QP Solvers¶

ssqp::solvers::QPSolver is the abstract interface both QP backends implement. See QP Solvers in Concepts for the conceptual explanation. The reference below is generated directly from the headers' own doc comments.

Class ssqp::solvers::QPSolver¶

ClassList > ssqp > solvers > QPSolver

Inherited by the following classes: ssqp::solvers::admm_qp, ssqp::solvers::hpipm_qp

Classes¶

Type	Name
struct	Solution

Public Functions¶

Type	Name
virtual MatX	feedbackGain (const uint k) const = 0
virtual void	increaseRegularization () = 0
virtual uint	iterations () const = 0
virtual void	reset () = 0
virtual SolverState	solve (Solution & sol) = 0
virtual	~QPSolver () = default

Public Functions Documentation¶

function feedbackGain¶

virtual MatX ssqp::solvers::QPSolver::feedbackGain (
    const uint k
) const = 0

function increaseRegularization¶

virtual void ssqp::solvers::QPSolver::increaseRegularization () = 0

function iterations¶

virtual uint ssqp::solvers::QPSolver::iterations () const = 0

function reset¶

virtual void ssqp::solvers::QPSolver::reset () = 0

function solve¶

virtual SolverState ssqp::solvers::QPSolver::solve (
    Solution & sol
) = 0

function ~QPSolver¶

virtual ssqp::solvers::QPSolver::~QPSolver () = default

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/solvers/qp.hpp

`admm_qp`¶

SSQP's own ADMM implementation; the default backend, no extra dependencies.

Class ssqp::solvers::admm_qp¶

ClassList > ssqp > solvers > admm_qp

Inherits the following classes: ssqp::solvers::QPSolver

Classes¶

Type	Name
struct	Params

Public Functions¶

Type	Name
	admm_qp (const QPData & qp, const Params & params=Params::Default())
MatX	feedbackGain (const uint k) override const
void	increaseRegularization () override
uint	iterations () override const
void	reset () override
SolverState	solve (QPSolver::Solution & sol) override

Public Functions Documentation¶

function admm_qp¶

ssqp::solvers::admm_qp::admm_qp (
    const QPData & qp,
    const Params & params=Params::Default()
)

function feedbackGain¶

MatX ssqp::solvers::admm_qp::feedbackGain (
    const uint k
) override const

function increaseRegularization¶

void ssqp::solvers::admm_qp::increaseRegularization () override

function iterations¶

uint ssqp::solvers::admm_qp::iterations () override const

function reset¶

void ssqp::solvers::admm_qp::reset () override

function solve¶

SolverState ssqp::solvers::admm_qp::solve (
    QPSolver::Solution & sol
) override

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/solvers/admm_qp.hpp

`hpipm_qp`¶

Wraps HPIPM via BLASFEO. Requires building with -DWITH_HPIPM=ON (see Installation):

Class ssqp::solvers::hpipm_qp¶

ClassList > ssqp > solvers > hpipm_qp

Inherits the following classes: ssqp::solvers::QPSolver

Classes¶

Type	Name
struct	Params

Public Functions¶

Type	Name
MatX	feedbackGain (const uint k) override const
	hpipm_qp (const QPData & qp, const Params & params=Params::Default())
	hpipm_qp (const hpipm_qp &) = delete
void	increaseRegularization () override
uint	iterations () override const
hpipm_qp &	operator= (const hpipm_qp &) = delete
void	reset () override
void	set_stage_sizes ()
SolverState	solve (QPSolver::Solution & sol) override
	~hpipm_qp ()

Public Functions Documentation¶

function feedbackGain¶

MatX ssqp::solvers::hpipm_qp::feedbackGain (
    const uint k
) override const

function hpipm_qp [1/2]¶

ssqp::solvers::hpipm_qp::hpipm_qp (
    const QPData & qp,
    const Params & params=Params::Default()
)

function hpipm_qp [2/2]¶

ssqp::solvers::hpipm_qp::hpipm_qp (
    const hpipm_qp &
) = delete

function increaseRegularization¶

void ssqp::solvers::hpipm_qp::increaseRegularization () override

function iterations¶

uint ssqp::solvers::hpipm_qp::iterations () override const

function operator=¶

hpipm_qp & ssqp::solvers::hpipm_qp::operator= (
    const hpipm_qp &
) = delete

function reset¶

void ssqp::solvers::hpipm_qp::reset () override

function set_stage_sizes¶

void ssqp::solvers::hpipm_qp::set_stage_sizes ()

function solve¶

SolverState ssqp::solvers::hpipm_qp::solve (
    QPSolver::Solution & sol
) override

function ~hpipm_qp¶

ssqp::solvers::hpipm_qp::~hpipm_qp ()

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/solvers/hpipm_qp.hpp

`lqr`¶

A Riccati-recursion solver used internally by admm_qp for the unconstrained (equality-only) structure of the QP at each iteration:

Class ssqp::solvers::lqr¶

ClassList > ssqp > solvers > lqr

Classes¶

Type	Name
struct	Output
struct	Params

Public Functions¶

Type	Name
Output &	constrained (const admm_qp::Solution & current_sol, const FlatVec & z, const FlatVec & y)
Output &	constrained (const admm_qp::Solution & current_sol, const FlatVec & z, const FlatVec & y, const FlatVec & rho)
	lqr (const QPData & qp, const admm_qp::Solution & current_sol, const FlatVec & rho, const Params & params=Params::Default())
Output &	output_structure ()
Output &	unconstrained ()

Public Functions Documentation¶

function constrained [1/2]¶

Output & ssqp::solvers::lqr::constrained (
    const admm_qp::Solution & current_sol,
    const FlatVec & z,
    const FlatVec & y
)

function constrained [2/2]¶

Output & ssqp::solvers::lqr::constrained (
    const admm_qp::Solution & current_sol,
    const FlatVec & z,
    const FlatVec & y,
    const FlatVec & rho
)

function lqr¶

ssqp::solvers::lqr::lqr (
    const QPData & qp,
    const admm_qp::Solution & current_sol,
    const FlatVec & rho,
    const Params & params=Params::Default()
)

function output_structure¶

Output & ssqp::solvers::lqr::output_structure ()

function unconstrained¶

Output & ssqp::solvers::lqr::unconstrained ()

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/solvers/lqr.hpp