artisynth.core.inverse

Class QPCostFunction

java.lang.Object

artisynth.core.inverse.QPCostFunction

public class QPCostFunction
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
QPCostFunction()
QPCostFunction(int size)

Method Summary

Modifier and Type	Method and Description
void	addCostTerm(QPTerm term)
void	addEqualityConstraint(LeastSquaresTerm term)
void	addInequalityConstraint(LeastSquaresTerm term)
void	dispose()
MatrixNd	getA()
MatrixNd	getAeq()
VectorNd	getB()
VectorNd	getBeq()
java.util.ArrayList<QPTerm>	getCostTerms()
java.util.ArrayList<LeastSquaresTerm>	getEqualityConstraints()
java.util.ArrayList<LeastSquaresTerm>	getInequalityConstraints()
VectorNd	getP()
MatrixNd	getQ()
void	setSize(int size) Sets the size of the quadratic program Note that constraints terms will be removed.
VectorNd	solve(double t0, double t1) Solves the Quadratic Program of the form: min { x^T*Q*x + x^T*P }, subject to A*x >= b, Aeq*x = beq
void	updateTerms(double t0, double t1)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

QPCostFunction

public QPCostFunction()

QPCostFunction

public QPCostFunction(int size)

Method Detail

addCostTerm

public void addCostTerm(QPTerm term)

addInequalityConstraint

public void addInequalityConstraint(LeastSquaresTerm term)

addEqualityConstraint

public void addEqualityConstraint(LeastSquaresTerm term)

dispose

public void dispose()

updateTerms

public void updateTerms(double t0,
                        double t1)

getQ

public MatrixNd getQ()

getP

public VectorNd getP()

getA

public MatrixNd getA()

getB

public VectorNd getB()

getAeq

public MatrixNd getAeq()

getBeq

public VectorNd getBeq()

solve

public VectorNd solve(double t0,
                      double t1)

Solves the Quadratic Program of the form: min { x^T*Q*x + x^T*P }, subject to A*x >= b, Aeq*x = beq

Returns:

x

setSize

public void setSize(int size)

Sets the size of the quadratic program Note that constraints terms will be removed.

Parameters:

size - size of the quadratic program

getCostTerms

public java.util.ArrayList<QPTerm> getCostTerms()

getEqualityConstraints

public java.util.ArrayList<LeastSquaresTerm> getEqualityConstraints()

getInequalityConstraints

public java.util.ArrayList<LeastSquaresTerm> getInequalityConstraints()