osqp.hpp File Reference

Solve quadratiac programs with OSQP. More...

#include <Eigen/Sparse>
#include <osqp/osqp.h>
#include "smooth/feedback/qp_solver.hpp"

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Functions
template<typename Problem >
QPSolution<-1, -1, double >	smooth::feedback::solve_qp_osqp (const Problem &pbm, const QPSolverParams &prm, std::optional< std::reference_wrapper< const QPSolution<-1, -1, double > > > warmstart={})
	Solve a QuadraticProgram with the OSQP solver. More...

Detailed Description

Solve quadratiac programs with OSQP.

Definition in file osqp.hpp.

Function Documentation

solve_qp_osqp()

template<typename Problem >

QPSolution<-1, -1, double > smooth::feedback::solve_qp_osqp	(	const Problem &	pbm,
		const QPSolverParams &	prm,
		std::optional< std::reference_wrapper< const QPSolution<-1, -1, double > > >	warmstart = {}
	)

Solve a QuadraticProgram with the OSQP solver.

Parameters

pbm	QuadraticProgram to solve
prm	solver paramters
warmstart	initial point to start iterating from

Returns

solution

Note

This is a convenience interface that performs copies and memory allocation in each call. For more fine-grained control use the low-level OSQP interface (https://osqp.org/).

Definition at line 30 of file osqp.hpp.