Solve a quadratic program with a specific structure. More...
#include <qp_solver.h>
Public Member Functions | |
| qp_solver (const int N_, const double, const double, const double, const double, const double) | |
| Constructor: initialization of the constant parameters. | |
| virtual | ~qp_solver () |
| void | form_init_fp (const double *, const double *, const double *, double *) |
| Generates an initial feasible point. First we perform a change of variable to X_tilde generate a feasible point, and then we go back to X_bar. | |
| virtual void | set_parameters (const double *, const double *, const double, const double *, const double *, const double *, const double *, const double *)=0 |
| virtual int | solve ()=0 |
Public Attributes | |
| double * | X |
| double | tol |
| tolerance | |
| double * | dX |
| double | alpha |
| double | h_initial |
| Height of the CoM at initial state divided by the gravity, this initial state precede the first state in the preview window. | |
| double | gain_alpha |
| Gains used in objective function. | |
| double | gain_beta |
| Gains used in objective function. | |
| double | gain_gamma |
| Gains used in objective function. | |
Detailed Description
Solve a quadratic program with a specific structure.
Definition at line 32 of file qp_solver.h.
Constructor & Destructor Documentation
| qp_solver::qp_solver | ( | const int | N_, |
| const double | Alpha, | ||
| const double | Beta, | ||
| const double | Gamma, | ||
| const double | regularization, | ||
| const double | tol_ | ||
| ) |
Constructor: initialization of the constant parameters.
- Parameters:
-
[in] N_ Number of sampling times in a preview window [in] Alpha Velocity gain [in] Beta Position gain [in] Gamma Jerk gain [in] regularization regularization [in] tol_ tolerance
Definition at line 29 of file qp_solver.cpp.
| virtual qp_solver::~qp_solver | ( | ) | [inline, virtual] |
Definition at line 44 of file qp_solver.h.
Member Function Documentation
| void qp_solver::form_init_fp | ( | const double * | x_coord, |
| const double * | y_coord, | ||
| const double * | init_state, | ||
| double * | X_ | ||
| ) |
Generates an initial feasible point. First we perform a change of variable to X_tilde generate a feasible point, and then we go back to X_bar.
- Parameters:
-
[in] x_coord x coordinates of points satisfying constraints [in] y_coord y coordinates of points satisfying constraints [in] init_state current state [in,out] X_ initial guess / solution of optimization problem
Definition at line 58 of file qp_solver.cpp.
| virtual void qp_solver::set_parameters | ( | const double * | , |
| const double * | , | ||
| const double | , | ||
| const double * | , | ||
| const double * | , | ||
| const double * | , | ||
| const double * | , | ||
| const double * | |||
| ) | [pure virtual] |
| virtual int qp_solver::solve | ( | ) | [pure virtual] |
Member Data Documentation
| double qp_solver::alpha |
| double* qp_solver::dX |
Feasible descent direction (to be used for updating X).
Definition at line 87 of file qp_solver.h.
| double qp_solver::gain_alpha |
Gains used in objective function.
Definition at line 76 of file qp_solver.h.
| double qp_solver::gain_beta |
Gains used in objective function.
Definition at line 77 of file qp_solver.h.
| double qp_solver::gain_gamma |
Gains used in objective function.
Definition at line 78 of file qp_solver.h.
| double qp_solver::h_initial |
Height of the CoM at initial state divided by the gravity, this initial state precede the first state in the preview window.
Definition at line 94 of file qp_solver.h.
| double qp_solver::tol |
tolerance
Definition at line 82 of file qp_solver.h.
| double* qp_solver::X |
Variables for the QP (contain the states + control variables). Initial feasible point with respect to the equality and inequality constraints.
Definition at line 71 of file qp_solver.h.
The documentation for this class was generated from the following files:
- solver/qp_solver.h
- solver/qp_solver.cpp
