Collaboration diagram for rt_solver::RtQPSolverInterface< max_dim_qp, max_num_eq, max_num_ineq >:

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Public Types
enum	QPProperties { ePP_MightZeroIneqs = 1 << 0 }

Public Member Functions
RtVector< max_dim_qp >::d &	solution ()

const RtVector< max_dim_qp >::d &	solution () const

RtMatrix< max_dim_qp, max_dim_qp >::d &	objectiveQuadPart ()

const RtMatrix< max_dim_qp, max_dim_qp >::d &	objectiveQuadPart () const

RtVector< max_dim_qp >::d &	objectiveLinPart ()

const RtVector< max_dim_qp >::d &	objectiveLinPart () const

RtMatrix< max_num_eq, max_dim_qp >::d &	eqConstraintsMat ()

const RtMatrix< max_num_eq, max_dim_qp >::d &	eqConstraintsMat () const

RtVector< max_num_eq >::d &	eqConstraintsVec ()

const RtVector< max_num_eq >::d &	eqConstraintsVec () const

RtMatrix< max_num_ineq, max_dim_qp >::d &	ineqConstraintsMat ()

const RtMatrix< max_num_ineq, max_dim_qp >::d &	ineqConstraintsMat () const

RtVector< max_num_ineq >::d &	ineqConstraintsVec ()

const RtVector< max_num_ineq >::d &	ineqConstraintsVec () const

int	numVariables () const

int	numEqConstr () const

int	numIneqConstr () const

virtual bool	optimize ()=0

virtual bool	isOptimized () const =0

template<typename Derived , typename OtherDerived >
void	appendEqualities (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)

template<typename Derived >
void	appendEqualities (const Eigen::MatrixBase< Derived > &mat)

template<typename Derived , typename OtherDerived >
void	appendInequalities (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)

template<typename Derived >
void	appendInequalities (const Eigen::MatrixBase< Derived > &mat)

virtual void	reset ()

virtual void	reset (int dim_qp, int num_eq, int num_ineq)

double	computeOptimalityCondition () const

virtual bool	checkSolution (bool print=true, double eq_threashold=0.001, double ineq_threashold=0.001)

void	printProblemCondition (std::ostream &stream)

Public Attributes
int	qp_properties_

Protected Attributes
RtVector< max_dim_qp >::d	g_

RtVector< max_dim_qp >::d	sol_

RtVector< max_num_eq >::d	eq_vec_

RtVector< max_num_ineq >::d	ineq_vec_

RtMatrix< max_dim_qp, max_dim_qp >::d	H_

RtMatrix< max_num_eq, max_dim_qp >::d	Eq_mat_

RtMatrix< max_num_ineq, max_dim_qp >::d	Ineq_mat_

The documentation for this class was generated from the following file:

include/solver/rt_optimizer/RtQPSolverInterface.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes