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

#include "qpoases.h"
#include <QProblem.hpp>
#include <limits>
#include <math.h>
#include "matrix.h"
#include "debug.h"

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Functions
void	oasesFromMatrix (std::vector< double > &O, const Matrix &M, double scale=1.0)
void	printMatrix (const std::vector< double > &M, std::string name)
int	QPOASESSolverWrapperLP (const Matrix &Q, const Matrix &Eq, const Matrix &b, const Matrix &InEq, const Matrix &ib, const Matrix &lowerBounds, const Matrix &upperBounds, Matrix &sol, double *objVal)
int	QPOASESSolverWrapperQP (const Matrix &Q, const Matrix &Eq, const Matrix &b, const Matrix &InEq, const Matrix &ib, const Matrix &lowerBounds, const Matrix &upperBounds, Matrix &sol, double *objVal)

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Detailed Description

A wrapper for using the QPOASES solver from within GraspIt!

Definition in file qpoases.cpp.

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Function Documentation

void oasesFromMatrix	(	std::vector< double > &	O,
		const Matrix &	M,
		double	scale = 1.0
	)

Populates an OASES style matrix (dense, row-major) from a GraspIt matrix (potentially sparse, column-major).

Definition at line 44 of file qpoases.cpp.

void printMatrix	(	const std::vector< double > &	M,
		std::string	name
	)

Definition at line 56 of file qpoases.cpp.

int QPOASESSolverWrapperLP	(	const Matrix &	Q,
		const Matrix &	Eq,
		const Matrix &	b,
		const Matrix &	InEq,
		const Matrix &	ib,
		const Matrix &	lowerBounds,
		const Matrix &	upperBounds,
		Matrix &	sol,
		double *	objVal
	)

Definition at line 171 of file qpoases.cpp.

int QPOASESSolverWrapperQP	(	const Matrix &	Q,
		const Matrix &	Eq,
		const Matrix &	b,
		const Matrix &	InEq,
		const Matrix &	ib,
		const Matrix &	lowerBounds,
		const Matrix &	upperBounds,
		Matrix &	sol,
		double *	objVal
	)

Definition at line 66 of file qpoases.cpp.