Template Struct BoxQPSolutionTpl

• Defined in File box-qp.hpp

Struct Documentation

template<typename _Scalar>
struct BoxQPSolutionTpl

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 Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

inline BoxQPSolutionTpl()

Initialize the QP solution structure.

inline BoxQPSolutionTpl(const MatrixXs &Hff_inv, const VectorXs &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

template<typename NewScalar>
inline BoxQPSolutionTpl<NewScalar> cast() const

Cast the BoxQP solution to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters:

NewScalar – The new scalar type to cast to.

Returns:

BoxQPSolutionTpl<NewScalar> A BoxQP solution with the new scalar type.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

MatrixXs Hff_inv

Inverse of the free space Hessian.

VectorXs x

Decision vector.

std::vector<size_t> free_idx

Free space indexes.

std::vector<size_t> clamped_idx

Clamped space indexes.