QPSolver.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/config.h>
 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
 
#include <gtsam/linear/VectorValues.h>
#include <gtsam_unstable/dllexport.h>
#include <gtsam_unstable/linear/InfeasibleInitialValues.h>
#include <gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h>
#include <gtsam_unstable/linear/QP.h>
 
#include <utility>
 
namespace gtsam {

class GTSAM_UNSTABLE_EXPORT QPSolver {
 public:
  explicit QPSolver(const QP& qp);

  std::pair<VectorValues, VectorValues> optimize(
      const VectorValues& initialValues,
      const VectorValues& duals = VectorValues(),
      bool useWarmStart = false) const;

  std::pair<VectorValues, VectorValues> optimize() const;
 
 private:
  const QP& qp_;
};
 
}  // namespace gtsam
 
#endif  // GTSAM_ALLOW_DEPRECATED_SINCE_V43