OsqpEigen::Data class

Data class is a wrapper of the OSQP OSQPData struct.

Constructors, destructors, conversion operators

Data(): Constructor.
Data(int n, int m): Constructor.
~Data(): Deconstructor.

Public functions

void clearHessianMatrix(): Clear the hessian matrix.
void clearLinearConstraintsMatrix(): Clear the linear constraints matrix.
void setNumberOfVariables(int n): Set the number of variables.
void setNumberOfConstraints(int m): Set the number of constraints.
template<typename Derived> auto setHessianMatrix(const Eigen::SparseCompressedBase<Derived>& hessianMatrix) -> bool: Set the quadratic part of the cost function (Hessian).
auto setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector) -> bool: Set the linear part of the cost function (Gradient).
auto getGradient() -> Eigen::Matrix<c_float, Eigen::Dynamic, 1>
template<typename Derived> auto setLinearConstraintsMatrix(const Eigen::SparseCompressedBase<Derived>& linearConstraintsMatrix) -> bool: Set the linear constraint matrix A (size m x n)
auto setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector) -> bool: Set the array for lower bound (size m).
auto setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector) -> bool: Set the array for upper bound (size m).
auto setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound, Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound) -> bool: Set the array for upper and lower bounds (size m).
auto getData() const -> OSQPData*const &: Get the OSQPData struct.
auto isSet() const -> bool: Verify if all the matrix and vectors are already set.

Function documentation

OsqpEigen::Data::Data(int n, int m)

Constructor.

Parameters
n	is the number of variables;
m	is the number of constraints.

void OsqpEigen::Data::setNumberOfVariables(int n)

Set the number of variables.

Parameters
n	is the number of variables.

void OsqpEigen::Data::setNumberOfConstraints(int m)

Set the number of constraints.

Parameters
m	is the number of constraints.

template<typename Derived>
bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseCompressedBase<Derived>& hessianMatrix)

Set the quadratic part of the cost function (Hessian).

Parameters
hessianMatrix	is the Hessian matrix.
Returns	true/false in case of success/failure.

It is assumed to be a simmetric matrix.

bool OsqpEigen::Data::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector)

Set the linear part of the cost function (Gradient).

Parameters
gradientVector	is the Gradient vector.
Returns	true/false in case of success/failure.

template<typename Derived>
bool OsqpEigen::Data::setLinearConstraintsMatrix(const Eigen::SparseCompressedBase<Derived>& linearConstraintsMatrix)

Set the linear constraint matrix A (size m x n)

Parameters
linearConstraintsMatrix	is the linear constraints matrix A.
Returns	true/false in case of success/failure.

bool OsqpEigen::Data::setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector)

Set the array for lower bound (size m).

Parameters
lowerBoundVector	is the lower bound constraint.
Returns	true/false in case of success/failure.

bool OsqpEigen::Data::setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector)

Set the array for upper bound (size m).

Parameters
upperBoundVector	is the upper bound constraint.
Returns	true/false in case of success/failure.

bool OsqpEigen::Data::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound, Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)

Set the array for upper and lower bounds (size m).

Parameters
lowerBound	is the lower bound constraint.
upperBound	is the upper bound constraint.
Returns	true/false in case of success/failure.

OSQPData*const & OsqpEigen::Data::getData() const

Get the OSQPData struct.

Returns	a const point to the OSQPData struct.

bool OsqpEigen::Data::isSet() const

Verify if all the matrix and vectors are already set.

Returns	true if all the OSQPData struct are set.