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.

At the end of OsqpSolver::Solve() function, we always return the value of the primal and dual variables inside the OSQP solver, regardless of the solver status (whether it is optimal, infeasible, unbounded, etc), except when the problem has an invalid input. Users should always check the solver status before interpreting the returned primal and dual variables.

#include <drake/solvers/osqp_solver.h>

Public Types

using Details = OsqpSolverDetails
 Type of details stored in MathematicalProgramResult.

Public Member Functions

 OsqpSolver ()
 ~OsqpSolver () final
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.
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 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 &)
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.
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 ()

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()

SolverId id ( )
static

◆ is_available()

bool is_available ( )
static

◆ is_enabled()

bool is_enabled ( )
static

◆ operator=() [1/2]

OsqpSolver & operator= ( const OsqpSolver & )
delete

◆ operator=() [2/2]

OsqpSolver & operator= ( OsqpSolver && )
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.

◆ UnsatisfiedProgramAttributes()

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