artisynth.core.inverse

Class QPSolver

java.lang.Object

artisynth.core.inverse.QPSolver

public class QPSolver
extends java.lang.Object

Solves a quadratic program given a set of cost and constraint terms.

Constructor Summary

Constructors

Constructor and Description
QPSolver()

Method Summary

Modifier and Type	Method and Description
VectorNd	solve(java.util.List<QPCostTerm> costTerms, java.util.List<QPConstraintTerm> constraintTerms, int size, double t0, double t1) Solves the quadratic program of the form:

Methods inherited from class java.lang.Object

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

Constructor Detail

QPSolver

public QPSolver()

Method Detail

solve

public VectorNd solve(java.util.List<QPCostTerm> costTerms,
                      java.util.List<QPConstraintTerm> constraintTerms,
                      int size,
                      double t0,
                      double t1)

Solves the quadratic program of the form:

   min { 1/2 x^T Q x + x^T p } 
   A x >= b,
   Aeq x = beq
 

and returns the solution vector. Q and P are assembled form the cost termss, while A, b, Aeq and beq are assembled from the constraint terms, with inequality terms contributing to A and b and equality terms contributing to Aeq and beq.

Parameters:

costTerms - terms used to assemble Q and p

constraintTerms - terms used to assemble A, b, Aeq and beq.

size - size of the program

t0 - time step start time

t0 - time step end time

Returns:

solution to the program