Class l1HQP

Inheritance Relationships

Base Type

Class Documentation

class l1HQP : public OpenSoT::Solver<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<l1HQP> Ptr

Public Functions

l1HQP(OpenSoT::AutoStack &stack_of_tasks, const double eps_regularisation = DEFAULT_EPS_REGULARISATION, const solver_back_ends be_solver = solver_back_ends::qpOASES)

l1HQP oncstructor

Parameters

  • stack_of_tasks – stack

  • eps_regularisation – refers to the L2 regularisation

  • be_solver – internal qp solver

virtual bool solve(Eigen::VectorXd &solution)

solve solve an Optimization problem

Parameters

solution – the solution

Returns

true if solved/solvable

inline unsigned int getFirstSlackIndex()

getFirstSlackIndex

Returns

index to first (internal) slack variable, -1 if slack variables are not present

void getBackEnd(BackEnd::Ptr &back_end)
inline const std::shared_ptr<AutoStack> &getInternalProblem()

getInternalProblem(), getConstraints(), getHardConstraints(), getTasks() and getPriorityConstraints() are ONLY for debugging

Returns

inline const std::map<std::string, task_to_constraint_helper::Ptr> &getConstraints()
inline const constraint_helper::Ptr &getHardConstraints()
inline const std::map<std::string, OpenSoT::tasks::GenericLPTask::Ptr> &getTasks()
inline const std::vector<priority_constraint::Ptr> &getPriorityConstraints()
inline unsigned int getVariableSize()
bool getInternalVariable(const std::string &var, Eigen::VectorXd &value)

getInternalVariable

Parameters

  • var – names are “t1”, “t2”, …

  • value – vector of values

Returns

false if asked internal variable does not exists