/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/math/mosek_qp.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Matei T. Ciocarlie 00021 // 00022 // $Id: mosek_qp.h,v 1.6 2009/06/30 16:45:19 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00029 class Matrix; 00030 00031 enum MosekObjectiveType{MOSEK_OBJ_QP, MOSEK_OBJ_LP}; 00032 00033 int mosekNNSolverWrapper(const Matrix &Q, 00034 const Matrix &Eq, const Matrix &b, 00035 const Matrix &InEq, const Matrix &ib, 00036 const Matrix &lowerBounds, const Matrix &upperBounds, 00037 Matrix &sol, double *objVal, MosekObjectiveType objType);