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)
	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

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The documentation for this struct was generated from the following file:

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/linear/QP.h