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_unstable/linear/QP.h>
#include <gtsam_unstable/linear/ActiveSetSolver.h>
#include <gtsam_unstable/linear/QPInitSolver.h>
#include <limits>
#include <algorithm>
 
namespace gtsam {

struct QPPolicy {
  static constexpr double maxAlpha = 1.0;

  static const GaussianFactorGraph buildCostFunction(const QP& qp,
      const VectorValues& xk = VectorValues()) {
    GaussianFactorGraph no_constant_factor;
    for (auto factor : qp.cost) {
      HessianFactor hf = static_cast<HessianFactor>(*factor);
      no_constant_factor.push_back(hf);
    }
    return no_constant_factor;
  }
};
 
using QPSolver = ActiveSetSolver<QP, QPPolicy, QPInitSolver>;
 
}