Drake
EqualityConstrainedQPSolver Class Referencefinal

Solves a quadratic program with equality constraint. More...

#include <drake/solvers/equality_constrained_qp_solver.h>

Public Member Functions

 EqualityConstrainedQPSolver ()
 
 ~EqualityConstrainedQPSolver () final
 
MathematicalProgramResult Solve (const MathematicalProgram &prog, const optional< Eigen::VectorXd > &initial_guess, const optional< SolverOptions > &solver_options) const
 Like SolverInterface::Solve(), but the result is a return value instead of an output argument. More...
 
void Solve (const MathematicalProgram &, const optional< Eigen::VectorXd > &, const optional< SolverOptions > &, MathematicalProgramResult *) const override
 
SolutionResult Solve (MathematicalProgram &) const override
 
Does not allow copy, move, or assignment
 EqualityConstrainedQPSolver (const EqualityConstrainedQPSolver &)=delete
 
EqualityConstrainedQPSolveroperator= (const EqualityConstrainedQPSolver &)=delete
 
 EqualityConstrainedQPSolver (EqualityConstrainedQPSolver &&)=delete
 
EqualityConstrainedQPSolveroperator= (EqualityConstrainedQPSolver &&)=delete
 
- Public Member Functions inherited from SolverBase
 ~SolverBase () override
 
MathematicalProgramResult Solve (const MathematicalProgram &prog, const optional< Eigen::VectorXd > &initial_guess, const optional< SolverOptions > &solver_options) const
 Like SolverInterface::Solve(), but the result is a return value instead of an output argument. More...
 
void Solve (const MathematicalProgram &, const optional< Eigen::VectorXd > &, const optional< SolverOptions > &, MathematicalProgramResult *) const override
 Solves an optimization program with optional initial guess and solver options. More...
 
bool available () const override
 Returns true iff this solver was enabled at compile-time. More...
 
SolverId solver_id () const override
 Returns the identifier of this solver. More...
 
bool AreProgramAttributesSatisfied (const MathematicalProgram &) const override
 Returns true if the program attributes are satisfied by the solver's capability. More...
 
SolutionResult Solve (MathematicalProgram &) const override
 Sets values for the decision variables on the given MathematicalProgram prog, or: More...
 
 SolverBase (const SolverBase &)=delete
 
SolverBaseoperator= (const SolverBase &)=delete
 
 SolverBase (SolverBase &&)=delete
 
SolverBaseoperator= (SolverBase &&)=delete
 
- Public Member Functions inherited from SolverInterface
virtual ~SolverInterface ()
 
 SolverInterface (const SolverInterface &)=delete
 
SolverInterfaceoperator= (const SolverInterface &)=delete
 
 SolverInterface (SolverInterface &&)=delete
 
SolverInterfaceoperator= (SolverInterface &&)=delete
 

Static Public Member Functions

static std::string FeasibilityTolOptionName ()
 
Static versions of the instance methods with similar names.
static SolverId id ()
 
static bool is_available ()
 
static bool ProgramAttributesSatisfied (const MathematicalProgram &)
 

Additional Inherited Members

- Protected Member Functions inherited from SolverBase
 SolverBase (std::function< SolverId()> id, std::function< bool()> available, std::function< bool(const MathematicalProgram &)> satisfied)
 Constructs a SolverBase with the given default implementations of the solver_id(), available(), and AreProgramAttributesSatisfied() methods. More...
 
- Protected Member Functions inherited from SolverInterface
 SolverInterface ()
 
- Protected Attributes inherited from SolverBase
std::function< SolverId()> default_id_
 
std::function< bool()> default_available_
 
std::function< bool(const MathematicalProgram &)> default_satisfied_
 

Detailed Description

Solves a quadratic program with equality constraint.

This program doesn't depend on the initial guess.

The user can set the following options:

  • FeasibilityTolOptionName(). The feasible solution (both primal and dual variables) should satisfy their constraints, with error no larger than this value. The default is Eigen::dummy_precision().

Constructor & Destructor Documentation

◆ EqualityConstrainedQPSolver() [1/3]

◆ EqualityConstrainedQPSolver() [2/3]

◆ EqualityConstrainedQPSolver() [3/3]

◆ ~EqualityConstrainedQPSolver()

~EqualityConstrainedQPSolver ( )
finaldefault

Member Function Documentation

◆ FeasibilityTolOptionName()

std::string FeasibilityTolOptionName ( )
static
Returns
string key for SolverOptions to set the feasibility tolerance.

◆ id()

SolverId id ( )
static

◆ is_available()

bool is_available ( )
static

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ProgramAttributesSatisfied()

bool ProgramAttributesSatisfied ( const MathematicalProgram prog)
static

◆ Solve() [1/3]

void Solve
override

◆ Solve() [2/3]

SolutionResult Solve
override

◆ Solve() [3/3]

Like SolverInterface::Solve(), but the result is a return value instead of an output argument.


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