#include <QP.h>

Public Member Functions
Vector	costGradient (Key key, const VectorValues &delta) const

const VariableIndex &	costVariableIndex () const

void	print (const std::string &s="")

	QP ()

	QP (const GaussianFactorGraph &_cost, const EqualityFactorGraph &_linearEqualities, const InequalityFactorGraph &_linearInequalities)

Public Attributes
GaussianFactorGraph	cost
	Quadratic cost factors. More...

EqualityFactorGraph	equalities
	linear equality constraints: cE(x) = 0 More...

InequalityFactorGraph	inequalities
	linear inequality constraints: cI(x) <= 0 More...

Detailed Description

Struct contains factor graphs of a Quadratic Programming problem

Definition at line 31 of file QP.h.

Constructor & Destructor Documentation

gtsam::QP::QP ( )

inline

default constructor

Definition at line 41 of file QP.h.

gtsam::QP::QP	(	const GaussianFactorGraph &	_cost,
		const EqualityFactorGraph &	_linearEqualities,
		const InequalityFactorGraph &	_linearInequalities
	)

inline

constructor

Definition at line 46 of file QP.h.

Vector gtsam::QP::costGradient	(	Key	key,
		const VectorValues &	delta
	)		const

inline

Definition at line 67 of file QP.h.

const VariableIndex& gtsam::QP::costVariableIndex ( ) const

inline

Definition at line 61 of file QP.h.

void gtsam::QP::print ( const std::string & s = "" )

inline

print

Definition at line 54 of file QP.h.

VariableIndex gtsam::QP::cachedCostVariableIndex_

mutableprivate

Definition at line 37 of file QP.h.

Quadratic cost factors.

Definition at line 32 of file QP.h.

EqualityFactorGraph gtsam::QP::equalities

linear equality constraints: cE(x) = 0

Definition at line 33 of file QP.h.

InequalityFactorGraph gtsam::QP::inequalities

linear inequality constraints: cI(x) <= 0

Definition at line 34 of file QP.h.

The documentation for this struct was generated from the following file: