acados_solver_utils.hpp File Reference

#include <Eigen/Dense>
#include <string>
#include "acados_c/ocp_nlp_interface.h"
#include "acados_solver_base/acados_solver.hpp"
#include "acados_solver_base/acados_types.hpp"

Include dependency graph for acados_solver_utils.hpp:

Go to the source code of this file.

Namespaces
	acados
	acados::utils

Functions
template<typename Derived >
bool	acados::utils::set_cost_field (AcadosSolver &solver, unsigned int stage, const std::string &field, Eigen::EigenBase< Derived > &value)
	Generic setter for the cost. More...
bool	acados::utils::set_cost_Vx (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &Vx)
	Set the Vx matrix used for 'LINEAR_LS' cost. More...
bool	acados::utils::set_cost_Vu (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &Vu)
	Set the Vu matrix used for 'LINEAR_LS' cost. More...
bool	acados::utils::set_cost_Vz (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &Vz)
	Set the Vz matrix used for 'LINEAR_LS' cost. More...
bool	acados::utils::set_cost_W (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &W)
	Set the W cost matrix used for 'LINEAR_LS' cost. More...
bool	acados::utils::set_cost_y_ref (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &y_ref)
	Set the y_ref vector for a given stage. More...
template<typename Derived >
bool	acados::utils::set_constraint_field (AcadosSolver &solver, unsigned int stage, const std::string &field, Eigen::EigenBase< Derived > &value)
	Generic setter for the constraints. More...
bool	acados::utils::set_const_C (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &C)
	Set the C matrix used by polytopic constraints. More...
bool	acados::utils::set_const_D (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &D)
	Set the D matrix used by polytopic constraints. More...
bool	acados::utils::set_const_g_min (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &g_min)
	Set the lower bound g_min used by polytopic constraints. More...
bool	acados::utils::set_const_g_max (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &g_max)
	Set the upper bound g_max used by polytopic constraints. More...
bool	acados::utils::set_const_h_min (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &h_min)
	Set the lower bound h_min used by non-linear constraints. More...
bool	acados::utils::set_const_h_max (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &h_max)
	Set the upper bound h_max used by non-linear constraints. More...
template<typename T >
void	acados::utils::unsafe_get_stats_field (AcadosSolver &solver, const std::string &field, T &value)
	Read a given field from the solver stats (solve must be called before...) More...
double	acados::utils::get_stats_cost_value (AcadosSolver &solver)
	Retrieve the current cost value. More...
int	acados::utils::get_stats_sqp_iter (AcadosSolver &solver)
	Retrieve the SQP iteration at the last solve() call. More...
double	acados::utils::get_stats_cpu_time (AcadosSolver &solver)
	Retrieve the CPU time needed for the last solve() call. More...