hpp::core::pathOptimization::QuadraticProgram Struct Reference

#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)

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

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

• include/hpp/core/path-optimization/quadratic-program.hh