qontrol {
namespace Solver {
 
  enum SolverImplType { qpOASES, OSQP, qpmad };
 
struct qpData {
  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
      hessian;
  Eigen::VectorXd gradient;
  Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
      a_constraints;
  Eigen::VectorXd lb_a;
  Eigen::VectorXd ub_a;
  Eigen::VectorXd solution;
};
 
class GenericSolver {
public:
  GenericSolver(){};
  ~GenericSolver(){};
  virtual void configure(int optimization_vector_size) = 0;
 
  qpData getProblemData() { return qp_data_; };
 
  void checkProblem(qpData qp_data);
 
  virtual void resizeProblem(qpData qp_data) = 0;
 
  virtual bool solve(qpData qp_data) = 0;
 
  virtual Eigen::VectorXd getPrimalSolution() = 0;
 
protected:
  int number_of_variables;
  int number_of_constraints;
 
protected:
  qpData qp_data_;
};
 
 
template <SolverImplType solver_lib> class Solver {};
} // namespace Solver
} // namespace Qontrol