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A sparse MPC solver for walking motion generation (old version).
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00001 00009 #ifndef QPIP_H 00010 #define QPIP_H 00011 00012 /**************************************** 00013 * INCLUDES 00014 ****************************************/ 00015 #include "smpc_common.h" 00016 #include "qp_solver.h" 00017 #include "chol_solve_ip.h" 00018 00019 #include <vector> 00020 00021 00022 /**************************************** 00023 * Defines 00024 ****************************************/ 00025 00026 00027 using namespace std; 00028 00031 00036 class qp_ip : public qp_solver 00037 { 00038 public: 00039 // functions 00040 qp_ip( 00041 const int N_, 00042 const double, 00043 const double, 00044 const double, 00045 const double, 00046 const double); 00047 ~qp_ip(); 00048 00049 void set_parameters( 00050 const double*, 00051 const double*, 00052 const double, 00053 const double*, 00054 const double*, 00055 const double*, 00056 const double*, 00057 const double*); 00058 00059 00060 void set_ip_parameters ( 00061 const double, 00062 const double, 00063 const double, 00064 const double, 00065 const int, 00066 const double); 00067 int solve(); 00068 00069 00070 private: 00072 double *g; 00073 00076 double *i2hess; 00077 00079 double *i2hess_grad; 00080 00082 double *grad; 00083 00085 double phi_X; 00086 00087 00090 double Q[3]; 00091 double P; 00093 00094 00096 chol_solve_ip chol; 00097 00098 00101 const double *lb; 00102 const double *ub; 00104 00105 // IP parameters 00106 double t; 00107 double mu; 00108 double bs_alpha; 00109 double bs_beta; 00110 int max_iter; 00111 double tol_out; 00112 00113 00114 // functions 00115 void init_alpha(); 00116 double form_bs_alpha_grad_dX (); 00117 double form_phi_X_tmp (const double); 00118 bool solve_onestep (const double); 00119 void form_g (const double *, const double *); 00120 void form_grad_i2hess_logbar (const double); 00121 void form_i2hess_grad (); 00122 void form_phi_X (); 00123 }; 00124 00126 #endif /*QPIP_H*/
1.8.0