smpc::solver Class Reference

API of the sparse MPC solver. More...

#include <smpc_solver.h>

List of all members.

Public Member Functions
	solver (const int N, const double Alpha=150.0, const double Beta=2000.0, const double Gamma=1.0, const double regularization=0.01, const double tol=1e-7)
	Constructor: initialize an active set method solver.
	solver (const int N, const int max_iter, const double Alpha=150.0, const double Beta=2000.0, const double Gamma=1.0, const double regularization=0.01, const double tol=1e-3, const double tol_out=1e-2, const double t=100, const double mu=15, const double bs_alpha=0.01, const double bs_beta=0.5)
	Constructor: initialize an interior-point method solver.
	~solver ()
void	enable_fexceptions ()
	Enable floating point exceptions: die rather than processing incorrect data). SIGFPE is sent to the program, when an error occurs.
void	set_parameters (const double *T, const double *h, const double h_initial, const double *angle, const double *zref_x, const double *zref_y, const double *lb, const double *ub)
	Initializes quadratic problem.
void	form_init_fp (const double *x_coord, const double *y_coord, const state_orig &init_state, double *X)
	Generates an initial feasible point.
int	solve ()
	Solve QP problem.
Public Attributes
qp_solver *	qp_sol
	Internal representation.

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Detailed Description

API of the sparse MPC solver.

Definition at line 243 of file smpc_solver.h.

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Constructor & Destructor Documentation

smpc::solver::solver	(	const int	N,
		const double	Alpha = 150.0,
		const double	Beta = 2000.0,
		const double	Gamma = 1.0,
		const double	regularization = 0.01,
		const double	tol = 1e-7
	)

Constructor: initialize an active set method solver.

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 34 of file smpc_solver.cpp.

smpc::solver::solver	(	const int	N,
		const int	max_iter,
		const double	Alpha = 150.0,
		const double	Beta = 2000.0,
		const double	Gamma = 1.0,
		const double	regularization = 0.01,
		const double	tol = 1e-3,
		const double	tol_out = 1e-2,
		const double	t = 100,
		const double	mu = 15,
		const double	bs_alpha = 0.01,
		const double	bs_beta = 0.5
	)

Constructor: initialize an interior-point method solver.

Parameters:

[in]	N	Number of sampling times in a preview window
[in]	max_iter	maximum number of internal loop iterations
[in]	Alpha	Velocity gain
[in]	Beta	Position gain
[in]	Gamma	Jerk gain
[in]	regularization	regularization
[in]	tol	tolerance (internal loop)
[in]	tol_out	tolerance of the outer loop, which resolves the problem with new t (kappa) parameter.
[in]	t	logarithmic barrier parameter
[in]	mu	multiplier of t, >1.
[in]	bs_alpha	backtracking search parameter 0 < alpha < 0.5
[in]	bs_beta	backtracking search parameter 0 < beta < 1

Definition at line 43 of file smpc_solver.cpp.

smpc::solver::~solver

(

)

Definition at line 59 of file smpc_solver.cpp.

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Member Function Documentation

void smpc::solver::enable_fexceptions

(

)

Enable floating point exceptions: die rather than processing incorrect data). SIGFPE is sent to the program, when an error occurs.

Note:

If feenableexcept() is not present on the system, the function does nothing.

Definition at line 68 of file smpc_solver.cpp.

void smpc::solver::form_init_fp	(	const double *	x_coord,
		const double *	y_coord,
		const state_orig &	init_state,
		double *	X
	)

Generates an initial feasible point.

Parameters:

[in]	x_coord	x coordinates of points satisfying constraints
[in]	y_coord	y coordinates of points satisfying constraints
[in]	init_state	initial state
[in,out]	X	solution of optimization problem

Definition at line 93 of file smpc_solver.cpp.

void smpc::solver::set_parameters	(	const double *	T,
		const double *	h,
		const double	h_initial,
		const double *	angle,
		const double *	zref_x,
		const double *	zref_y,
		const double *	lb,
		const double *	ub
	)

Initializes quadratic problem.

Parameters:

[in]	T	sampling time for each time step [sec.]
[in]	h	height of the center of mass divided by gravity for each time step
[in]	h_initial	initial value of height of the center of mass divided by gravity
[in]	angle	rotation angle for each state relative to the world frame
[in]	zref_x	reference values of x coordinate of ZMP
[in]	zref_y	reference values of y coordinate of ZMP
[in]	lb	array of lower bounds for coordinates of ZMP
[in]	ub	array of upper bounds for coordinates of ZMP

Definition at line 79 of file smpc_solver.cpp.

int smpc::solver::solve

(

)

Solve QP problem.

Returns:

A negative number on error. Number of activated constraints for active set method and 0 for interior-point method on success.

Definition at line 107 of file smpc_solver.cpp.

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Member Data Documentation

qp_solver* smpc::solver::qp_sol

Internal representation.

Definition at line 367 of file smpc_solver.h.

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

• include/smpc_solver.h
• solver/smpc_solver.cpp