eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon > Class Template Reference

#include <eiquadprog/eiquadprog-rt.hpp>

Collaboration diagram for eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW RtEiquadprog ()
 
virtual ~RtEiquadprog ()
 
int getMaxIter () const
 
bool setMaxIter (int maxIter)
 
int getActiveSetSize () const
 
int getIteratios () const
 
double getObjValue () const
 
const RtVectorX< nIneqCon+nEqCon >::d & getLagrangeMultipliers () const
 
const RtVectorX< nIneqCon+nEqCon >::i & getActiveSet () const
 
RtEiquadprog_status solve_quadprog (const typename RtMatrixX< nVars, nVars >::d &Hess, const typename RtVectorX< nVars >::d &g0, const typename RtMatrixX< nEqCon, nVars >::d &CE, const typename RtVectorX< nEqCon >::d &ce0, const typename RtMatrixX< nIneqCon, nVars >::d &CI, const typename RtVectorX< nIneqCon >::d &ci0, typename RtVectorX< nVars >::d &x)
 

Public Attributes

RtMatrixX< nVars, nVars >::d m_J
 
bool is_inverse_provided_
 

Constructor & Destructor Documentation

◆ RtEiquadprog()

template<int nVars, int nEqCon, int nIneqCon>
eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::RtEiquadprog

◆ ~RtEiquadprog()

template<int nVars, int nEqCon, int nIneqCon>
eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::~RtEiquadprog
virtual

Member Function Documentation

◆ getActiveSet()

template<int nVars, int nEqCon, int nIneqCon>
const RtVectorX<nIneqCon + nEqCon>::i& eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getActiveSet ( ) const
inline

Return the active set, namely the indeces of active constraints. The first nEqCon indexes are for the equalities and are negative. The last nIneqCon indexes are for the inequalities and start from 0. Only the first q elements of the return vector are valid, where q is the size of the active set.

Returns
The set of indexes of the active constraints.

◆ getActiveSetSize()

template<int nVars, int nEqCon, int nIneqCon>
int eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getActiveSetSize ( ) const
inline
Returns
The size of the active set, namely the number of active constraints (including the equalities).

◆ getIteratios()

template<int nVars, int nEqCon, int nIneqCon>
int eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getIteratios ( ) const
inline
Returns
The number of active-set iteratios.

◆ getLagrangeMultipliers()

template<int nVars, int nEqCon, int nIneqCon>
const RtVectorX<nIneqCon + nEqCon>::d& eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getLagrangeMultipliers ( ) const
inline
Returns
The Lagrange multipliers

◆ getMaxIter()

template<int nVars, int nEqCon, int nIneqCon>
int eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getMaxIter ( ) const
inline

◆ getObjValue()

template<int nVars, int nEqCon, int nIneqCon>
double eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::getObjValue ( ) const
inline
Returns
The value of the objective function.

◆ setMaxIter()

template<int nVars, int nEqCon, int nIneqCon>
bool eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::setMaxIter ( int  maxIter)
inline

◆ solve_quadprog()

template<int nVars, int nEqCon, int nIneqCon>
RtEiquadprog_status eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::solve_quadprog ( const typename RtMatrixX< nVars, nVars >::d &  Hess,
const typename RtVectorX< nVars >::d &  g0,
const typename RtMatrixX< nEqCon, nVars >::d &  CE,
const typename RtVectorX< nEqCon >::d &  ce0,
const typename RtMatrixX< nIneqCon, nVars >::d &  CI,
const typename RtVectorX< nIneqCon >::d &  ci0,
typename RtVectorX< nVars >::d &  x 
)

solves the problem min. x' Hess x + 2 g0' x s.t. CE x + ce0 = 0 CI x + ci0 >= 0

Member Data Documentation

◆ is_inverse_provided_

template<int nVars, int nEqCon, int nIneqCon>
bool eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::is_inverse_provided_

◆ m_J

template<int nVars, int nEqCon, int nIneqCon>
RtMatrixX<nVars, nVars>::d eiquadprog::solvers::RtEiquadprog< nVars, nEqCon, nIneqCon >::m_J

The documentation for this class was generated from the following files: