ADMMSolverResultTpl< _Scalar, _Options > Struct Template Reference

Struct describing the solution of the ADMM constraint solver after calling the solve method. Also contains the warmstart of the solution to the constraint problem. More...

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

Inheritance diagram for ADMMSolverResultTpl< _Scalar, _Options >:

Collaboration diagram for ADMMSolverResultTpl< _Scalar, _Options >:

Public Types
typedef ConstraintSolverResultBase< Self >	Base
typedef Eigen::Ref< const VectorXs >	RefConstVectorXs
typedef _Scalar	Scalar
typedef ADMMSolverResultTpl	Self
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs
typedef internal::EigenStorageTpl< VectorXs >	VectorXsStorage

Public Member Functions
	ADMMSolverResultTpl ()
	Default constructor.
	ADMMSolverResultTpl (const ADMMSolverResultTpl &other)
	Copy constructor.
void	clearConstraintImpulseGuessImpl ()
void	clearConstraintVelocityGuessImpl ()
int	constraintSizeImpl () const
ADMMSolverResultTpl &	operator= (const ADMMSolverResultTpl &other)
	Assignment operator.
void	resetImpl ()
	Reset the results.
void	resize (std::size_t problem_size_)
	Resize the primal/dual/desaxce vectors of the solution.
template<typename VectorLike >
void	retrieveConstraintImpulsesImpl (const Eigen::MatrixBase< VectorLike > &constraint_impulses_) const
template<typename VectorLike >
void	retrieveConstraintVelocitiesImpl (const Eigen::MatrixBase< VectorLike > &constraint_velocities_) const
template<typename VectorLike >
void	retrieveDesaxceTerm (const Eigen::MatrixBase< VectorLike > &desaxce_term_) const
	Retrieve Desaxce term of solution.
template<typename VectorLike >
void	retrieveDualSolution (const Eigen::MatrixBase< VectorLike > &dual_solution_) const
	Retrieve dual solution. At the optimum we have Gx + g + desaxce - z = 0.
template<typename VectorLike >
void	retrieveNonProjectedPrimalSolution (const Eigen::MatrixBase< VectorLike > &non_projected_primal_solution_) const
	Retrieve non-projected primal solution.
template<typename VectorLike >
void	retrievePrimalSolution (const Eigen::MatrixBase< VectorLike > &primal_solution_) const
	Retrieve primal solution.
template<typename VectorLike >
void	setConstraintImpulseGuessImpl (const Eigen::MatrixBase< VectorLike > &impulse_guess_in)
template<typename VectorLike >
void	setConstraintVelocityGuessImpl (const Eigen::MatrixBase< VectorLike > &velocity_guess_in)

Public Attributes
std::size_t	delassus_decomposition_update_count
	Number of delassus decompositions.
VectorXsStorage::RefMapType	desaxce = desaxce_storage.map()
VectorXsStorage	desaxce_storage
	Desaxce term of the solution.
std::optional< RefConstVectorXs >	impulse_guess
	Optional guess for the primal variable (impulses).
Scalar	mu_prox
	Value of ADMM proximal term.
std::size_t	problem_size
	Size of primal/dual variables.
Scalar	rho
	Value of ADMM rho term.
Scalar	spectral_rho_power
	Value of ADMM spectral rule rho power at the solution. This is relevant only if SPECTRAL was selected as an update rule.
std::optional< RefConstVectorXs >	velocity_guess
	Optional guess for the dual variable (velocities).
VectorXsStorage::RefMapType	x = x_storage.map()
VectorXsStorage	x_storage
	Non-projected primal solution. More...
VectorXsStorage::RefMapType	y = y_storage.map()
VectorXsStorage	y_storage
	Primal solution projected onto constraints.
VectorXsStorage::RefMapType	z = z_storage.map()
VectorXsStorage	z_storage
	Dual solution.

Static Public Attributes
static constexpr int	Options = _Options

Protected Attributes
VectorXsStorage::RefMapType	m_impulse_guess = m_impulse_guess_storage.map()
VectorXsStorage	m_impulse_guess_storage
	Storage for the optional impulse guess.
VectorXsStorage::RefMapType	m_velocity_guess = m_velocity_guess_storage.map()
VectorXsStorage	m_velocity_guess_storage
	Storage for the optional velocity guess.

Detailed Description

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

Struct describing the solution of the ADMM constraint solver after calling the solve method. Also contains the warmstart of the solution to the constraint problem.

Definition at line 461 of file admm-solver.hpp.

Member Function Documentation

constraintSizeImpl()

int constraintSizeImpl ( ) const

inline

Definition at line 537 of file admm-solver.hpp.

retrieveConstraintVelocitiesImpl()

void retrieveConstraintVelocitiesImpl ( const Eigen::MatrixBase< VectorLike > &  constraint_velocities_ ) const

inline

Note

At the optimum we have Gx + g + desaxce - z = 0. We have sigma = Gx + g and z = Gx + g + desaxce, thus sigma = z - desaxce,

Definition at line 646 of file admm-solver.hpp.

Member Data Documentation

x_storage

VectorXsStorage x_storage

Non-projected primal solution.

Note

Order of storage/map declaration is important! First declare the storage, then the map, otherwise map will point to nothing.

Definition at line 699 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