Drake
EqualityConstrainedQPSolver Class Reference

#include <drake/solvers/equality_constrained_qp_solver.h>

Public Member Functions

 EqualityConstrainedQPSolver ()=default
 
 ~EqualityConstrainedQPSolver () override=default
 
bool available () const override
 Returns true iff this solver was enabled at compile-time. More...
 
SolutionResult Solve (MathematicalProgram &prog) const override
 Solve the qudratic program with equality constraint. More...
 
void Solve (const MathematicalProgram &prog, const optional< Eigen::VectorXd > &initial_guess, const optional< SolverOptions > &solver_options, MathematicalProgramResult *result) const override
 Solve the qudratic program with equality constraint. More...
 
SolverId solver_id () const override
 Returns the identifier of this solver. More...
 
bool AreProgramAttributesSatisfied (const MathematicalProgram &prog) const override
 Returns true if the program attributes are satisfied by the solver's capability. More...
 
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 MathematicalProgramSolverInterface
 MathematicalProgramSolverInterface ()=default
 
virtual ~MathematicalProgramSolverInterface ()=default
 
 MathematicalProgramSolverInterface (const MathematicalProgramSolverInterface &)=delete
 
MathematicalProgramSolverInterfaceoperator= (const MathematicalProgramSolverInterface &)=delete
 
 MathematicalProgramSolverInterface (MathematicalProgramSolverInterface &&)=delete
 
MathematicalProgramSolverInterfaceoperator= (MathematicalProgramSolverInterface &&)=delete
 

Static Public Member Functions

static bool is_available ()
 
static SolverId id ()
 
static bool ProgramAttributesSatisfied (const MathematicalProgram &prog)
 
static std::string FeasibilityTolOptionName ()
 Returns the string as a key value in SolverOption, to set the feasibility tolerance. More...
 

Constructor & Destructor Documentation

◆ EqualityConstrainedQPSolver() [1/3]

◆ EqualityConstrainedQPSolver() [2/3]

◆ EqualityConstrainedQPSolver() [3/3]

◆ ~EqualityConstrainedQPSolver()

~EqualityConstrainedQPSolver ( )
overridedefault

Member Function Documentation

◆ AreProgramAttributesSatisfied()

bool AreProgramAttributesSatisfied ( const MathematicalProgram prog) const
overridevirtual

Returns true if the program attributes are satisfied by the solver's capability.

Implements MathematicalProgramSolverInterface.

◆ available()

bool available ( ) const
inlineoverridevirtual

Returns true iff this solver was enabled at compile-time.

Implements MathematicalProgramSolverInterface.

◆ FeasibilityTolOptionName()

std::string FeasibilityTolOptionName ( )
static

Returns the string as a key value in SolverOption, to set the feasibility tolerance.

◆ id()

◆ is_available()

bool is_available ( )
static

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ProgramAttributesSatisfied()

bool ProgramAttributesSatisfied ( const MathematicalProgram prog)
static

◆ Solve() [1/2]

SolutionResult Solve ( MathematicalProgram prog) const
overridevirtual

Solve the qudratic program with equality constraint.

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().

Implements MathematicalProgramSolverInterface.

◆ Solve() [2/2]

void Solve ( const MathematicalProgram prog,
const optional< Eigen::VectorXd > &  initial_guess,
const optional< SolverOptions > &  solver_options,
MathematicalProgramResult result 
) const
overridevirtual

Solve the qudratic 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(). solver_options will take priority over any options stored inside prog.

Implements MathematicalProgramSolverInterface.

◆ solver_id()

SolverId solver_id ( ) const
overridevirtual

Returns the identifier of this solver.

Implements MathematicalProgramSolverInterface.


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