solver-HQP-output.hpp
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1 //
2 // Copyright (c) 2017 CNRS
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
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16 //
17 
18 #ifndef __invdyn_solvers_hqp_output_hpp__
19 #define __invdyn_solvers_hqp_output_hpp__
20 
21 #include "tsid/solvers/fwd.hpp"
22 #include "tsid/math/fwd.hpp"
23 
24 #include <vector>
25 
26 
27 namespace tsid
28 {
29  namespace solvers
30  {
31 
32  class HQPOutput
33  {
34  public:
35  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 
39 
40  HQPStatus status;
44  int iterations;
45 
47 
48  HQPOutput(int nVars, int nEqCon, int nInCon)
49  {
50  resize(nVars, nEqCon, nInCon);
51  }
52 
53  void resize(int nVars, int nEqCon, int nInCon)
54  {
55  x.resize(nVars);
56  lambda.resize(nEqCon+nInCon);
57  activeSet.resize(nInCon);
58  }
59  };
60  }
61 }
62 
63 #endif // ifndef __invdyn_solvers_hqp_output_hpp__
tsid::solvers::HQPOutput::HQPOutput
HQPOutput(int nVars, int nEqCon, int nInCon)
Definition: solver-HQP-output.hpp:48
tsid::solvers::HQPOutput::activeSet
VectorXi activeSet
Lagrange multipliers.
Definition: solver-HQP-output.hpp:43
tsid::math::Vector
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
tsid::solvers::HQPOutput::HQPOutput
HQPOutput()
number of iterations performed by the solver
Definition: solver-HQP-output.hpp:46
tsid::solvers::HQPOutput::VectorXi
math::VectorXi VectorXi
Definition: solver-HQP-output.hpp:38
tsid::solvers::HQPOutput::lambda
Vector lambda
solution
Definition: solver-HQP-output.hpp:42
tsid::math::VectorXi
Eigen::VectorXi VectorXi
Definition: fwd.hpp:39
tsid::solvers::HQPOutput
Definition: solver-HQP-output.hpp:32
fwd.hpp
tsid::solvers::HQPOutput::resize
void resize(int nVars, int nEqCon, int nInCon)
Definition: solver-HQP-output.hpp:53
tsid::solvers::HQPOutput::Vector
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector Vector
Definition: solver-HQP-output.hpp:37
tsid
Definition: constraint-bound.hpp:26
tsid::solvers::HQPOutput::x
Vector x
solver status
Definition: solver-HQP-output.hpp:41
tsid::solvers::HQPOutput::iterations
int iterations
indexes of active inequalities
Definition: solver-HQP-output.hpp:44
tsid::solvers::HQPOutput::status
HQPStatus status
Definition: solver-HQP-output.hpp:40
fwd.hpp