gtsam 4.1.1
gtsam

Policy for ActivetSetSolver to solve Linear Programming.
Static Public Member Functions  
static const GaussianFactorGraph  buildCostFunction (const QP &qp, const VectorValues &xk=VectorValues()) 
Simply the cost of the QP problem.  
Static Public Attributes  
static constexpr double  maxAlpha = 1.0 
Maximum alpha for line search x'=xk + alpha*p, where p is the cost gradient For QP, maxAlpha = 1 is the minimum point of the quadratic cost.  