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KASKADE 7 development version
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KASKADE 7 development version
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An iterative solver for small instances of a particular class of quadratic programs. More...
#include <qp.hh>
An iterative solver for small instances of a particular class of quadratic programs.
The solver addresses problems of the form
\min_x \frac{1}{2} x^T Ax + c^T x \quad \text{s.t. } Bx \le b,
where A is positive definite. The implementation works with dense matrices and is intended to solve small problems of just a couple of variables, typically less than 30, and moreover well conditioned problems.
| Real | the real field type of matrix/vector entries. Explicit instantiations are provided for float and double. |
| d | the dimension of (vector valued) optimization variables |
The solver forms the Lagrange dual problem
\max_\lambda - \frac{1}{2} \lambda^TBA^{-1}B^T\lambda + (BA^{-1}c+b)^T \lambda \quad\text{s.t. } \lambda \le 0,
which is bound constrained and can be solved by a projected gradient method. As the primal problem is convex, strong duality holds, and the unique primal minimizer x^* can be computed from a dual maximizer \lambda^* by
x^* = A^{-1}(B^T\lambda^*-c).
Public Types | |
| using | VectorX = Dune::BlockVector< Dune::FieldVector< Real, d > > |
| using | VectorB = Dune::BlockVector< Dune::FieldVector< Real, 1 > > |
| using | MatrixA = DynamicMatrix< Dune::FieldMatrix< Real, d, d > > |
| using | MatrixB = DynamicMatrix< Dune::FieldMatrix< Real, 1, d > > |
| using | Self = QPSolver< d, Real > |
Public Member Functions | |
| QPSolver (MatrixA const &A, MatrixB const &B, QPConvexificationStrategy convex=QPConvexificationStrategy::DONOTHING) | |
| Constructs the solver, providing the matrices A and B . More... | |
| QPSolver (Self const &qp) | |
| Self & | operator= (Self const &qp) |
| std::tuple< VectorX, VectorB, int > | solve (VectorX const &c, VectorB const &b, double tol) const |
| Solves the QP for the given right hand side vectors. More... | |
| MatrixB const & | matrixB () const |
| Provides access to the internal copy of B. More... | |
Static Public Attributes | |
| static constexpr QPStructure | sparse = QPStructure::DENSE |
| Given info on whether dense or sparse arithmetic is used. More... | |
| using Kaskade::QPSolver< d, Real >::MatrixA = DynamicMatrix<Dune::FieldMatrix<Real,d,d> > |
| using Kaskade::QPSolver< d, Real >::MatrixB = DynamicMatrix<Dune::FieldMatrix<Real,1,d> > |
| using Kaskade::QPSolver< d, Real >::Self = QPSolver<d,Real> |
| using Kaskade::QPSolver< d, Real >::VectorB = Dune::BlockVector<Dune::FieldVector<Real,1> > |
| using Kaskade::QPSolver< d, Real >::VectorX = Dune::BlockVector<Dune::FieldVector<Real,d> > |
| Kaskade::QPSolver< d, Real >::QPSolver | ( | MatrixA const & | A, |
| MatrixB const & | B, | ||
| QPConvexificationStrategy | convex = QPConvexificationStrategy::DONOTHING |
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| ) |
Constructs the solver, providing the matrices A and B .
The argument matrices are copied internally, and are not referenced later.
Throws a NonpositiveMatrixException if A is not positive definite and convex is QPConvexificationStrategy::DONOTHING.
| Kaskade::QPSolver< d, Real >::QPSolver | ( | Self const & | qp | ) |
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inline |
| Self & Kaskade::QPSolver< d, Real >::operator= | ( | Self const & | qp | ) |
| std::tuple< VectorX, VectorB, int > Kaskade::QPSolver< d, Real >::solve | ( | VectorX const & | c, |
| VectorB const & | b, | ||
| double | tol | ||
| ) | const |
Solves the QP for the given right hand side vectors.
Solves the QP by solving the dual QP with a projected gradient method starting at the dually feasible point \lambda = 0.
| c | the linear term of the objective |
| b | the constraints right hand side |
| tol | the tolerance for termination |
The iteration is terminated as soon as the projected gradient s of the dual problem is small, i.e. \|s\|_2 \le \mathsf{tol}.
If the QP is infeasible, an InfeasibleProblemException is thrown.
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staticconstexpr |
1.9.4