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47 lines
1.5 KiB
47 lines
1.5 KiB
1 year ago
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2015 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef IGL_COPYLEFT_QUADPROG_H
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#define IGL_COPYLEFT_QUADPROG_H
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#include "../igl_inline.h"
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#include <Eigen/Dense>
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namespace igl
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{
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namespace copyleft
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{
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/// Solve a (dense) convex quadratric program. Given in the form
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///
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/// min 0.5 x G x + g0 x
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/// s.t. CE' x + ce0 = 0
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/// and CI' x + ci0 >= 0
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///
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/// @param[in] G #x by #x matrix of quadratic coefficients
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/// @param[in] g0 #x vector of linear coefficients
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/// @param[in] CE #x by #CE list of linear equality coefficients
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/// @param[in] ce0 #CE list of linear equality right-hand sides
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/// @param[in] CI #x by #CI list of linear equality coefficients
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/// @param[in] ci0 #CI list of linear equality right-hand sides
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/// @param[out] x #x vector of solution values
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/// @return true iff success
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IGL_INLINE bool quadprog(
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const Eigen::MatrixXd & G,
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const Eigen::VectorXd & g0,
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const Eigen::MatrixXd & CE,
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const Eigen::VectorXd & ce0,
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const Eigen::MatrixXd & CI,
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const Eigen::VectorXd & ci0,
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Eigen::VectorXd& x);
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}
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}
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#ifndef IGL_STATIC_LIBRARY
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# include "quadprog.cpp"
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#endif
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#endif
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