eiquadprog::solvers::EiquadprogFast Class Reference

#include <eiquadprog/eiquadprog-fast.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EiquadprogFast ()
virtual	~EiquadprogFast ()
void	reset (size_t dim_qp, size_t num_eq, size_t num_ineq)
int	getMaxIter () const
bool	setMaxIter (int maxIter)
size_t	getActiveSetSize () const
int	getIteratios () const
double	getObjValue () const
const VectorXd &	getLagrangeMultipliers () const
const VectorXi &	getActiveSet () const
EiquadprogFast_status	solve_quadprog (const MatrixXd &Hess, const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x)

Public Attributes
MatrixXd	m_J
bool	is_inverse_provided_

Constructor & Destructor Documentation

EiquadprogFast()

eiquadprog::solvers::EiquadprogFast::EiquadprogFast

(

)

~EiquadprogFast()

eiquadprog::solvers::EiquadprogFast::~EiquadprogFast ( )

virtual

Member Function Documentation

getActiveSet()

const VectorXi & eiquadprog::solvers::EiquadprogFast::getActiveSet ( ) const

inline

Return the active set, namely the indeces of active constraints. The first nEqCon indexes are for the equalities and are negative. The last nIneqCon indexes are for the inequalities and start from 0. Only the first q elements of the return vector are valid, where q is the size of the active set.

Returns

The set of indexes of the active constraints.

getActiveSetSize()

size_t eiquadprog::solvers::EiquadprogFast::getActiveSetSize ( ) const

inline

Returns

The size of the active set, namely the number of active constraints (including the equalities).

getIteratios()

int eiquadprog::solvers::EiquadprogFast::getIteratios ( ) const

inline

Returns

The number of active-set iteratios.

getLagrangeMultipliers()

const VectorXd & eiquadprog::solvers::EiquadprogFast::getLagrangeMultipliers ( ) const

inline

Returns

The Lagrange multipliers

getMaxIter()

int eiquadprog::solvers::EiquadprogFast::getMaxIter ( ) const

inline

getObjValue()

double eiquadprog::solvers::EiquadprogFast::getObjValue ( ) const

inline

Returns

The value of the objective function.

reset()

void eiquadprog::solvers::EiquadprogFast::reset	(	size_t	dim_qp,
		size_t	num_eq,
		size_t	num_ineq )

setMaxIter()

bool eiquadprog::solvers::EiquadprogFast::setMaxIter ( int maxIter )

inline

solve_quadprog()

EiquadprogFast_status eiquadprog::solvers::EiquadprogFast::solve_quadprog	(	const MatrixXd &	Hess,
		const VectorXd &	g0,
		const MatrixXd &	CE,
		const VectorXd &	ce0,
		const MatrixXd &	CI,
		const VectorXd &	ci0,
		VectorXd &	x )

solves the problem min. x' Hess x + 2 g0' x s.t. CE x + ce0 = 0 CI x + ci0 >= 0

Member Data Documentation

is_inverse_provided_

bool eiquadprog::solvers::EiquadprogFast::is_inverse_provided_

m_J

MatrixXd eiquadprog::solvers::EiquadprogFast::m_J

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The documentation for this class was generated from the following files:

• include/eiquadprog/eiquadprog-fast.hpp
• src/eiquadprog-fast.cpp