gtsam::QP Struct Reference

#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...

Private Attributes
VariableIndex	cachedCostVariableIndex_

Detailed Description

Struct contains factor graphs of a Quadratic Programming problem

Definition at line 31 of file QP.h.

Constructor & Destructor Documentation

QP() [1/2]

gtsam::QP::QP ( )

inline

default constructor

Definition at line 41 of file QP.h.

QP() [2/2]

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

inline

constructor

Definition at line 46 of file QP.h.

Member Function Documentation

costGradient()

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

inline

Definition at line 67 of file QP.h.

costVariableIndex()

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

inline

Definition at line 61 of file QP.h.

print()

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

inline

print

Definition at line 54 of file QP.h.

Member Data Documentation

cachedCostVariableIndex_

VariableIndex gtsam::QP::cachedCostVariableIndex_

mutableprivate

Definition at line 37 of file QP.h.

cost

GaussianFactorGraph gtsam::QP::cost

Quadratic cost factors.

Definition at line 32 of file QP.h.

equalities

EqualityFactorGraph gtsam::QP::equalities

linear equality constraints: cE(x) = 0

Definition at line 33 of file QP.h.

inequalities

InequalityFactorGraph gtsam::QP::inequalities

linear inequality constraints: cI(x) <= 0

Definition at line 34 of file QP.h.

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

• QP.h