hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-optimization/quadratic-program.hh>
Public Types | |
typedef Eigen::JacobiSVD< matrix_t > | Decomposition_t |
typedef Eigen::LLT< matrix_t, Eigen::Lower > | LLT_t |
Public Member Functions | |
QuadraticProgram (size_type inputSize, bool useProxqp=true) | |
QuadraticProgram (const QuadraticProgram &QP, const LinearConstraint &lc, bool useProxqp=true) | |
QuadraticProgram (const QuadraticProgram &QP) | |
~QuadraticProgram () | |
void | accuracy (value_type acc) |
value_type | accuracy () const |
void | addRows (const std::size_t &nbRows) |
Program subject to linear equality constraints. | |
void | reduced (const LinearConstraint &lc, QuadraticProgram &QPr) const |
void | decompose () |
void | solve () |
Program subject to linear equality and inequality constraints. | |
void | computeLLT () |
double | solve (const LinearConstraint &ce, const LinearConstraint &ci) |
Public Attributes | |
value_type | accuracy_ |
bool | useProxqp_ |
Model | |
matrix_t | H |
vector_t | b |
bool | bIsZero |
Data (for inequality constraints) | |
LLT_t | llt |
value_type | trace |
Eigen::VectorXi | activeConstraint |
int | activeSetSize |
Data (for equality constraints) | |
Decomposition_t | dec |
vector_t | xStar |
Quadratic program
This class stores a quadratic cost defined by \( \frac{1}{2} x^T H x + b^T x \) where \( (H, b) \) are the parameters.
It can then solve the two following program:
\begin{eqnarray*} \min & \frac{1}{2} x^T H x + b^T x \\ A_0 x = b_0 \end{eqnarray*}
This is done via reduced, decompose and solve methods\begin{eqnarray*} \min & \frac{1}{2} x^T H x + b^T x \\ A_0 x = b_0 \\ A_1 x \ge b_1 \end{eqnarray*}
This is done via computeLLT and solve methods and uses quadprog