math::QPSolver¶

rb::math::QPSolver is the quadratic-programming helper used by advanced control and optimization code. The related QPSolverException is documented on this page because it is tightly coupled to solver setup and failure modes.

Header

#include <rby1-sdk/math/qp_solver.h>

Declaration

Namespace	`rb::math`
Kind	`class` family
Primary role	Configure and solve constrained quadratic programs.

Public Member Functions

Method group	Purpose	Notes
`Setup(...)` and `InitFunction()`	Allocate the solver and initialize its problem dimensions.	Call before setting cost or constraints.
`SetCostFunction(...)` and `AddCostFunction(...)`	Define one or more least-squares cost terms.	`AddCostFunction(...)` augments an existing cost.
`SetConstraintsFunction(...)` and `SetPrimalVariable(...)`	Define bound and constraint data plus the initial guess.	Needed before solving most nontrivial problems.
`Solve()`	Execute the QP solve.	May throw or return failure information via the paired exception type.
`Get*()` accessors	Inspect the assembled matrices and bounds.	Useful for debugging a solver configuration.

Detailed Reference

class QPSolver¶

Public Functions

QPSolver()¶

~QPSolver()¶

void AddCostFunction(const Eigen::MatrixXd &A, const Eigen::VectorXd &b)¶

Eigen::MatrixXd GetAConst() const¶

Eigen::MatrixXd GetACost() const¶

Eigen::VectorXd GetBCost() const¶

Eigen::VectorXd GetLowerBound() const¶

Eigen::VectorXd GetUpperBound() const¶

void InitFunction()¶

void ResetIsFirst()¶

void SetConstraintsFunction(const Eigen::MatrixXd &A, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)¶

void SetCostFunction(const Eigen::MatrixXd &A, const Eigen::VectorXd &b)¶

void SetPrimalVariable(const Eigen::VectorXd &pv)¶

void Setup(int n_var, int n_const, double time_limit = 2e-3)¶

Eigen::VectorXd Solve()¶

Solve the QP problem

Throws:: QPSolverException –
Returns:: Solution

class QPSolverException : public std::exception¶

Public Functions

explicit QPSolverException(int error_code)¶

int code() const noexcept¶

const char *what() const noexcept override¶

Public Static Functions

static std::string GenerateMessage(int code)¶

Public Static Attributes

static unsigned int kStatusOffset = 100¶

Related Types

Examples

optimal_control.cpp is the main end-to-end example for this solver path.