smooth::feedback::QuadraticProgram< M, N, Scalar > Struct Template Reference

Quadratic program definition. More...

#include <qp.hpp>

Public Attributes
Eigen::Matrix< Scalar, N, N >	P
	Positive semi-definite square cost (only upper triangular part is used) More...
Eigen::Matrix< Scalar, N, 1 >	q
	Linear cost. More...
Eigen::Matrix< Scalar, M, N >	A
	Inequality matrix. More...
Eigen::Matrix< Scalar, M, 1 >	l
	Inequality lower bound. More...
Eigen::Matrix< Scalar, M, 1 >	u
	Inequality upper bound. More...

Detailed Description

template<Eigen::Index M, Eigen::Index N, typename Scalar = double>
struct smooth::feedback::QuadraticProgram< M, N, Scalar >

Quadratic program definition.

Template Parameters

M	number of constraints
N	number of variables

The quadratic program is on the form

\[ \begin{cases} \min_{x} & \frac{1}{2} x^T P x + q^T x, \\ \text{s.t.} & l \leq A x \leq u, \end{cases} \]

where \( P \in \mathbb{R}^{n \times n}, q \in \mathbb{R}^n, l, u \in \mathbb{R}^m, A \in \mathbb{R}^{m \times n} \).

Definition at line 32 of file qp.hpp.

Member Data Documentation

A

template<Eigen::Index M, Eigen::Index N, typename Scalar = double>

Eigen::Matrix<Scalar, M, N> smooth::feedback::QuadraticProgram< M, N, Scalar >::A

Inequality matrix.

Definition at line 40 of file qp.hpp.

l

template<Eigen::Index M, Eigen::Index N, typename Scalar = double>

Eigen::Matrix<Scalar, M, 1> smooth::feedback::QuadraticProgram< M, N, Scalar >::l

Inequality lower bound.

Definition at line 42 of file qp.hpp.

P

template<Eigen::Index M, Eigen::Index N, typename Scalar = double>

Eigen::Matrix<Scalar, N, N> smooth::feedback::QuadraticProgram< M, N, Scalar >::P

Positive semi-definite square cost (only upper triangular part is used)

Definition at line 35 of file qp.hpp.

q

template<Eigen::Index M, Eigen::Index N, typename Scalar = double>

Eigen::Matrix<Scalar, N, 1> smooth::feedback::QuadraticProgram< M, N, Scalar >::q

Linear cost.

Definition at line 37 of file qp.hpp.

u

template<Eigen::Index M, Eigen::Index N, typename Scalar = double>

Eigen::Matrix<Scalar, M, 1> smooth::feedback::QuadraticProgram< M, N, Scalar >::u

Inequality upper bound.

Definition at line 44 of file qp.hpp.

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

• include/smooth/feedback/qp.hpp