smooth::feedback::QuadraticProgramSparse< Scalar > Struct Template Reference

Sparse quadratic program definition. More...

#include <qp.hpp>

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

Detailed Description

template<typename Scalar = double>
struct smooth::feedback::QuadraticProgramSparse< Scalar >

Sparse quadratic program definition.

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 61 of file qp.hpp.

Member Data Documentation

A

template<typename Scalar = double>

Eigen::SparseMatrix<Scalar, Eigen::RowMajor> smooth::feedback::QuadraticProgramSparse< Scalar >::A

Inequality matrix.

Note

The constraint matrix is stored in row-major format, i.e. coefficients for each constraint are contiguous in memory

Definition at line 74 of file qp.hpp.

l

template<typename Scalar = double>

Eigen::Matrix<Scalar, -1, 1> smooth::feedback::QuadraticProgramSparse< Scalar >::l

Inequality lower bound.

Definition at line 76 of file qp.hpp.

P

template<typename Scalar = double>

Eigen::SparseMatrix<Scalar> smooth::feedback::QuadraticProgramSparse< Scalar >::P

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

Definition at line 64 of file qp.hpp.

q

template<typename Scalar = double>

Eigen::Matrix<Scalar, -1, 1> smooth::feedback::QuadraticProgramSparse< Scalar >::q

Linear cost.

Definition at line 66 of file qp.hpp.

u

template<typename Scalar = double>

Eigen::Matrix<Scalar, -1, 1> smooth::feedback::QuadraticProgramSparse< Scalar >::u

Inequality upper bound.

Definition at line 78 of file qp.hpp.

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

• include/smooth/feedback/qp.hpp