autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT Class Reference

#include <qp_solver_unconstr_fast.hpp>

Inheritance diagram for autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT:

Collaboration diagram for autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT:

Public Member Functions
	QPSolverEigenLeastSquareLLT ()
	constructor More...
	~QPSolverEigenLeastSquareLLT ()=default
	destructor More...
bool8_t	solve (const Eigen::MatrixXd &h_mat, const Eigen::MatrixXd &f_vec, const Eigen::MatrixXd &a, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const Eigen::VectorXd &lb_a, const Eigen::VectorXd &ub_a, Eigen::VectorXd &u) override
	solve QP problem : minimize j = u' * h_mat * u + f_vec' * u without constraint More...
Public Member Functions inherited from autoware::motion::control::trajectory_follower::QPSolverInterface
virtual	~QPSolverInterface ()=default
	destructor More...

Detailed Description

Solver for QP problems using least square decomposition implement with Eigen's standard Cholesky decomposition (LLT)

Constructor & Destructor Documentation

QPSolverEigenLeastSquareLLT()

autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT::QPSolverEigenLeastSquareLLT

(

)

constructor

~QPSolverEigenLeastSquareLLT()

autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT::~QPSolverEigenLeastSquareLLT ( )

default

destructor

Member Function Documentation

solve()

bool8_t autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT::solve ( const Eigen::MatrixXd &  h_mat, const Eigen::MatrixXd &  f_vec, const Eigen::MatrixXd &  a, const Eigen::VectorXd &  lb, const Eigen::VectorXd &  ub, const Eigen::VectorXd &  lb_a, const Eigen::VectorXd &  ub_a, Eigen::VectorXd &  u  )

overridevirtual

solve QP problem : minimize j = u' * h_mat * u + f_vec' * u without constraint

Parameters

[in]	h_mat	parameter matrix in object function
[in]	f_vec	parameter matrix in object function
[in]	a	parameter matrix for constraint lb_a < a*u < ub_a (not used here)
[in]	lb	parameter matrix for constraint lb < U < ub (not used here)
[in]	ub	parameter matrix for constraint lb < U < ub (not used here)
[in]	lb_a	parameter matrix for constraint lb_a < a*u < ub_a (not used here)
[in]	ub_a	parameter matrix for constraint lb_a < a*u < ub_a (not used here)
[out]	u	optimal variable vector

Returns

true if the problem was solved

Implements autoware::motion::control::trajectory_follower::QPSolverInterface.

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

• qp_solver_unconstr_fast.hpp
• qp_solver_unconstr_fast.cpp