optas.solver.OSQPSolver Class Reference

Inheritance diagram for optas.solver.OSQPSolver:

Collaboration diagram for optas.solver.OSQPSolver:

Public Member Functions
def	setup (self, use_warm_start, settings={})
	Setup solver. More...
None	reset_parameters (self, Dict[str, ArrayType] p)
	Reset the parameters. More...
def	stats (self)
	Statistics for the solution given by OSQP. More...
bool	did_solve (self)
	Returns True when the problem was solved. More...
int	number_of_iterations (self)
	Number of iterations it took the solver to converge. More...
Public Member Functions inherited from optas.solver.Solver
def	__init__ (self, Optimization optimization, bool error_on_fail=False)
	Constructor for the base Solver class. More...
type	opt_type (self)
	Optimization type. More...
def	setup (self, *args, **kwargs)
	Setup solver, note this method must return self. More...
None	reset_initial_seed (self, Dict[str, ArrayType] x0)
	Reset initial seed for the optimization problem. More...
Dict	solve (self)
	Solve the optimization problem. More...
Tuple	violated_constraints (self, Dict[str, ArrayType] x, Dict[str, ArrayType] p)
	Indicate the violated constraints. More...
CasADiArrayType	evaluate_cost (self, Dict[str, ArrayType] x, Dict[str, ArrayType] p)
	Evaluates the cost function for given decision variables x and parameters p. More...
List	evaluate_cost_terms (self, Dict[str, ArrayType] x, Dict[str, ArrayType] p)
	Evaluates each cost term for given decision variables and parameters. More...

Public Attributes
	use_warm_start
	m
Public Attributes inherited from optas.solver.Solver
	opt
	Instance of the optimization problem. More...
	x0
	Initial guess for the optimization problem (set using reset_initial_seed). More...
	p
	Parameter vector. More...

Private Member Functions
None	_reset_parameters (self)
	Internal method to reset parameters. More...
CasADiArrayType	_solve (self)
	Solve the optimization problem using OSQP. More...

Private Attributes
	_setup_input
	_solution

Additional Inherited Members
Static Public Member Functions inherited from optas.solver.Solver
interp1d	interpolate (cs.DM traj, float T, **interp_args)
	Interpolate a trajectory. More...

Detailed Description

OSQP solver interface.

Member Function Documentation

_reset_parameters()

None optas.solver.OSQPSolver._reset_parameters (   self )

private

Internal method to reset parameters.

_solve()

CasADiArrayType optas.solver.OSQPSolver._solve (   self )

private

Solve the optimization problem using OSQP.

   @return The solution of the optimization problem.

Reimplemented from optas.solver.Solver.

did_solve()

bool optas.solver.OSQPSolver.did_solve

(

self

)

Returns True when the problem was solved.

   @return Boolean indicating if the solver converged.

Reimplemented from optas.solver.Solver.

number_of_iterations()

int optas.solver.OSQPSolver.number_of_iterations

(

self

)

Number of iterations it took the solver to converge.

   @return Number of iterations.

Reimplemented from optas.solver.Solver.

reset_parameters()

None optas.solver.OSQPSolver.reset_parameters	(		self,
		Dict[str, ArrayType]	p
	)

Reset the parameters.

   @param p The values for the parameters.

Reimplemented from optas.solver.Solver.

setup()

def optas.solver.OSQPSolver.setup	(		self,
			use_warm_start,
			settings = {}
	)

Setup solver.

   @param use_warm_start When true, the initial seed x0 is used as a warm start. Default is True.
   @param settings Settings that are passed to OSQP. Default is {}.
   @return The instance of the solve (i.e. self).

stats()

def optas.solver.OSQPSolver.stats

(

self

)

Statistics for the solution given by OSQP.

   @return Statistics returned by OSQP. See details at https://osqp.org/.

Reimplemented from optas.solver.Solver.

Member Data Documentation

_setup_input

optas.solver.OSQPSolver._setup_input

private

_solution

optas.solver.OSQPSolver._solution

private

m

optas.solver.OSQPSolver.m

use_warm_start

optas.solver.OSQPSolver.use_warm_start

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The documentation for this class was generated from the following file:

• solver.py