Cleaned up QPSVisitor and fixed KeyVector compile issue on Ubuntu
Frank Dellaert
parent
a450ba1e55
commit
31556ff981
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@ -12,41 +12,52 @@
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/**
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* @file QPSVisitor.cpp
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* @brief As the QPS parser reads a file, it call functions in QPSVistor.
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* This visitor in turn stores what the parser has read in a way that can be later used to build the Factor Graph for the
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* QP Constraints and cost. This intermediate representation is required because an expression in the QPS file doesn't
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* necessarily correspond to a single constraint or term in the cost function.
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* This visitor in turn stores what the parser has read in a way that can be
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* later used to build the Factor Graph for the QP Constraints and cost. This
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* intermediate representation is required because an expression in the QPS file
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* doesn't necessarily correspond to a single constraint or term in the cost
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* function.
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* @author Ivan Dario Jimenez
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* @date 3/5/16
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*/
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#include <gtsam_unstable/linear/QPSVisitor.h>
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#include <algorithm>
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#include <iostream>
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#include <map>
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using boost::fusion::at_c;
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using namespace std;
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using Chars = std::vector<char>;
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// Get a string from a fusion vector of Chars
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template <size_t I, class FusionVector>
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static string fromChars(const FusionVector &vars) {
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const Chars &chars = at_c<I>(vars);
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return string(chars.begin(), chars.end());
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}
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namespace gtsam {
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void QPSVisitor::setName(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>> const &name) {
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name_ = string(at_c < 1 > (name).begin(), at_c < 1 > (name).end());
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boost::fusion::vector<Chars, Chars, Chars> const &name) {
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name_ = fromChars<1>(name);
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if (debug) {
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cout << "Parsing file: " << name_ << endl;
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}
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}
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void QPSVisitor::addColumn(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>, double,
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vector<char>> const &vars) {
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string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string row_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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Matrix11 coefficient = at_c < 5 > (vars) * I_1x1;
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double,
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Chars> const &vars) {
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string var_ = fromChars<1>(vars);
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string row_ = fromChars<3>(vars);
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Matrix11 coefficient = at_c<5>(vars) * I_1x1;
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if (debug) {
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cout << "Added Column for Var: " << var_ << " Row: " << row_
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<< " Coefficient: " << coefficient << endl;
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<< " Coefficient: " << coefficient << endl;
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}
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if (!varname_to_key.count(var_))
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varname_to_key[var_] = Symbol('X', numVariables++);
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@ -58,17 +69,15 @@ void QPSVisitor::addColumn(
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}
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void QPSVisitor::addColumnDouble(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, double, vector<char>,
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vector<char>, vector<char>, double> const &vars) {
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string var_(at_c < 0 > (vars).begin(), at_c < 0 > (vars).end());
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string row1_(at_c < 2 > (vars).begin(), at_c < 2 > (vars).end());
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string row2_(at_c < 6 > (vars).begin(), at_c < 6 > (vars).end());
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Matrix11 coefficient1 = at_c < 4 > (vars) * I_1x1;
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Matrix11 coefficient2 = at_c < 8 > (vars) * I_1x1;
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boost::fusion::vector<Chars, Chars, Chars, Chars, double, Chars, Chars,
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Chars, double> const &vars) {
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string var_ = fromChars<0>(vars);
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string row1_ = fromChars<2>(vars);
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string row2_ = fromChars<6>(vars);
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Matrix11 coefficient1 = at_c<4>(vars) * I_1x1;
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Matrix11 coefficient2 = at_c<8>(vars) * I_1x1;
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if (!varname_to_key.count(var_))
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varname_to_key.insert( { var_, Symbol('X', numVariables++) });
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varname_to_key.insert({var_, Symbol('X', numVariables++)});
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if (row1_ == obj_name)
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g[varname_to_key[var_]] = coefficient1;
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else
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@ -80,47 +89,39 @@ void QPSVisitor::addColumnDouble(
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}
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void QPSVisitor::addRangeSingle(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>, double,
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vector<char>> const & vars) {
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string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string row_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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double range = at_c < 5 > (vars);
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double,
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Chars> const &vars) {
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string var_ = fromChars<1>(vars);
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string row_ = fromChars<3>(vars);
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double range = at_c<5>(vars);
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ranges[row_] = range;
