Class EiquadprogFast
Defined in File eiquadprog-fast.hpp
Class Documentation
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class EiquadprogFast
Public Functions
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW EiquadprogFast()
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virtual ~EiquadprogFast()
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void reset(size_t dim_qp, size_t num_eq, size_t num_ineq)
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inline int getMaxIter() const
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inline bool setMaxIter(int maxIter)
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inline size_t getActiveSetSize() const
- Returns:
The size of the active set, namely the number of active constraints (including the equalities).
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inline int getIteratios() const
- Returns:
The number of active-set iteratios.
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inline double getObjValue() const
- Returns:
The value of the objective function.
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inline const VectorXd &getLagrangeMultipliers() const
- Returns:
The Lagrange multipliers
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inline const VectorXi &getActiveSet() const
Return the active set, namely the indeces of active constraints. The first nEqCon indexes are for the equalities and are negative. The last nIneqCon indexes are for the inequalities and start from 0. Only the first q elements of the return vector are valid, where q is the size of the active set.
- Returns:
The set of indexes of the active constraints.
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EiquadprogFast_status solve_quadprog(const MatrixXd &Hess, const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x)
solves the problem min. x’ Hess x + 2 g0’ x s.t. CE x + ce0 = 0 CI x + ci0 >= 0
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW EiquadprogFast()