ADMMConstraintSolverTpl< _Scalar, _Options > Struct Template Reference

ADMM constraint solver. More...

#include <pinocchio/algorithm/solvers/admm-solver.hpp>

Inheritance diagram for ADMMConstraintSolverTpl< _Scalar, _Options >:

Collaboration diagram for ADMMConstraintSolverTpl< _Scalar, _Options >:

Public Types
typedef internal::ADMMLinearUpdateRuleTpl< Scalar >	ADMMLinearUpdateRule
typedef internal::ADMMOSQPUpdateRuleTpl< Scalar >	ADMMOSQPUpdateRule
typedef ADMMSolverResultTpl< Scalar, Options >	ADMMSolverResult
typedef ADMMSolverSettingsTpl< Scalar >	ADMMSolverSettings
typedef ADMMSolverStatsTpl< Scalar >	ADMMSolverStats
typedef internal::ADMMSolverWorkspaceTpl< Scalar, Options >	ADMMSolverWorkspace
typedef internal::ADMMSpectralUpdateRuleTpl< Scalar >	ADMMSpectralUpdateRule
typedef internal::ADMMUpdateRuleContainerTpl< Scalar >	ADMMUpdateRuleContainer
typedef ConstraintSolverBase< Self >	Base
typedef const Eigen::Ref< const VectorXs >	ConstRefVectorXs
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXs
typedef Eigen::Ref< const VectorXs >	RefConstVectorXs
typedef Eigen::Ref< VectorXs >	RefVectorXs
typedef _Scalar	Scalar
typedef ADMMConstraintSolverTpl	Self
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Member Functions
	ADMMConstraintSolverTpl (std::size_t max_problem_size=0)
	Default constructor. More...
bool	isValid () const
	Returns true if solver is in a valid state (it has solved a constraint problem). If so, its stats are valid.
void	resetImpl ()
template<typename DelassusDerived , typename VectorLike , typename ConstraintModel , typename ConstraintModelAllocator , typename ConstraintData , typename ConstraintDataAllocator >
bool	solveImpl (DelassusOperatorBase< DelassusDerived > &delassus, const Eigen::MatrixBase< VectorLike > &g, const std::vector< ConstraintModel, ConstraintModelAllocator > &constraint_models, const std::vector< ConstraintData, ConstraintDataAllocator > &constraint_datas, const ADMMSolverSettings &settings, ADMMSolverResult &result)

Public Attributes
ADMMSolverStats	stats
	Per-iteration stats of the ADMM solver.

Static Public Attributes
static constexpr int	Options = _Options

Static Protected Member Functions
template<typename DelassusDerived >
static Scalar	computeDelassusLargestEigenvalue (const DelassusOperatorBase< DelassusDerived > &delassus, ADMMSolverWorkspace &workspace)
	Compute largest eigen value of delassus.
template<typename DelassusDerived , typename VectorLike , typename ConstraintModel , typename ConstraintModelAllocator , typename ConstraintData , typename ConstraintDataAllocator >
static void	retrievePrimalDualGuess (DelassusOperatorBase< DelassusDerived > &delassus, const Eigen::MatrixBase< VectorLike > &g, const std::vector< ConstraintModel, ConstraintModelAllocator > &constraint_models, const std::vector< ConstraintData, ConstraintDataAllocator > &constraint_datas, const ADMMSolverSettings &settings, const ADMMSolverResult &result, ADMMSolverWorkspace &workspace)
	Retrieve primal and/or dual guesses from settings and result's warmstarts.
template<typename DelassusDerived >
static void	retrieveRhoGuess (const DelassusOperatorBase< DelassusDerived > &delassus, const ADMMSolverSettings &settings, const ADMMSolverResult &result, ADMMSolverWorkspace &workspace)
	Retrieve rho parameters guesses from settings and result's warmstarts.

Protected Attributes
bool	m_is_valid
	Flag to check whether or not the solver is in a reset state. If not, its stats are valid.
ADMMSolverWorkspace	m_workspace
	Workspace of the ADMM solver. This is an internal of the solver and is not meant to be accessed by users.

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::ADMMConstraintSolverTpl< _Scalar, _Options >

ADMM constraint solver.

The solver solves the following CPP/NCP problem: min_x x^T G x + g s.t. x \in C, where G is the delassus matrix, g is the constraint velocities without any constraint forces acting on the system and C are the constraint sets. If the g term is augmented with the DeSaxce term, the problem becomes an NCP.

Definition at line 120 of file admm-solver.hpp.

Constructor & Destructor Documentation

ADMMConstraintSolverTpl()

ADMMConstraintSolverTpl ( std::size_t  max_problem_size = 0 )

inlineexplicit

Default constructor.

Note

The user can give max_problem_size to preallocate maximum problem sizes data. This is optional and the solver will automatically resize its workspace to handle the constraint problem thrown at it. If the solver encounters a problem which size is bigger than max_problem_size, it will automatically resize its internals as well as the result output of solve.

Parameters

[in]

max_problem_size

maximum problem size (before automatic reallocation)

Definition at line 156 of file admm-solver.hpp.

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The documentation for this struct was generated from the following file:

• include/pinocchio/algorithm/solvers/admm-solver.hpp