29 #ifndef HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH 30 #define HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH 39 namespace pathOptimization {
63 typedef Eigen::LLT<matrix_t, Eigen::Lower>
LLT_t;
66 :
H(inputSize, inputSize),
68 dec(inputSize, inputSize,
Eigen::ComputeThinU |
Eigen::ComputeThinV),
76 :
H(lc.PK.cols(), lc.PK.cols()),
79 dec(lc.PK.cols(), lc.PK.cols(),
91 H.conservativeResize(
H.rows() + nbRows,
H.cols());
92 b.conservativeResize(
b.rows() + nbRows,
b.cols());
94 H.bottomRows(nbRows).setZero();
108 QPr.
H.noalias() = lc.
PK.transpose() * H_PK;
109 QPr.
b.noalias() = H_PK.transpose() * lc.
xStar;
111 QPr.
b.noalias() += lc.
PK.transpose() *
b;
160 #endif // HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH void solve()
Definition: quadratic-program.hh:118
QuadraticProgram(const QuadraticProgram &QP, const LinearConstraint &lc)
Definition: quadratic-program.hh:75
Definition: bi-rrt-planner.hh:35
Definition: relative-motion.hh:115
pinocchio::size_type size_type
Definition: fwd.hh:173
void addRows(const std::size_t &nbRows)
Definition: quadratic-program.hh:90
matrix_t H
Definition: quadratic-program.hh:137
LLT_t llt
Definition: quadratic-program.hh:144
QuadraticProgram(const QuadraticProgram &QP)
Definition: quadratic-program.hh:85
vector_t b
Definition: quadratic-program.hh:138
vector_t xStar
Definition: quadratic-program.hh:153
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
pinocchio::vector_t vector_t
Definition: fwd.hh:220
pinocchio::value_type value_type
Definition: fwd.hh:174
Definition: quadratic-program.hh:61
Eigen::JacobiSVD< matrix_t > Decomposition_t
Definition: quadratic-program.hh:62
Decomposition_t dec
Definition: quadratic-program.hh:152
int activeSetSize
Definition: quadratic-program.hh:147
QuadraticProgram(size_type inputSize)
Definition: quadratic-program.hh:65
Eigen::LLT< matrix_t, Eigen::Lower > LLT_t
Definition: quadratic-program.hh:63
bool bIsZero
Definition: quadratic-program.hh:139
A linear constraint .
Definition: linear-constraint.hh:39
vector_t xStar
is a particular solution.
Definition: linear-constraint.hh:141
matrix_t PK
Projector onto .
Definition: linear-constraint.hh:139
Eigen::VectorXi activeConstraint
Definition: quadratic-program.hh:146
value_type trace
Definition: quadratic-program.hh:145
void reduced(const LinearConstraint &lc, QuadraticProgram &QPr) const
Definition: quadratic-program.hh:106