ScsEigen::MathematicalProgram class
#include <ScsEigen/MathematicalProgram.h>

Reference

MathematicalProgram is a class that describes an optimization problem. Please use if when you want to define an optimization problem.

This simple example shows you how to use the MathematicalProgram class

#include <ScsEigen/MathematicalProgram.h>

...

// Initialize the mathematical programming problem
ScsEigen::MathematicalProgram mp;

// Add a quadratic cost
mp.addQuadraticCost(
       std::make_shared<ScsEigen::QuadraticCost>(H,
       "quadratic cost"));

// Add linear constraint
mp.addLinearConstraint(
       std::make_shared<ScsEigen::LinearConstraint>(A, lowerBound, upperBound),
       "linear constraint"));

Public types

template<class T> using dictionary = std::unordered_map<std::string_view, std::shared_ptr<T>>: dictionary used to store cost and constraints.

Constructors, destructors, conversion operators

MathematicalProgram(): Constructor.
~MathematicalProgram(): Destructor.

Public functions

void setNumberOfVariables(unsigned int variables): Set the number of variables.
auto numberOfVariables() const -> unsigned int: Get the number of variables.
auto addLinearCost(std::shared_ptr<LinearCost> cost, std::string_view name) -> bool: Set the linear cost.
auto getLinearCost(std::string_view name) const -> std::weak_ptr<LinearCost>: Get the linear cost.
auto getLinearCosts() const -> const dictionary<LinearCost>&: Get all the linear costs stored the in the MathematicalProgram class.
auto addQuadraticCost(std::shared_ptr<QuadraticCost> cost, std::string_view name) -> bool: Set the quadratic cost.
auto getQuadraticCost(std::string_view name) const -> std::weak_ptr<QuadraticCost>: Get the quadratic cost.
auto getQuadraticCosts() const -> const dictionary<QuadraticCost>&: Get all the quadratic costs stored the in the MathematicalProgram class.
auto addLinearConstraint(std::shared_ptr<LinearConstraint> constraint, std::string_view name) -> bool: Set the linear constraint.
auto getLinearConstraint(std::string_view name) const -> std::weak_ptr<LinearConstraint>: Get the linear constraint.
auto getLinearConstraints() const -> const dictionary<LinearConstraint>&: Get all the linear constraints stored the in the MathematicalProgram class.
auto addQuadraticConstraint(std::shared_ptr<QuadraticConstraint> constraint, std::string_view name) -> bool: Set the quadratic constraint.
auto getQuadraticConstraint(std::string_view name) const -> std::weak_ptr<QuadraticConstraint>: Get the quadratic constraint.
auto getQuadraticConstraints() const -> const dictionary<QuadraticConstraint>&: Get all the quadratic constraints stored the in the MathematicalProgram class.

Function documentation

bool ScsEigen::MathematicalProgram::addLinearCost(std::shared_ptr<LinearCost> cost, std::string_view name)

Set the linear cost.

Parameters
cost	a shared pointer to the cost.
name	the name of the cost.

std::weak_ptr<LinearCost> ScsEigen::MathematicalProgram::getLinearCost(std::string_view name) const

Get the linear cost.

Parameters
name	name of the cost.
Returns	a weak_ptr to the cost.

bool ScsEigen::MathematicalProgram::addQuadraticCost(std::shared_ptr<QuadraticCost> cost, std::string_view name)

Set the quadratic cost.

Parameters
cost	a shared pointer to the cost.
name	the name of the cost.

std::weak_ptr<QuadraticCost> ScsEigen::MathematicalProgram::getQuadraticCost(std::string_view name) const

Get the quadratic cost.

Parameters
name	name of the cost.
Returns	a weak_ptr to the cost.

bool ScsEigen::MathematicalProgram::addLinearConstraint(std::shared_ptr<LinearConstraint> constraint, std::string_view name)

Set the linear constraint.

Parameters
constraint	a shared pointer to the constraint.
name	the name of the constraint.

std::weak_ptr<LinearConstraint> ScsEigen::MathematicalProgram::getLinearConstraint(std::string_view name) const

Get the linear constraint.

Parameters
name	name of the constraint.
Returns	a weak_ptr to the constraint.

bool ScsEigen::MathematicalProgram::addQuadraticConstraint(std::shared_ptr<QuadraticConstraint> constraint, std::string_view name)

Set the quadratic constraint.

Parameters
constraint	a shared pointer to the constraint.
name	the name of the constraint.

std::weak_ptr<QuadraticConstraint> ScsEigen::MathematicalProgram::getQuadraticConstraint(std::string_view name) const

Get the quadratic constraint.

Parameters
name	name of the constraint.
Returns	a weak_ptr to the constraint.