1#ifndef WBC_CORE_QUADRATIC_PROGRAM_HPP
2#define WBC_CORE_QUADRATIC_PROGRAM_HPP
54 std::vector<QuadraticProgram>
prios;
Definition ContactsAccelerationConstraint.cpp:3
Describes a hierarchy of quadratic programs.
Definition QuadraticProgram.hpp:53
Eigen::VectorXd Wq
Definition QuadraticProgram.hpp:55
const QuadraticProgram & operator[](int i) const
Definition QuadraticProgram.hpp:63
void resize(const size_t &n)
Definition QuadraticProgram.hpp:69
std::vector< QuadraticProgram > prios
Definition QuadraticProgram.hpp:54
size_t size() const
Definition QuadraticProgram.hpp:57
void operator<<(QuadraticProgram &qp)
Definition QuadraticProgram.hpp:66
QuadraticProgram & operator[](int i)
Definition QuadraticProgram.hpp:60
Describes a quadratic program of the form.
Definition QuadraticProgram.hpp:20
int nin
Definition QuadraticProgram.hpp:24
Eigen::VectorXd lower_y
Definition QuadraticProgram.hpp:33
Eigen::MatrixXd C
Definition QuadraticProgram.hpp:32
Eigen::VectorXd Wy
Definition QuadraticProgram.hpp:37
Eigen::VectorXd lower_x
Definition QuadraticProgram.hpp:35
void resize(uint nq, uint neq, uint nin, bool bounds)
Definition QuadraticProgram.cpp:7
Eigen::VectorXd b
Definition QuadraticProgram.hpp:31
bool isValid() const
Definition QuadraticProgram.cpp:43
Eigen::MatrixXd H
Definition QuadraticProgram.hpp:28
bool bounded
Definition QuadraticProgram.hpp:26
Eigen::VectorXd upper_y
Definition QuadraticProgram.hpp:34
int nq
Definition QuadraticProgram.hpp:22
void print() const
Definition QuadraticProgram.cpp:104
Eigen::VectorXd upper_x
Definition QuadraticProgram.hpp:36
Eigen::MatrixXd A
Definition QuadraticProgram.hpp:30
Eigen::VectorXd g
Definition QuadraticProgram.hpp:29
int neq
Definition QuadraticProgram.hpp:23