wbc::QuadraticProgram Struct Reference

Describes a quadratic program of the form. More...

#include <QuadraticProgram.hpp>

Public Member Functions
void	resize (uint nq, uint neq, uint nin, bool bounds)
bool	isValid () const
void	print () const

Public Attributes
int	nq
int	neq
int	nin
bool	bounded
Eigen::MatrixXd	H
Eigen::VectorXd	g
Eigen::MatrixXd	A
Eigen::VectorXd	b
Eigen::MatrixXd	C
Eigen::VectorXd	lower_y
Eigen::VectorXd	upper_y
Eigen::VectorXd	lower_x
Eigen::VectorXd	upper_x
Eigen::VectorXd	Wy

Detailed Description

Describes a quadratic program of the form.

\[ \begin{array}{ccc} min(\mathbf{x}) & \frac{1}{2} \mathbf{x}^T\mathbf{H}\mathbf{x}+\mathbf{x}^T\mathbf{g}& \\ & & \\ s.t. & lb(\mathbf{Ax}) \leq \mathbf{Ax} \leq ub(\mathbf{Ax})& \\ & lb(\mathbf{x}) \leq \mathbf{x} \leq ub(\mathbf{x})& \\ \end{array} \]

Member Function Documentation

isValid()

bool wbc::QuadraticProgram::isValid

(

)

const

Check if matrix and vectors dims match with nq, neq, nin. Throw exception if not

print()

void wbc::QuadraticProgram::print

(

)

const

Print content to console

resize()

void wbc::QuadraticProgram::resize	(	uint	nq,
		uint	neq,
		uint	nin,
		bool	bounds )

Constraint weights (nc x 1). Default entry is 1. Initialize all variables with NaN

Member Data Documentation

A

Eigen::MatrixXd wbc::QuadraticProgram::A

Gradient vector (nq x 1)

b

Eigen::VectorXd wbc::QuadraticProgram::b

Equalities constraint matrix (neq x nq)

bounded

bool wbc::QuadraticProgram::bounded

Number of inequalities constraints for this prio

C

Eigen::MatrixXd wbc::QuadraticProgram::C

Equalities constraint vector (neq x 1)

g

Eigen::VectorXd wbc::QuadraticProgram::g

Hessian Matrix (nq x nq)

H

Eigen::MatrixXd wbc::QuadraticProgram::H

Contains simple boiunds for the variables

lower_x

Eigen::VectorXd wbc::QuadraticProgram::lower_x

Upper bound of the constraint vector (nin x 1)

lower_y

Eigen::VectorXd wbc::QuadraticProgram::lower_y

Inequalities constraint matrix (nin x nq)

neq

int wbc::QuadraticProgram::neq

Number of variables

nin

int wbc::QuadraticProgram::nin

Number of equalities constraints for this prio

nq

int wbc::QuadraticProgram::nq

upper_x

Eigen::VectorXd wbc::QuadraticProgram::upper_x

Lower bound of the solution vector (nq x 1)

upper_y

Eigen::VectorXd wbc::QuadraticProgram::upper_y

Lower bound of the constraint vector (nin x 1)

Wy

Eigen::VectorXd wbc::QuadraticProgram::Wy

Upper bound of the solution vector (nq x 1)

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The documentation for this struct was generated from the following files:

• src/core/QuadraticProgram.hpp
• src/core/QuadraticProgram.cpp