hpp-core
5.2.0
Implement basic classes for canonical path planning for kinematic chains.
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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;
72 :
H(inputSize, inputSize),
74 dec(inputSize, inputSize,
Eigen::ComputeThinU |
Eigen::ComputeThinV),
91 bool useProxqp =
true)
92 :
H(lc.PK.cols(), lc.PK.cols()),
95 dec(lc.PK.cols(), lc.PK.cols(),
128 H.conservativeResize(
H.rows() + nbRows,
H.cols());
129 b.conservativeResize(
b.rows() + nbRows,
b.cols());
131 H.bottomRows(nbRows).setZero();
145 QPr.
H.noalias() = lc.
PK.transpose() * H_PK;
146 QPr.
b.noalias() = H_PK.transpose() * lc.
xStar;
148 QPr.
b.noalias() += lc.
PK.transpose() *
b;
202 #endif // HPP_CORE_PATH_OPTIMIZATION_QUADRATIC_PROGRAM_HH
bool bIsZero
Definition: quadratic-program.hh:179
pinocchio::size_type size_type
Definition: fwd.hh:173
value_type accuracy_
Definition: quadratic-program.hh:195
Definition: relative-motion.hh:115
QuadraticProgram(const QuadraticProgram &QP)
Definition: quadratic-program.hh:103
value_type accuracy() const
Definition: quadratic-program.hh:126
Eigen::JacobiSVD< matrix_t > Decomposition_t
Definition: quadratic-program.hh:62
QuadraticProgram(size_type inputSize, bool useProxqp=true)
Definition: quadratic-program.hh:71
vector_t xStar
is a particular solution.
Definition: linear-constraint.hh:141
A linear constraint .
Definition: linear-constraint.hh:39
pinocchio::vector_t vector_t
Definition: fwd.hh:220
void accuracy(value_type acc)
Definition: quadratic-program.hh:120
value_type trace
Definition: quadratic-program.hh:185
Eigen::LLT< matrix_t, Eigen::Lower > LLT_t
Definition: quadratic-program.hh:63
Definition: quadratic-program.hh:61
void addRows(const std::size_t &nbRows)
Definition: quadratic-program.hh:127
bool useProxqp_
Definition: quadratic-program.hh:196
vector_t b
Definition: quadratic-program.hh:178
Definition: bi-rrt-planner.hh:35
vector_t xStar
Definition: quadratic-program.hh:193
void solve()
Definition: quadratic-program.hh:155
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
matrix_t H
Definition: quadratic-program.hh:177
int activeSetSize
Definition: quadratic-program.hh:187
Eigen::VectorXi activeConstraint
Definition: quadratic-program.hh:186
matrix_t PK
Projector onto .
Definition: linear-constraint.hh:139
Decomposition_t dec
Definition: quadratic-program.hh:192
void reduced(const LinearConstraint &lc, QuadraticProgram &QPr) const
Definition: quadratic-program.hh:143
LLT_t llt
Definition: quadratic-program.hh:184
QuadraticProgram(const QuadraticProgram &QP, const LinearConstraint &lc, bool useProxqp=true)
Definition: quadratic-program.hh:90
pinocchio::value_type value_type
Definition: fwd.hh:174