BoxQPSolution Struct Reference

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. More...

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.

Detailed Description

Box QP solution.

It contains the Box QP solution data which consists of

• the inverse of the free space Hessian
• the optimal decision vector
• the indexes for the free space
• the indexes for the clamped (constrained) space

Definition at line 29 of file box-qp.hpp.

Constructor & Destructor Documentation

BoxQPSolution()

BoxQPSolution ( const Eigen::MatrixXd &  Hff_inv, const Eigen::VectorXd &  x, const std::vector< size_t > &  free_idx, const std::vector< size_t > &  clamped_idx  )

inline

Initialize the QP solution structure.

Parameters

[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 45 of file box-qp.hpp.

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The documentation for this struct was generated from the following file:

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/solvers/box-qp.hpp