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88 lines
3.4 KiB
88 lines
3.4 KiB
1 year ago
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#ifndef IGL_QUADPROG_H
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#define IGL_QUADPROG_H
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#include "igl_inline.h"
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#include <Eigen/Core>
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namespace igl
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{
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/// Solve a convex quadratic program. Optimized for small dense problems.
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/// Still works for Eigen::Dynamic (and then everything needs to be Dynamic).
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///
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/// min_x ½ xᵀ H x + xᵀf
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/// subject to:
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/// lbi ≤ Ai x ≤ ubi
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/// lb ≤ x ≤ u
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///
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/// @tparam Scalar (e.g., double)
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/// @tparam n #H or Eigen::Dynamic if not known at compile time
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/// @tparam ni #Ai or Eigen::Dynamic if not known at compile time
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/// @param[in] H #H by #H quadratic coefficients (only lower triangle used)
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/// @param[in] f #H linear coefficients
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/// @param[in] Ai #Ai by #H list of linear equality constraint coefficients
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/// @param[in] lbi #Ai list of linear equality lower bounds
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/// @param[in] ubi #Ai list of linear equality upper bounds
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/// @param[in] lb #H list of lower bounds
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/// @param[in] ub #H list of lower bounds
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/// @return #H-long solution x
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template <typename Scalar, int n, int ni>
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IGL_INLINE Eigen::Matrix<Scalar,n,1> quadprog(
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const Eigen::Matrix<Scalar,n,n> & H,
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const Eigen::Matrix<Scalar,n,1> & f,
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const Eigen::Matrix<Scalar,ni,n> & Ai,
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const Eigen::Matrix<Scalar,ni,1> & lbi,
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const Eigen::Matrix<Scalar,ni,1> & ubi,
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const Eigen::Matrix<Scalar,n,1> & lb,
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const Eigen::Matrix<Scalar,n,1> & ub);
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/// Solve a convex quadratic program. Optimized for small dense problems. All
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/// inequalities must be simple bounds.
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///
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/// min_x ½ xᵀ H x + xᵀf
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/// subject to:
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/// A x = b
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/// lb ≤ x ≤ u
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///
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/// @tparam Scalar (e.g., double)
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/// @tparam n #H or Eigen::Dynamic if not known at compile time
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/// @tparam m #A or Eigen::Dynamic if not known at compile time
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/// @param[in] H #H by #H quadratic coefficients (only lower triangle used)
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/// @param[in] f #H linear coefficients
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/// @param[in] A #A by #H list of linear equality constraint coefficients
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/// @param[in] b #A list of linear equality lower bounds
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/// @param[in] lb #H list of lower bounds
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/// @param[in] ub #H list of lower bounds
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/// @return #H-long solution x
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template <typename Scalar, int n, int m>
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IGL_INLINE Eigen::Matrix<Scalar,n,1> quadprog(
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const Eigen::Matrix<Scalar,n,n> & H,
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const Eigen::Matrix<Scalar,n,1> & f,
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const Eigen::Matrix<Scalar,m,n> & A,
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const Eigen::Matrix<Scalar,m,1> & b,
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const Eigen::Matrix<Scalar,n,1> & lb,
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const Eigen::Matrix<Scalar,n,1> & ub);
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/// Solve a convex quadratic program. Optimized for small dense problems. All
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/// constraints must be simple bounds.
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///
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/// min_x ½ xᵀ H x + xᵀf
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/// subject to:
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/// lb ≤ x ≤ u
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///
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/// @tparam Scalar (e.g., double)
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/// @tparam n #H or Eigen::Dynamic if not known at compile time
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/// @param[in] H #H by #H quadratic coefficients (only lower triangle used)
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/// @param[in] f #H linear coefficients
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/// @param[in] lb #H list of lower bounds
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/// @param[in] ub #H list of lower bounds
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/// @return #H-long solution x
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template <typename Scalar, int n>
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IGL_INLINE Eigen::Matrix<Scalar,n,1> quadprog(
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const Eigen::Matrix<Scalar,n,n> & H,
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const Eigen::Matrix<Scalar,n,1> & f,
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const Eigen::Matrix<Scalar,n,1> & lb,
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const Eigen::Matrix<Scalar,n,1> & ub);
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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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