Struct BoxQPSolution

Struct Documentation

struct BoxQPSolution

Box QP solution.

It contains the Box QP solution data which consists of

  • the inverse of the free space Hessian

  • the optimal decision vector

  • the indexes for the free space

  • the indexes for the clamped (constrained) space

Public Functions

inline EIGEN_MAKE_ALIGNED_OPERATOR_NEW BoxQPSolution()

Initialize the QP solution structure.

inline BoxQPSolution(const Eigen::MatrixXd &Hff_inv, const Eigen::VectorXd &x, const std::vector<size_t> &free_idx, const std::vector<size_t> &clamped_idx)

Initialize the QP solution structure.

Parameters:

  • Hff_inv – [in] Inverse of the free space Hessian

  • x – [in] Decision vector

  • free_idx – [in] Free space indexes

  • clamped_idx – [in] Clamped space indexes

Public Members

Eigen::MatrixXd Hff_inv

Inverse of the free space Hessian.

Eigen::VectorXd x

Decision vector.

std::vector<size_t> free_idx

Free space indexes.

std::vector<size_t> clamped_idx

Clamped space indexes.