gtsam
4.0.0
gtsam

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  