hpp-bezier-com-traj  4.10.1
Multi contact trajectory generation for the COM using Bezier curves
solvers Namespace Reference

Typedefs

typedef Eigen::SparseMatrix< double > SpMat
 
typedef Eigen::SparseVector< double > SpVec
 
typedef Eigen::SparseVector< int > SpVeci
 

Functions

int getType (const VectorXd &mib, const VectorXd &mab, const int i)
 
int solveglpk (const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, VectorXd &x, double &cost)
 
template<typename Derived >
bool is_nan (const Eigen::MatrixBase< Derived > &x)
 
ResultData solve (const MatrixXd &A, const VectorXd &b, const MatrixXd &D, const VectorXd &d, const MatrixXd &Hess, const VectorXd &g, const VectorXd &initGuess, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, const SolverType solver)
 

Typedef Documentation

◆ SpMat

typedef Eigen::SparseMatrix<double> solvers::SpMat

◆ SpVec

typedef Eigen::SparseVector<double> solvers::SpVec

◆ SpVeci

typedef Eigen::SparseVector<int> solvers::SpVeci

Function Documentation

◆ getType()

int solvers::getType ( const VectorXd &  mib,
const VectorXd &  mab,
const int  i 
)

◆ is_nan()

template<typename Derived >
bool solvers::is_nan ( const Eigen::MatrixBase< Derived > &  x)
inline

◆ solve()

ResultData solvers::solve ( const MatrixXd &  A,
const VectorXd &  b,
const MatrixXd &  D,
const VectorXd &  d,
const MatrixXd &  Hess,
const VectorXd &  g,
const VectorXd &  initGuess,
solvers::Cref_vectorX  minBounds,
solvers::Cref_vectorX  maxBounds,
const SolverType  solver 
)

◆ solveglpk()

int solvers::solveglpk ( const VectorXd &  g0,
const MatrixXd &  CE,
const VectorXd &  ce0,
const MatrixXd &  CI,
const VectorXd &  ci0,
solvers::Cref_vectorX  minBounds,
solvers::Cref_vectorX  maxBounds,
VectorXd &  x,
double &  cost 
)