A bridge class to the LCQPow library. More...

#include <LCQPow_bridge.hpp>

Classes
class	LCQPow_impl
	Implementation of the LCQPow_bridge class. More...

struct	LCQPow_impl_deleter
	The deleter for LCQPow_impl. More...

Public Member Functions
	LCQPow_bridge ()
	Construct a new LCQPow_bridge object.

	~LCQPow_bridge ()=default
	Destroy the LCQPow_bridge object.

void	updateOptions (void)
	update the options for the solver. Call this when you change the option attributes.

void	runSolver (const LCQProblemInput &input, LCQProblemOutput &output)
	run the solver and get the result

LCQProblemDebug	getDebugStatistics (void)
	getDebugStatistics

Public Attributes
double	stationarityTolerance = 1.0e-3
	Stationarity tolerance, tolerance for optimization.

double	complementarityTolerance = 1.0e-3
	Complementarity tolerance, tolerance for complementarity vertical constraint.

double	initialPenaltyParameter = 0.01
	Initial penalty parameter, initial penalty parameter for complementarity.

double	penaltyUpdateFactor = 2.0
	Penalty update factor, factor for updating penaltised complementarity term.

int	nVariables
	Number of variables.

int	nConstraints
	Number of constraints.

int	nComplementarity
	Number of complementarity variables.

Protected Attributes
std::unique_ptr< LCQPow_impl, LCQPow_impl_deleter >	pimpl
	Pointer to the implementation.

Detailed Description

A bridge class to the LCQPow library.

This class provides an interface to the LCQPow library for solving linear complementarity quadratic programming (LCQP) problems.

This class encapsulates the LCQPow implementation and provides methods to update options, run the solver, and retrieve debug statistics.

After initializing the LCQPow_bridge object, you can set several options and need to call updateOptions() before running the solver if you change some of the options.

Then you can call runSolver() with input to retrieve the output.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 260 of file LCQPow_bridge.hpp.

Constructor & Destructor Documentation

◆ LCQPow_bridge()

FLIQC_controller_core::LCQPow_bridge::LCQPow_bridge ( )

Construct a new LCQPow_bridge object.

Definition at line 234 of file LCQPow_bridge.cpp.

Member Function Documentation

◆ getDebugStatistics()

LCQProblemDebug FLIQC_controller_core::LCQPow_bridge::getDebugStatistics ( void )

getDebugStatistics

Returns: LCQProblemDebug The statistics of the problem

Definition at line 280 of file LCQPow_bridge.cpp.

◆ runSolver()

void FLIQC_controller_core::LCQPow_bridge::runSolver	(	const LCQProblemInput &	input,
		LCQProblemOutput &	output
	)

run the solver and get the result

Parameters

[in]	input	The input of the problem.
[out]	output	The output of the problem.

Exceptions

LCQPowException If the solver fails to solve the problem, it will throw an exception.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 247 of file LCQPow_bridge.cpp.

◆ updateOptions()

void FLIQC_controller_core::LCQPow_bridge::updateOptions ( void )

update the options for the solver. Call this when you change the option attributes.

Options that could be initialized one time and used in each run (which needs updateOptions): stationarityTolerance, complementarityTolerance, initialPenaltyParameter, penaltyUpdateFactor

Options that will be initialized in each run (Which doesn't need updateOptions): nVariables, nConstraints, nComplementarity

Examples: Example_LCQPow_bridge.cpp.

Definition at line 240 of file LCQPow_bridge.cpp.

Member Data Documentation

◆ complementarityTolerance

double FLIQC_controller_core::LCQPow_bridge::complementarityTolerance = 1.0e-3

Complementarity tolerance, tolerance for complementarity vertical constraint.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 306 of file LCQPow_bridge.hpp.

◆ initialPenaltyParameter

double FLIQC_controller_core::LCQPow_bridge::initialPenaltyParameter = 0.01

Initial penalty parameter, initial penalty parameter for complementarity.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 307 of file LCQPow_bridge.hpp.

◆ nComplementarity

int FLIQC_controller_core::LCQPow_bridge::nComplementarity

Number of complementarity variables.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 311 of file LCQPow_bridge.hpp.

◆ nConstraints

int FLIQC_controller_core::LCQPow_bridge::nConstraints

Number of constraints.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 310 of file LCQPow_bridge.hpp.

◆ nVariables

int FLIQC_controller_core::LCQPow_bridge::nVariables

Number of variables.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 309 of file LCQPow_bridge.hpp.

◆ penaltyUpdateFactor

double FLIQC_controller_core::LCQPow_bridge::penaltyUpdateFactor = 2.0

Penalty update factor, factor for updating penaltised complementarity term.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 308 of file LCQPow_bridge.hpp.

◆ pimpl

std::unique_ptr<LCQPow_impl, LCQPow_impl_deleter> FLIQC_controller_core::LCQPow_bridge::pimpl

protected

Pointer to the implementation.

Definition at line 280 of file LCQPow_bridge.hpp.

◆ stationarityTolerance

double FLIQC_controller_core::LCQPow_bridge::stationarityTolerance = 1.0e-3

Stationarity tolerance, tolerance for optimization.

Examples: Example_LCQPow_bridge.cpp.

Definition at line 305 of file LCQPow_bridge.hpp.

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

include/FLIQC_controller_core/LCQPow_bridge.hpp
src/LCQPow_bridge.cpp

Classes

Public Member Functions

Public Attributes

Protected Attributes