Box QP solution. More...
#include <box-qp.hpp>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | BoxQPSolution () |
Initialize the QP solution structure. | |
BoxQPSolution (const Eigen::MatrixXd &Hff_inv, const Eigen::VectorXd &x, const std::vector< size_t > &free_idx, const std::vector< size_t > &clamped_idx) | |
Initialize the QP solution structure. | |
Public Attributes | |
std::vector< size_t > | clamped_idx |
Clamped space indexes. | |
std::vector< size_t > | free_idx |
Free space indexes. | |
Eigen::MatrixXd | Hff_inv |
Inverse of the free space Hessian. | |
Eigen::VectorXd | x |
Decision vector. | |
Box QP solution.
It contains the Box QP solution data which consists of
Definition at line 26 of file box-qp.hpp.
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inline |
Initialize the QP solution structure.
Definition at line 32 of file box-qp.hpp.
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inline |
Initialize the QP solution structure.
[in] | Hff_inv | Inverse of the free space Hessian |
[in] | x | Decision vector |
[in] | free_idx | Free space indexes |
[in] | clamped_idx | Clamped space indexes |
Definition at line 42 of file box-qp.hpp.
Eigen::MatrixXd Hff_inv |
Inverse of the free space Hessian.
Definition at line 47 of file box-qp.hpp.
Eigen::VectorXd x |
Decision vector.
Definition at line 48 of file box-qp.hpp.
std::vector<size_t> free_idx |
Free space indexes.
Definition at line 49 of file box-qp.hpp.
std::vector<size_t> clamped_idx |
Clamped space indexes.
Definition at line 50 of file box-qp.hpp.