eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon > Class Template Reference

#include <eiquadprog/eiquadprog-rt.hpp>

Collaboration diagram for eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RtEiquadprog ()
virtual	~RtEiquadprog ()
int	getMaxIter () const
bool	setMaxIter (int maxIter)
int	getActiveSetSize () const
int	getIteratios () const
double	getObjValue () const
const RtVectorX< nIneqCon+nEqCon >::d &	getLagrangeMultipliers () const
const RtVectorX< nIneqCon+nEqCon >::i &	getActiveSet () const
RtEiquadprog_status	solve_quadprog (const typename RtMatrixX< nVars, nVars >::d &Hess, const typename RtVectorX< nVars >::d &g0, const typename RtMatrixX< nEqCon, nVars >::d &CE, const typename RtVectorX< nEqCon >::d &ce0, const typename RtMatrixX< nIneqCon, nVars >::d &CI, const typename RtVectorX< nIneqCon >::d &ci0, typename RtVectorX< nVars >::d &x)

Public Attributes
RtMatrixX< nVars, nVars >::d	m_J
bool	is_inverse_provided_

Constructor & Destructor Documentation

RtEiquadprog()

template<int nVars, int nEqCon, int nIneqCon>

eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::RtEiquadprog

(

)

~RtEiquadprog()

template<int nVars, int nEqCon, int nIneqCon>

eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::~RtEiquadprog ( )

virtual

Member Function Documentation

getActiveSet()

template<int nVars, int nEqCon, int nIneqCon>

const RtVectorX< nIneqCon+nEqCon >::i & eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::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()

template<int nVars, int nEqCon, int nIneqCon>

int eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getActiveSetSize ( ) const

inline

Returns

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

getIteratios()

template<int nVars, int nEqCon, int nIneqCon>

int eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getIteratios ( ) const

inline

Returns

The number of active-set iteratios.

getLagrangeMultipliers()

template<int nVars, int nEqCon, int nIneqCon>

const RtVectorX< nIneqCon+nEqCon >::d & eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getLagrangeMultipliers ( ) const

inline

Returns

The Lagrange multipliers

getMaxIter()

template<int nVars, int nEqCon, int nIneqCon>

int eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getMaxIter ( ) const

inline

getObjValue()

template<int nVars, int nEqCon, int nIneqCon>

double eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getObjValue ( ) const

inline

Returns

The value of the objective function.

setMaxIter()

template<int nVars, int nEqCon, int nIneqCon>

bool eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::setMaxIter ( int maxIter )

inline

solve_quadprog()

template<int nVars, int nEqCon, int nIneqCon>

RtEiquadprog_status eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::solve_quadprog	(	const typename RtMatrixX< nVars, nVars >::d &	Hess,
		const typename RtVectorX< nVars >::d &	g0,
		const typename RtMatrixX< nEqCon, nVars >::d &	CE,
		const typename RtVectorX< nEqCon >::d &	ce0,
		const typename RtMatrixX< nIneqCon, nVars >::d &	CI,
		const typename RtVectorX< nIneqCon >::d &	ci0,
		typename RtVectorX< nVars >::d &	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_

template<int nVars, int nEqCon, int nIneqCon>

bool eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::is_inverse_provided_

m_J

template<int nVars, int nEqCon, int nIneqCon>

RtMatrixX<nVars,nVars>::d eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::m_J

---

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

• include/eiquadprog/eiquadprog-rt.hpp
• include/eiquadprog/eiquadprog-rt.hxx