50 H_.conservativeResizeLike(Eigen::MatrixXd::Zero(nvar,nvar));
51 g_.conservativeResizeLike(Eigen::VectorXd::Zero(nvar));
53 A_.conservativeResizeLike(Eigen::MatrixXd::Zero(nconstr,nvar));
78 std::cout <<
"=========================================================================================================================================" << std::endl;
79 std::cout <<
"H" << std::endl;
80 std::cout <<
H_ <<
"\n\n";
81 std::cout <<
"g" << std::endl;
82 std::cout <<
g_ <<
"\n\n";
83 std::cout <<
"A" << std::endl;
84 std::cout <<
A_ <<
"\n\n";
85 std::cout <<
"lbA" << std::endl;
86 std::cout <<
lbA_ <<
"\n\n";
87 std::cout <<
"ubA" << std::endl;
88 std::cout <<
ubA_ <<
"\n\n";
89 std::cout <<
"lb" << std::endl;
90 std::cout <<
lb_ <<
"\n\n";
91 std::cout <<
"ub" << std::endl;
92 std::cout <<
ub_ <<
"\n\n";
93 std::cout <<
" - Nvars (Hrows) : " << H_.rows() << std::endl;
94 std::cout <<
" - NConstr (Arows) : " << A_.rows() << std::endl;
95 std::cout <<
"=========================================================================================================================================" << std::endl;
98 Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
H_;
102 Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
A_;
Eigen::VectorXd ub_
Definition: ProblemData.h:101
Eigen::VectorXd lb_
Definition: ProblemData.h:100
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > A_
Definition: ProblemData.h:102
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > H_
Definition: ProblemData.h:98
void reset()
Definition: ProblemData.h:64
void print() const
Definition: ProblemData.h:76
Eigen::VectorXd lbA_
Definition: ProblemData.h:103
Definition: CartesianAccelerationPID.h:44
void resize(int nvar, int nconstr)
Definition: ProblemData.h:48
Definition: ProblemData.h:46
static const double Infinity
Definition: Utils.h:45
Eigen::VectorXd g_
Definition: ProblemData.h:99
Eigen::VectorXd primal_solution_
Definition: ProblemData.h:105
Eigen::VectorXd ubA_
Definition: ProblemData.h:104