OsqpSolver Class Reference

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. 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

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

• drake/solvers/osqp_solver.h