cpp_robotics::QuadProg

線形等式制約と線形不等式制約を持つ2次計画法

#include <quadprog.hpp>

Public Classes

	Name
struct	Param
struct	Result

Public Types

	Name
enum class	Method

Public Functions

	Name
	QuadProg(Method method =Method::ADMM)
	QuadProg(const QuadProgProblem & prob, Method method =Method::ADMM)
void	set_problem(const QuadProgProblem & prob)
double	evaluate(const Eigen::VectorXd & x)
bool	satisfy(const Eigen::MatrixXd & x, double eps =2e-2)
Result	solve()
Result	solve(Eigen::VectorXd x0)

Public Attributes

	Name
constexpr static double	huge_value
Param	param

Public Types Documentation

enum Method

Enumerator	Value	Description
InteriorPointMethod
ADMM

Public Functions Documentation

function QuadProg

inline QuadProg(
    Method method =Method::ADMM
)

function QuadProg

inline QuadProg(
    const QuadProgProblem & prob,
    Method method =Method::ADMM
)

function set_problem

inline void set_problem(
    const QuadProgProblem & prob
)

function evaluate

inline double evaluate(
    const Eigen::VectorXd & x
)

function satisfy

inline bool satisfy(
    const Eigen::MatrixXd & x,
    double eps =2e-2
)

function solve

inline Result solve()

function solve

inline Result solve(
    Eigen::VectorXd x0
)

Public Attributes Documentation

variable huge_value

static constexpr static double huge_value = 1e6;

variable param

Param param;

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Updated on 2024-05-28 at 06:55:39 +0000