class
DataData class is a wrapper of the OSQP OSQPData struct.
Constructors, destructors, conversion operators
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 | |
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n | is the number of variables; |
m | is the number of constraints. |
void OsqpEigen:: Data:: setNumberOfVariables(int n)
Set the number of variables.
Parameters | |
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n | is the number of variables. |
void OsqpEigen:: Data:: setNumberOfConstraints(int m)
Set the number of constraints.
Parameters | |
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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 | |
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hessianMatrix | is the Hessian matrix. |
Returns | true/false in case of success/failure. |
It is assumed to be a symmetric 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 | |
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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. |
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bool OsqpEigen:: Data:: isSet() const
Verify if all the matrix and vectors are already set.
Returns | true if all the OSQPData struct are set. |
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