gtsam 4.1.1
gtsam::QP Struct Reference

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