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if (debug) {
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cout << "SINGLE RANGE ADDED" << endl;
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cout << "VAR:" << var_ << " ROW: " << row_ << " RANGE: " << range
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<< endl;
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cout << "VAR:" << var_ << " ROW: " << row_ << " RANGE: " << range << endl;
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}
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}
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void QPSVisitor::addRangeDouble(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>, double,
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vector<char>, vector<char>, vector<char>, double> const & vars) {
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string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string row1_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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string row2_(at_c < 7 > (vars).begin(), at_c < 7 > (vars).end());
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double range1 = at_c < 5 > (vars);
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double range2 = at_c < 9 > (vars);
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double, Chars,
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Chars, Chars, double> const &vars) {
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string var_ = fromChars<1>(vars);
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string row1_ = fromChars<3>(vars);
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string row2_ = fromChars<7>(vars);
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double range1 = at_c<5>(vars);
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double range2 = at_c<9>(vars);
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ranges[row1_] = range1;
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ranges[row2_] = range2;
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if (debug) {
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cout << "DOUBLE RANGE ADDED" << endl;
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cout << "VAR: " << var_ << " ROW1: " << row1_ << " RANGE1: " << range1
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<< " ROW2: " << row2_ << " RANGE2: " << range2 << endl;
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<< " ROW2: " << row2_ << " RANGE2: " << range2 << endl;
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}
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}
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void QPSVisitor::addRHS(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>, double,
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vector<char>> const &vars) {
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string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string row_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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double coefficient = at_c < 5 > (vars);
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void QPSVisitor::addRHS(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars,
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double, Chars> const &vars) {
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string var_ = fromChars<1>(vars);
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string row_ = fromChars<3>(vars);
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double coefficient = at_c<5>(vars);
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if (row_ == obj_name)
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f = -coefficient;
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else
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@ -128,20 +129,18 @@ void QPSVisitor::addRHS(
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if (debug) {
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cout << "Added RHS for Var: " << var_ << " Row: " << row_
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<< " Coefficient: " << coefficient << endl;
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<< " Coefficient: " << coefficient << endl;
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}
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}
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void QPSVisitor::addRHSDouble(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>, double,
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vector<char>, vector<char>, vector<char>, double> const &vars) {
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string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string row1_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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string row2_(at_c < 7 > (vars).begin(), at_c < 7 > (vars).end());
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double coefficient1 = at_c < 5 > (vars);
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double coefficient2 = at_c < 9 > (vars);
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double, Chars,
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Chars, Chars, double> const &vars) {
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string var_ = fromChars<1>(vars);
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string row1_ = fromChars<3>(vars);
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string row2_ = fromChars<7>(vars);
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double coefficient1 = at_c<5>(vars);
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double coefficient2 = at_c<9>(vars);
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if (row1_ == obj_name)
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f = -coefficient1;
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else
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@ -154,34 +153,32 @@ void QPSVisitor::addRHSDouble(
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if (debug) {
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cout << "Added RHS for Var: " << var_ << " Row: " << row1_
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<< " Coefficient: " << coefficient1 << endl;
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cout << " " << "Row: " << row2_
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<< " Coefficient: " << coefficient2 << endl;
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<< " Coefficient: " << coefficient1 << endl;
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cout << " "
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<< "Row: " << row2_ << " Coefficient: " << coefficient2 << endl;
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}
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}
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void QPSVisitor::addRow(
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boost::fusion::vector<vector<char>, char, vector<char>,
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vector<char>, vector<char>> const &vars) {
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string name_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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char type = at_c < 1 > (vars);
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boost::fusion::vector<Chars, char, Chars, Chars, Chars> const &vars) {
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string name_ = fromChars<3>(vars);
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char type = at_c<1>(vars);
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switch (type) {
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case 'N':
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obj_name = name_;
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break;
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case 'L':
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row_to_constraint_v[name_] = &IL;
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break;
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case 'G':
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row_to_constraint_v[name_] = &IG;
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break;
