quadratic_problem.h
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#ifndef _CLASS_LINEAR_PROBLEM
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#define _CLASS_LINEAR_PROBLEM
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#include "
curves/optimization/definitions.h
"
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#include "
curves/optimization/details.h
"
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#include "
curves/optimization/integral_cost.h
"
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#include <Eigen/Core>
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namespace
curves
{
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namespace
optimization {
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template
<
typename
Po
int
,
typename
Numeric,
bool
Safe>
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quadratic_problem<Point, Numeric>
generate_problem
(
const
problem_definition<Point, Numeric>
& pDef,
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const
quadratic_variable<Numeric>
& cost) {
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quadratic_problem<Point, Numeric>
prob;
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problem_data<Point, Numeric>
pData = setup_control_points<Point, Numeric, Safe>(pDef);
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initInequalityMatrix<Point, Numeric>(pDef, pData, prob);
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prob.
cost
= cost;
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return
prob;
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}
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template
<
typename
Po
int
,
typename
Numeric,
bool
Safe>
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quadratic_problem<Point, Numeric>
generate_problem
(
const
problem_definition<Point, Numeric>
& pDef,
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const
integral_cost_flag
costFlag) {
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quadratic_problem<Point, Numeric>
prob;
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problem_data<Point, Numeric>
pData = setup_control_points<Point, Numeric, Safe>(pDef);
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initInequalityMatrix<Point, Numeric>(pDef, pData, prob);
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prob.
cost
= compute_integral_cost<Point, Numeric>(pData, costFlag);
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return
prob;
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}
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}
// namespace optimization
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}
// namespace curves
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#endif //_CLASS_LINEAR_PROBLEM
curves
Definition:
bernstein.h:20
curves::optimization::integral_cost_flag
integral_cost_flag
Definition:
integral_cost.h:20
curves::optimization::quadratic_problem
Definition:
definitions.h:34
curves::optimization::generate_problem
quadratic_problem< Point, Numeric > generate_problem(const problem_definition< Point, Numeric > &pDef, const quadratic_variable< Numeric > &cost)
Definition:
quadratic_problem.h:22
definitions.h
utils for defining optimization problems
curves::optimization::quadratic_problem::cost
quadratic_variable< Numeric > cost
Definition:
definitions.h:37
curves::optimization::problem_definition
Definition:
definitions.h:41
curves::quadratic_variable
Definition:
fwd.h:58
integral_cost.h
curves::optimization::problem_data
Definition:
details.h:21
details.h
include
curves
optimization
quadratic_problem.h
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