hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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17 #ifndef HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH
18 # define HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH
28 namespace pathOptimization {
53 typedef Eigen::LLT <matrix_t, Eigen::Lower>
LLT_t;
56 H (inputSize, inputSize),
b (inputSize),
57 dec (inputSize, inputSize,
Eigen::ComputeThinU |
Eigen::ComputeThinV),
66 H (lc.PK.cols(), lc.PK.cols()),
b (lc.PK.cols()),
bIsZero (false),
67 dec (lc.PK.cols(), lc.PK.cols(),
Eigen::ComputeThinU |
Eigen::ComputeThinV),
82 H.conservativeResize(
H.rows() + nbRows,
H.cols());
83 b.conservativeResize(
b.rows() + nbRows,
b.cols());
85 H.bottomRows(nbRows).setZero();
100 QPr.
H.noalias() = lc.
PK.transpose() * H_PK;
101 QPr.
b.noalias() = H_PK.transpose() * lc.
xStar;
103 QPr.
b.noalias() += lc.
PK.transpose() *
b;
155 #endif // HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH
bool bIsZero
Definition: quadratic-program.hh:134
pinocchio::size_type size_type
Definition: fwd.hh:156
Definition: relative-motion.hh:103
QuadraticProgram(const QuadraticProgram &QP)
Definition: quadratic-program.hh:73
QuadraticProgram(const QuadraticProgram &QP, const LinearConstraint &lc)
Definition: quadratic-program.hh:65
vector_t xStar
is a particular solution.
Definition: linear-constraint.hh:131
A linear constraint .
Definition: linear-constraint.hh:28
pinocchio::vector_t vector_t
Definition: fwd.hh:202
value_type trace
Definition: quadratic-program.hh:140
Eigen::LLT< matrix_t, Eigen::Lower > LLT_t
Definition: quadratic-program.hh:53
Definition: quadratic-program.hh:50
Eigen::JacobiSVD< matrix_t > Decomposition_t
Definition: quadratic-program.hh:52
void addRows(const std::size_t &nbRows)
Definition: quadratic-program.hh:80
QuadraticProgram(size_type inputSize)
Definition: quadratic-program.hh:55
vector_t b
Definition: quadratic-program.hh:133
Definition: bi-rrt-planner.hh:24
vector_t xStar
Definition: quadratic-program.hh:148
void solve()
Definition: quadratic-program.hh:110
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
matrix_t H
Definition: quadratic-program.hh:132
int activeSetSize
Definition: quadratic-program.hh:142
Eigen::VectorXi activeConstraint
Definition: quadratic-program.hh:141
matrix_t PK
Projector onto .
Definition: linear-constraint.hh:129
Decomposition_t dec
Definition: quadratic-program.hh:147
void reduced(const LinearConstraint &lc, QuadraticProgram &QPr) const
Definition: quadratic-program.hh:97
LLT_t llt
Definition: quadratic-program.hh:139
pinocchio::value_type value_type
Definition: fwd.hh:157