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case 'E':
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row_to_constraint_v[name_] = &E;
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break;
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default:
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cout << "invalid type: " << type << endl;
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break;
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case 'N':
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obj_name = name_;
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break;
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case 'L':
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row_to_constraint_v[name_] = &IL;
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break;
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case 'G':
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row_to_constraint_v[name_] = &IG;
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break;
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case 'E':
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row_to_constraint_v[name_] = &E;
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break;
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default:
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cout << "invalid type: " << type << endl;
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break;
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}
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if (debug) {
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cout << "Added Row Type: " << type << " Name: " << name_ << endl;
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@ -189,13 +186,11 @@ void QPSVisitor::addRow(
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}
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void QPSVisitor::addBound(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>,
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vector<char>, vector<char>, double> const &vars) {
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string type_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string var_(at_c < 5 > (vars).begin(), at_c < 5 > (vars).end());
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double number = at_c < 7 > (vars);
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, Chars, Chars,
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double> const &vars) {
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string type_ = fromChars<1>(vars);
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string var_ = fromChars<5>(vars);
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double number = at_c<7>(vars);
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if (type_.compare(string("UP")) == 0)
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up[varname_to_key[var_]] = number;
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else if (type_.compare(string("LO")) == 0)
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@ -207,65 +202,61 @@ void QPSVisitor::addBound(
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if (debug) {
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cout << "Added Bound Type: " << type_ << " Var: " << var_
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<< " Amount: " << number << endl;
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<< " Amount: " << number << endl;
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}
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}
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void QPSVisitor::addFreeBound(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>,
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vector<char>, vector<char>> const &vars) {
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string type_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string var_(at_c < 5 > (vars).begin(), at_c < 5 > (vars).end());
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Free.push_back(varname_to_key[var_]);
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, Chars, Chars> const
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&vars) {
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string type_ = fromChars<1>(vars);
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string var_ = fromChars<5>(vars);
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free.push_back(varname_to_key[var_]);
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if (debug) {
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cout << "Added Free Bound Type: " << type_ << " Var: " << var_
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<< " Amount: " << endl;
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<< " Amount: " << endl;
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}
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}
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void QPSVisitor::addQuadTerm(
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boost::fusion::vector<vector<char>, vector<char>,
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vector<char>, vector<char>, vector<char>, double,
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vector<char>> const &vars) {
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string var1_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
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string var2_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
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Matrix11 coefficient = at_c < 5 > (vars) * I_1x1;
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boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double,
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Chars> const &vars) {
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string var1_ = fromChars<1>(vars);
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string var2_ = fromChars<3>(vars);
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Matrix11 coefficient = at_c<5>(vars) * I_1x1;
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H[varname_to_key[var1_]][varname_to_key[var2_]] = coefficient;
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H[varname_to_key[var2_]][varname_to_key[var1_]] = coefficient;
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if (debug) {
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cout << "Added QuadTerm for Var: " << var1_ << " Row: " << var2_
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<< " Coefficient: " << coefficient << endl;
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<< " Coefficient: " << coefficient << endl;
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}
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}
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QP QPSVisitor::makeQP() {
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// Create the keys from the variable names
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vector < Key > keys;
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KeyVector keys;
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for (auto kv : varname_to_key) {
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keys.push_back(kv.second);
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}
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// Fill the G matrices and g vectors from
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vector < Matrix > Gs;
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vector < Vector > gs;
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// Fill the G matrices and g vectors from
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vector<Matrix> Gs;
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vector<Vector> gs;
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sort(keys.begin(), keys.end());
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for (unsigned int i = 0; i < keys.size(); ++i) {
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for (unsigned int j = i; j < keys.size(); ++j) {
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if (H.count(keys[i]) > 0 and H[keys[i]].count(keys[j]) > 0){
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for (size_t i = 0; i < keys.size(); ++i) {
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for (size_t j = i; j < keys.size(); ++j) {
