/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/math/cgal_qp.cpp File Reference

#include "cgal_qp.h"
#include "math/matrix.h"
#include "debug.h"
#include <iostream>
#include <cassert>
#include <CGAL/basic.h>
#include <CGAL/QP_models.h>
#include <CGAL/QP_functions.h>
#include <CGAL/MP_Float.h>

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Typedefs
typedef CGAL::MP_Float	ET
typedef CGAL::Quadratic_program < double >	Program
typedef CGAL::Quadratic_program_solution < ET >	Solution
Functions
int	cgalNNQPSolverWrapper (const Matrix &Q, const Matrix &Eq, const Matrix &b, const Matrix &InEq, const Matrix &ib, Matrix &sol)

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Typedef Documentation

typedef CGAL::MP_Float ET

Definition at line 20 of file cgal_qp.cpp.

typedef CGAL::Quadratic_program<double> Program

Definition at line 24 of file cgal_qp.cpp.

typedef CGAL::Quadratic_program_solution<ET> Solution

Definition at line 25 of file cgal_qp.cpp.

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Function Documentation

int cgalNNQPSolverWrapper	(	const Matrix &	Q,
		const Matrix &	Eq,
		const Matrix &	b,
		const Matrix &	InEq,
		const Matrix &	ib,
		Matrix &	sol
	)

Wrapper for CGAL function to solve a non-negative quadratic program of the form: minimize solT * Q * sol subject to: Q symmetric and positive semidefinite sol >= 0 Eq * sol = b InEq * sol <= ib

Definition at line 34 of file cgal_qp.cpp.