Todo List

Member QpSolverCollection::QpSolver::solve (int dim_var, int dim_eq, int dim_ineq, Eigen::Ref< Eigen::MatrixXd > Q, const Eigen::Ref< const Eigen::VectorXd > &c, const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const Eigen::MatrixXd > &C, const Eigen::Ref< const Eigen::VectorXd > &d, const Eigen::Ref< const Eigen::VectorXd > &x_min, const Eigen::Ref< const Eigen::VectorXd > &x_max)=0

Support both-sided inequality constraints (i.e., \(\boldsymbol{d}_{lower} \leq \boldsymbol{C} \boldsymbol{x} \leq \boldsymbol{d}_{upper}\)). QLD, QuadProg, and NASOQ support only one-sided constraints, while LSSOL, JRLQP, QPOASES, OSQP, HPIPM, PROXQP, and QPMAD support both-sided constraints.

Class QpSolverCollection::QpSolverNasoq

Set without going through a dense matrix.

Class QpSolverCollection::QpSolverOsqp

Set without going through a dense matrix.

Class QpSolverCollection::QpSolverQpoases

Support an efficient interface (QProblemB) dedicated to QP with only box constraints.