Drake
drake::solvers::fbstab Namespace Reference

Namespaces

 test
 

Classes

class  DenseData
 Represents data for quadratic programming problems of the following type (1): More...
 
class  DenseFeasibility
 This class detects infeasibility in quadratic programs, see dense_data.h for a description of the QPs. More...
 
class  DenseLinearSolver
 A class for computing the search directions used by the FBstab QP Solver. More...
 
class  DenseResidual
 This class computes and stores residuals for inequality constrained dense QPs. More...
 
class  DenseVariable
 Implements primal-dual variables for inequality constrained QPs, see dense_data.h for a mathematical description. More...
 
class  FBstabAlgorithm
 This class implements the FBstab solver for convex quadratic programs, see https://arxiv.org/pdf/1901.04046.pdf for more details. More...
 
class  FBstabDense
 FBstabDense implements the Proximally Stabilized Semismooth Algorithm for solving convex quadratic programs of the following form (1): More...
 
class  FBstabMpc
 FBstabMpc implements the Proximally Stabilized Semismooth Method for solving the following quadratic programming problem (1): More...
 
class  MpcData
 This class represents data for quadratic programming problems of the following type (1): More...
 
class  MpcFeasibility
 This class detects infeasibility in quadratic programs, see mpc_data.h for a description of the QPs. More...
 
class  MpcResidual
 This class computes and stores residuals for MPC QPs. More...
 
class  MpcVariable
 This class implements primal-dual variables for model predictive control QPs. More...
 
class  RiccatiLinearSolver
 Implements a Riccati recursion based method for solving linear systems of equations that arise when solving MPC form QPs (see mpc_data.h) using FBstab. More...
 
struct  SolverOut
 Packages the exit flag, overall residual, solve time, and iteration counts. More...
 

Typedefs

using clock = std::chrono::high_resolution_clock
 
using FBstabAlgoDense = FBstabAlgorithm< DenseVariable, DenseResidual, DenseData, DenseLinearSolver, DenseFeasibility >
 Convenience type for the templated dense version of the algorithm. More...
 
using FBstabAlgoMpc = FBstabAlgorithm< MpcVariable, MpcResidual, MpcData, RiccatiLinearSolver, MpcFeasibility >
 Convenience typedef for the templated version of the algorithm. More...
 

Enumerations

enum  ExitFlag {
  SUCCESS = 0, DIVERGENCE = 1, MAXITERATIONS = 2, PRIMAL_INFEASIBLE = 3,
  DUAL_INFEASIBLE = 4, PRIMAL_DUAL_INFEASIBLE = 5
}
 

Typedef Documentation

◆ clock

using clock = std::chrono::high_resolution_clock

◆ FBstabAlgoDense

Convenience type for the templated dense version of the algorithm.

◆ FBstabAlgoMpc

Convenience typedef for the templated version of the algorithm.

Enumeration Type Documentation

◆ ExitFlag

enum ExitFlag
strong
Enumerator
SUCCESS 
DIVERGENCE 
MAXITERATIONS 
PRIMAL_INFEASIBLE 
DUAL_INFEASIBLE 
PRIMAL_DUAL_INFEASIBLE