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if (H.count(keys[i]) > 0 && H[keys[i]].count(keys[j]) > 0) {
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Gs.emplace_back(H[keys[i]][keys[j]]);
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}
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else{
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} else {
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Gs.emplace_back(Z_1x1);
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}
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}
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}
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for (Key key1 : keys) {
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if(g.count(key1) > 0){
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if (g.count(key1) > 0) {
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gs.emplace_back(-g[key1]);
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}
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else{
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} else {
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gs.emplace_back(Z_1x1);
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}
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}
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@ -278,8 +269,8 @@ QP QPSVisitor::makeQP() {
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// Add equality and inequality constraints into the QP
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size_t dual_key_num = keys.size() + 1;
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for (auto kv : E) {
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map < Key, Matrix11 > keyMatrixMapPos;
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map < Key, Matrix11 > keyMatrixMapNeg;
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map<Key, Matrix11> keyMatrixMapPos;
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map<Key, Matrix11> keyMatrixMapNeg;
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if (ranges.count(kv.first) == 1) {
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for (auto km : kv.second) {
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keyMatrixMapPos.insert(km);
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@ -289,22 +280,20 @@ QP QPSVisitor::makeQP() {
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if (ranges[kv.first] > 0) {
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madeQP.inequalities.push_back(
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LinearInequality(keyMatrixMapNeg, -b[kv.first], dual_key_num++));
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madeQP.inequalities.push_back(
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LinearInequality(keyMatrixMapPos, b[kv.first] + ranges[kv.first],
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dual_key_num++));
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madeQP.inequalities.push_back(LinearInequality(
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keyMatrixMapPos, b[kv.first] + ranges[kv.first], dual_key_num++));
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} else if (ranges[kv.first] < 0) {
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madeQP.inequalities.push_back(
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LinearInequality(keyMatrixMapPos, b[kv.first], dual_key_num++));
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madeQP.inequalities.push_back(
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LinearInequality(keyMatrixMapNeg, ranges[kv.first] - b[kv.first],
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dual_key_num++));
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madeQP.inequalities.push_back(LinearInequality(
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keyMatrixMapNeg, ranges[kv.first] - b[kv.first], dual_key_num++));
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} else {
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cerr << "ERROR: CANNOT ADD A RANGE OF ZERO" << endl;
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throw;
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}
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continue;
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}
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map < Key, Matrix11 > keyMatrixMap;
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map<Key, Matrix11> keyMatrixMap;
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for (auto km : kv.second) {
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keyMatrixMap.insert(km);
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}
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@ -313,8 +302,8 @@ QP QPSVisitor::makeQP() {
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}
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for (auto kv : IG) {
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map < Key, Matrix11 > keyMatrixMapNeg;
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map < Key, Matrix11 > keyMatrixMapPos;
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map<Key, Matrix11> keyMatrixMapNeg;
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map<Key, Matrix11> keyMatrixMapPos;
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for (auto km : kv.second) {
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keyMatrixMapPos.insert(km);
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km.second = -km.second;
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@ -323,15 +312,14 @@ QP QPSVisitor::makeQP() {
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madeQP.inequalities.push_back(
|
||||
LinearInequality(keyMatrixMapNeg, -b[kv.first], dual_key_num++));
|
||||
if (ranges.count(kv.first) == 1) {
|
||||
madeQP.inequalities.push_back(
|
||||
LinearInequality(keyMatrixMapPos, b[kv.first] + ranges[kv.first],
|
||||
dual_key_num++));
|
||||
madeQP.inequalities.push_back(LinearInequality(
|
||||
keyMatrixMapPos, b[kv.first] + ranges[kv.first], dual_key_num++));
|
||||
}
|
||||
}
|
||||
|
||||
for (auto kv : IL) {
|
||||
map < Key, Matrix11 > keyMatrixMapPos;
|
||||
map < Key, Matrix11 > keyMatrixMapNeg;
|
||||
map<Key, Matrix11> keyMatrixMapPos;
|
||||
map<Key, Matrix11> keyMatrixMapNeg;
|
||||
for (auto km : kv.second) {
|
||||
keyMatrixMapPos.insert(km);
|
||||
km.second = -km.second;
|
||||
|
|
@ -340,15 +328,13 @@ QP QPSVisitor::makeQP() {
|
|||
madeQP.inequalities.push_back(
|
||||
LinearInequality(keyMatrixMapPos, b[kv.first], dual_key_num++));
|
||||
if (ranges.count(kv.first) == 1) {
|
||||
madeQP.inequalities.push_back(
|
||||
LinearInequality(keyMatrixMapNeg, ranges[kv.first] - b[kv.first],
|
||||
dual_key_num++));
|
||||
madeQP.inequalities.push_back(LinearInequality(
|
||||
keyMatrixMapNeg, ranges[kv.first] - b[kv.first], dual_key_num++));
|
||||
}
|
||||
}
|
||||
|
||||
for (Key k : keys) {
|
||||
if (find(Free.begin(), Free.end(), k) != Free.end())
|
||||
continue;
|
||||
if (find(free.begin(), free.end(), k) != free.end()) continue;
|
||||
if (fx.count(k) == 1)
|
||||
madeQP.equalities.push_back(
|
||||
LinearEquality(k, I_1x1, fx[k] * I_1x1, dual_key_num++));
|
||||
|
|
@ -364,5 +350,4 @@ QP QPSVisitor::makeQP() {
|
|||
}
|
||||
return madeQP;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace gtsam
|
||||
|
|
|
|||
|
|
@ -18,14 +18,16 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <gtsam_unstable/linear/QP.h>
|
||||
#include <gtsam/inference/Symbol.h>
|
||||
#include <gtsam/inference/Key.h>
|
||||
#include <gtsam/base/Matrix.h>
|
||||
#include <gtsam/inference/Key.h>
|
||||
#include <gtsam/inference/Symbol.h>
|
||||
#include <gtsam_unstable/linear/QP.h>
|
||||
|
||||
#include <boost/fusion/include/vector.hpp>
|
||||
#include <boost/fusion/sequence.hpp>
|
||||
#include <unordered_map>
|
||||
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
|
||||
namespace gtsam {
|
||||
|
|
@ -34,87 +36,70 @@ namespace gtsam {
|
|||
* in a way that can be later used to build the full QP problem in the file.
|
||||
*/
|
||||
class QPSVisitor {
|
||||
private:
|
||||
private:
|
||||
typedef std::unordered_map<Key, Matrix11> coefficient_v;
|
||||
typedef std::unordered_map<std::string, coefficient_v> constraint_v;
|
||||
|
||||
std::unordered_map<std::string, constraint_v*> row_to_constraint_v; // