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.

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() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW BoxQPSolution ( )

inline

Initialize the QP solution structure.

Definition at line 35 of file box-qp.hpp.

◆ BoxQPSolution() [2/2]

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.

Member Data Documentation

◆ Hff_inv

Eigen::MatrixXd Hff_inv

Inverse of the free space Hessian.

Definition at line 50 of file box-qp.hpp.

◆ x

Eigen::VectorXd x

Decision vector.

Definition at line 51 of file box-qp.hpp.

◆ free_idx

std::vector<size_t> free_idx

Free space indexes.

Definition at line 52 of file box-qp.hpp.

◆ clamped_idx

std::vector<size_t> clamped_idx

Clamped space indexes.

Definition at line 53 of file box-qp.hpp.

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

Public Member Functions

Public Attributes