Qontrol::Solver::GenericSolver Class Referenceabstract
A generic solver class. More...
#include <GenericSolver.hpp>
Inheritance diagram for Qontrol::Solver::GenericSolver:
Collaboration diagram for Qontrol::Solver::GenericSolver:
Public Member Functions | |
| virtual void | configure (int optimization_vector_size)=0 |
| Configure the qp solver. More... | |
| qpData | getProblemData () |
| Get the previous qpData. More... | |
| void | checkProblem (qpData qp_data) |
| Check if the problem size is consistent. More... | |
| virtual void | resizeProblem (qpData qp_data)=0 |
| Reset the problem to the new qpData size. More... | |
| virtual bool | solve (qpData qp_data)=0 |
| virtual Eigen::VectorXd | getPrimalSolution ()=0 |
Protected Attributes | |
| int | number_of_variables |
| int | number_of_constraints |
| qpData | qp_data_ |
Detailed Description
A generic solver class.
Member Function Documentation
◆ checkProblem()
| void Qontrol::Solver::GenericSolver::checkProblem | ( | qpData | qp_data | ) |
Check if the problem size is consistent.
Check if vectors are of the same size Check if vectors and matrices have consisten size Check if lb<=ub
Check if problem has different size from last update. If yes reset the solver to the new size
- Parameters
-
qp_data
◆ configure()
|
pure virtual |
Configure the qp solver.
Create the solver pointer, resize the qpData structure according to the optimization vector size given by the model
- Parameters
-
optimization_vector_size Usually the robot number of degrees of freedom
Implemented in Qontrol::Solver::Solver< SolverImplType::qpmad >.
◆ getProblemData()
|
inline |
◆ resizeProblem()
|
pure virtual |
Reset the problem to the new qpData size.
- Parameters
-
qp_data
Implemented in Qontrol::Solver::Solver< SolverImplType::qpmad >.
The documentation for this class was generated from the following files:
- include/Qontrol/Solver/GenericSolver.hpp
- src/Solver/GenericSolver.cpp
