gtsam 4.1.1 gtsam
QPSolver.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
9
10 * -------------------------------------------------------------------------- */
11
23#include <limits>
24#include <algorithm>
25
26namespace gtsam {
27
29struct QPPolicy {
32 static constexpr double maxAlpha = 1.0;
33
36 const VectorValues& xk = VectorValues()) {
37 GaussianFactorGraph no_constant_factor;
38 for (auto factor : qp.cost) {
39 HessianFactor hf = static_cast<HessianFactor>(*factor);
40 no_constant_factor.push_back(hf);
41 }
42 return no_constant_factor;
43 }
44};
45
46using QPSolver = ActiveSetSolver<QP, QPPolicy, QPInitSolver>;
47
48}
This finds a feasible solution for a QP problem.
Active set method for solving LP, QP problems.
Factor graphs of a Quadratic Programming problem.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
IsDerived< DERIVEDFACTOR > push_back(boost::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
Definition: FactorGraph.h:165
A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
Definition: GaussianFactorGraph.h:69
A Gaussian factor using the canonical parameters (information form)
Definition: HessianFactor.h:101
This class represents a collection of vector-valued variables associated each with a unique integer i...
Definition: VectorValues.h:74
Struct contains factor graphs of a Quadratic Programming problem.
Definition: QP.h:31
GaussianFactorGraph cost