Drake
Drake C++ Documentation
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OsqpSolver Class Referencefinal

Detailed Description

A wrapper to call OSQP using Drake's MathematicalProgram.

For details about OSQP's available options, refer to the OSQP manual. Drake uses OSQP's default values for all options except following:

  • Drake defaults to polish=true (upstream default is false).
  • Drake defaults to adaptive_rho_interval=ADAPTIVE_RHO_FIXED to make the output deterministic (upstream default is 0, which uses non-deterministic timing measurements to establish the interval). N.B. Generally the interval should be an integer multiple of check_termination, so if you choose to override either option you should probably override both at once.

#include <drake/solvers/osqp_solver.h>

Public Types

using Details = OsqpSolverDetails
 Type of details stored in MathematicalProgramResult. More...
 

Public Member Functions

 OsqpSolver ()
 
 ~OsqpSolver () final
 
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. More...
 
void Solve (const MathematicalProgram &, const std::optional< Eigen::VectorXd > &, const std::optional< SolverOptions > &, MathematicalProgramResult *) const override
 
Does not allow copy, move, or assignment
 OsqpSolver (const OsqpSolver &)=delete
 
OsqpSolver & operator= (const OsqpSolver &)=delete
 
 OsqpSolver (OsqpSolver &&)=delete
 
OsqpSolver & operator= (OsqpSolver &&)=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. More...
 
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. More...
 
bool available () const override
 Returns true iff support for this solver has been compiled into Drake. More...
 
bool enabled () const override
 Returns true iff this solver is properly configured for use at runtime. More...
 
SolverId solver_id () const final
 Returns the identifier of this solver. More...
 
bool AreProgramAttributesSatisfied (const MathematicalProgram &) const override
 Returns true iff the program's attributes are compatible with this solver's capabilities. More...
 
std::string ExplainUnsatisfiedProgramAttributes (const MathematicalProgram &) const override
 Describes the reasons (if any) why the program is incompatible with this solver's capabilities. More...
 
 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 versions of the instance methods with similar names.
static SolverId id ()
 
static bool is_available ()
 
static bool is_enabled ()
 
static bool ProgramAttributesSatisfied (const MathematicalProgram &)
 
static std::string UnsatisfiedProgramAttributes (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. More...
 
virtual void DoSolve (const MathematicalProgram &prog, const Eigen::VectorXd &initial_guess, const SolverOptions &merged_options, MathematicalProgramResult *result) const
 Hook for subclasses to implement Solve. More...
 
- Protected Member Functions inherited from SolverInterface
 SolverInterface ()
 

Member Typedef Documentation

◆ Details

using Details = OsqpSolverDetails

Type of details stored in MathematicalProgramResult.

Constructor & Destructor Documentation

◆ OsqpSolver() [1/3]

OsqpSolver ( const OsqpSolver &  )
delete

◆ OsqpSolver() [2/3]

OsqpSolver ( OsqpSolver &&  )
delete

◆ OsqpSolver() [3/3]

OsqpSolver ( )

◆ ~OsqpSolver()

~OsqpSolver ( )
final

Member Function Documentation

◆ id()

static SolverId id ( )
static

◆ is_available()

static bool is_available ( )
static

◆ is_enabled()

static bool is_enabled ( )
static

◆ operator=() [1/2]

OsqpSolver& operator= ( OsqpSolver &&  )
delete

◆ operator=() [2/2]

OsqpSolver& operator= ( const OsqpSolver &  )
delete

◆ ProgramAttributesSatisfied()

static bool ProgramAttributesSatisfied ( const MathematicalProgram &  )
static

◆ Solve() [1/2]

MathematicalProgramResult Solve

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

◆ Solve() [2/2]

void Solve
override

◆ UnsatisfiedProgramAttributes()

static std::string UnsatisfiedProgramAttributes ( const MathematicalProgram &  )
static
The documentation for this class was generated from the following file: