Drake
Drake C++ Documentation
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EqualityConstrainedQPSolver Class Referencefinal

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().

#include <drake/solvers/equality_constrained_qp_solver.h>

Public Member Functions

 EqualityConstrainedQPSolver ()
 ~EqualityConstrainedQPSolver () final
Does not allow copy, move, or assignment
 EqualityConstrainedQPSolver (const EqualityConstrainedQPSolver &)=delete
EqualityConstrainedQPSolver & operator= (const EqualityConstrainedQPSolver &)=delete
 EqualityConstrainedQPSolver (EqualityConstrainedQPSolver &&)=delete
EqualityConstrainedQPSolver & operator= (EqualityConstrainedQPSolver &&)=delete
Public Member Functions inherited from SolverBase
 ~SolverBase () override
MathematicalProgramResult Solve (const MathematicalProgram &prog, const std::optional< Eigen::VectorXd > &initial_guess=std::nullopt, const std::optional< SolverOptions > &solver_options=std::nullopt) const
 Like SolverInterface::Solve(), but the result is a return value instead of an output argument.
void Solve (const MathematicalProgram &, const std::optional< Eigen::VectorXd > &, const std::optional< SolverOptions > &, MathematicalProgramResult *) const override
 Solves an optimization program with optional initial guess and solver options.
bool available () const override
 Returns true iff support for this solver has been compiled into Drake.
bool enabled () const override
 Returns true iff this solver is properly configured for use at runtime.
SolverId solver_id () const final
 Returns the identifier of this solver.
bool AreProgramAttributesSatisfied (const MathematicalProgram &) const override
 Returns true iff the program's attributes are compatible with this solver's capabilities.
std::string ExplainUnsatisfiedProgramAttributes (const MathematicalProgram &) const override
 Describes the reasons (if any) why the program is incompatible with this solver's capabilities.
 SolverBase (const SolverBase &)=delete
SolverBase & operator= (const SolverBase &)=delete
 SolverBase (SolverBase &&)=delete
SolverBase & operator= (SolverBase &&)=delete
Public Member Functions inherited from SolverInterface
virtual ~SolverInterface ()
 SolverInterface (const SolverInterface &)=delete
SolverInterface & operator= (const SolverInterface &)=delete
 SolverInterface (SolverInterface &&)=delete
SolverInterface & operator= (SolverInterface &&)=delete

Static Public Member Functions

static std::string FeasibilityTolOptionName ()

Static versions of the instance methods with similar names.

MathematicalProgramResult Solve (const MathematicalProgram &prog, const std::optional< Eigen::VectorXd > &initial_guess=std::nullopt, const std::optional< SolverOptions > &solver_options=std::nullopt) const
 Like SolverInterface::Solve(), but the result is a return value instead of an output argument.
void Solve (const MathematicalProgram &, const std::optional< Eigen::VectorXd > &, const std::optional< SolverOptions > &, MathematicalProgramResult *) const override
 Solves an optimization program with optional initial guess and solver options.
static SolverId id ()
static bool is_available ()
static bool is_enabled ()
static bool ProgramAttributesSatisfied (const MathematicalProgram &)

Additional Inherited Members

Protected Member Functions inherited from SolverBase
 SolverBase (const SolverId &id, std::function< bool()> available, std::function< bool()> enabled, std::function< bool(const MathematicalProgram &)> are_satisfied, std::function< std::string(const MathematicalProgram &)> explain_unsatisfied=nullptr)
 Constructs a SolverBase with the given default implementations of the solver_id(), available(), enabled(), AreProgramAttributesSatisfied(), and ExplainUnsatisfiedProgramAttributes() methods.
virtual void DoSolve (const MathematicalProgram &prog, const Eigen::VectorXd &initial_guess, const SolverOptions &merged_options, MathematicalProgramResult *result) const
 Hook for subclasses to implement Solve.
Protected Member Functions inherited from SolverInterface
 SolverInterface ()

Constructor & Destructor Documentation

◆ EqualityConstrainedQPSolver() [1/3]

EqualityConstrainedQPSolver ( const EqualityConstrainedQPSolver & )
delete

◆ EqualityConstrainedQPSolver() [2/3]

EqualityConstrainedQPSolver ( EqualityConstrainedQPSolver && )
delete

◆ EqualityConstrainedQPSolver() [3/3]

EqualityConstrainedQPSolver ( )

◆ ~EqualityConstrainedQPSolver()

~EqualityConstrainedQPSolver ( )
final

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

◆ is_enabled()

bool is_enabled ( )
static

◆ operator=() [1/2]

EqualityConstrainedQPSolver & operator= ( const EqualityConstrainedQPSolver & )
delete

◆ operator=() [2/2]

EqualityConstrainedQPSolver & operator= ( EqualityConstrainedQPSolver && )
delete

◆ ProgramAttributesSatisfied()

bool ProgramAttributesSatisfied ( const MathematicalProgram & )
static

◆ Solve() [1/2]

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

Solves an optimization program with optional initial guess and solver options.

Note that these initial guess and solver options are not written to prog. If the prog has set an initial guess, and initial_guess is set, then initial_guess takes priority. If the prog has set an option for a solver, and solver_options contains a different value for the same option on the same solver, then solver_options takes priority. Derived implementations of this interface may elect to throw std::exception for badly formed programs.

Implements SolverInterface.

◆ Solve() [2/2]

MathematicalProgramResult Solve ( const MathematicalProgram & prog,
const std::optional< Eigen::VectorXd > & initial_guess = std::nullopt,
const std::optional< SolverOptions > & solver_options = std::nullopt ) const

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 file: