Detailed Description

Struct contains factor graphs of a Quadratic Programming problem.

Public Member Functions
	QP ()
	default constructor

	QP (const GaussianFactorGraph &_cost, const EqualityFactorGraph &_linearEqualities, const InequalityFactorGraph &_linearInequalities)
	constructor

void	print (const std::string &s="")
	print

const VariableIndex &	costVariableIndex () const

Vector	costGradient (Key key, const VectorValues &delta) const

Public Attributes
GaussianFactorGraph	cost
	Quadratic cost factors.

EqualityFactorGraph	equalities
	linear equality constraints: cE(x) = 0

InequalityFactorGraph	inequalities
	linear inequality constraints: cI(x) <= 0

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

Public Member Functions