autoware::motion::control::trajectory_follower::QPSolverInterface Class Referenceabstract
Interface for solvers of Quadratic Programming (QP) problems. More...
#include <qp_solver_interface.hpp>
Inheritance diagram for autoware::motion::control::trajectory_follower::QPSolverInterface:
Public Member Functions | |
| virtual | ~QPSolverInterface ()=default |
| destructor More... | |
| virtual 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)=0 |
| solve QP problem : minimize J = u' * h_mat * u + f_vec' * u without constraint More... | |
Detailed Description
Interface for solvers of Quadratic Programming (QP) problems.
Constructor & Destructor Documentation
◆ ~QPSolverInterface()
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virtualdefault |
destructor
Member Function Documentation
◆ solve()
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pure virtual |
solve QP problem : minimize J = u' * h_mat * u + f_vec' * u without constraint
- Parameters
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[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 [in] lb parameter matrix for constraint lb < u < ub [in] ub parameter matrix for constraint lb < u < ub [in] lb_a parameter matrix for constraint lb_a < a*u < ub_a [in] ub_a parameter matrix for constraint lb_a < a*u < ub_a [out] u optimal variable vector
- Returns
- ture if the problem was solved
Implemented in autoware::motion::control::trajectory_follower::QPSolverEigenLeastSquareLLT, and autoware::motion::control::trajectory_follower::QPSolverOSQP.
The documentation for this class was generated from the following file: