#include <hpp/core/path-optimization/quadratic-program.hh>

Public Types
typedef Eigen::JacobiSVD< matrix_t >	Decomposition_t

typedef Eigen::LLT< matrix_t, Eigen::Lower >	LLT_t

Public Member Functions
	QuadraticProgram (size_type inputSize)

	QuadraticProgram (const QuadraticProgram &QP, const LinearConstraint &lc)

	QuadraticProgram (const QuadraticProgram &QP)

	~QuadraticProgram ()

void	addRows (const std::size_t &nbRows)

Program subject to linear equality constraints.
void	reduced (const LinearConstraint &lc, QuadraticProgram &QPr) const

void	decompose ()

void	solve ()

Program subject to linear equality and inequality constraints.
void	computeLLT ()

double	solve (const LinearConstraint &ce, const LinearConstraint &ci)
	Compute solution using quadprog. More...

Public Attributes
Model
matrix_t	H

vector_t	b

bool	bIsZero

Data (for inequality constraints)
LLT_t	llt

value_type	trace

Eigen::VectorXi	activeConstraint

int	activeSetSize

Data (for equality constraints)
Decomposition_t	dec

vector_t	xStar

Public Types

Public Member Functions