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

All Methods
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