eiquadprog::solvers::EiquadprogFast Class Reference

#include <eiquadprog/eiquadprog-fast.hpp>

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW EiquadprogFast ()
 
virtual ~EiquadprogFast ()
 
void reset (size_t dim_qp, size_t num_eq, size_t num_ineq)
 
int getMaxIter () const
 
bool setMaxIter (int maxIter)
 
size_t getActiveSetSize () const
 
int getIteratios () const
 
double getObjValue () const
 
const VectorXd & getLagrangeMultipliers () const
 
const VectorXi & getActiveSet () const
 
EiquadprogFast_status solve_quadprog (const MatrixXd &Hess, const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x)
 

Public Attributes

MatrixXd m_J
 
bool is_inverse_provided_
 

Constructor & Destructor Documentation

◆ EiquadprogFast()

eiquadprog::solvers::EiquadprogFast::EiquadprogFast ( )

◆ ~EiquadprogFast()

eiquadprog::solvers::EiquadprogFast::~EiquadprogFast ( )
virtual

Member Function Documentation

◆ getActiveSet()

const VectorXi& eiquadprog::solvers::EiquadprogFast::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()

size_t eiquadprog::solvers::EiquadprogFast::getActiveSetSize ( ) const
inline
Returns
The size of the active set, namely the number of active constraints (including the equalities).

◆ getIteratios()

int eiquadprog::solvers::EiquadprogFast::getIteratios ( ) const
inline
Returns
The number of active-set iteratios.

◆ getLagrangeMultipliers()

const VectorXd& eiquadprog::solvers::EiquadprogFast::getLagrangeMultipliers ( ) const
inline
Returns
The Lagrange multipliers

◆ getMaxIter()

int eiquadprog::solvers::EiquadprogFast::getMaxIter ( ) const
inline

◆ getObjValue()

double eiquadprog::solvers::EiquadprogFast::getObjValue ( ) const
inline
Returns
The value of the objective function.

◆ reset()

void eiquadprog::solvers::EiquadprogFast::reset ( size_t  dim_qp,
size_t  num_eq,
size_t  num_ineq 
)

◆ setMaxIter()

bool eiquadprog::solvers::EiquadprogFast::setMaxIter ( int  maxIter)
inline

◆ solve_quadprog()

EiquadprogFast_status eiquadprog::solvers::EiquadprogFast::solve_quadprog ( const MatrixXd &  Hess,
const VectorXd &  g0,
const MatrixXd &  CE,
const VectorXd &  ce0,
const MatrixXd &  CI,
const VectorXd &  ci0,
VectorXd &  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_

bool eiquadprog::solvers::EiquadprogFast::is_inverse_provided_

◆ m_J

MatrixXd eiquadprog::solvers::EiquadprogFast::m_J

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