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Interface for the OSQP library#

This is the design document for the osqp_interface package.

Purpose / Use cases#

This packages provides a C++ interface for the OSQP library.

Design#

The class OSQPInterface takes a problem formulation as Eigen matrices and vectors, converts these objects into C-style Compressed-Column-Sparse matrices and dynamic arrays, loads the data into the OSQP workspace dataholder, and runs the optimizer.

Inputs / Outputs / API#

The interface can be used in several ways:

1. Initialize the interface WITHOUT data. Load the problem formulation at the optimization call. 

     osqp_interface = OSQPInterface();
     osqp_interface.optimize(P, A, q, l, u);

2. Initialize the interface WITH data. 

     osqp_interface = OSQPInterface(P, A, q, l, u);
     osqp_interface.optimize();

3. WARM START OPTIMIZATION by modifying the problem formulation between optimization runs. 

     osqp_interface = OSQPInterface(P, A, q, l, u);
     osqp_interface.optimize();
     osqp.initializeProblem(P_new, A_new, q_new, l_new, u_new);
     osqp_interface.optimize();

The optimization results are returned as a vector by the optimization function. 

 std::tuple<std::vector<double>, std::vector<double>> result = osqp_interface.optimize();
 std::vector<double> param = std::get<0>(result);
 double x_0 = param[0];
 double x_1 = param[1];

References / External links#

  • OSQP library: https://osqp.org/

Related issues#

  • This package was introduced as a dependency of the MPC-based lateral controller: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1057
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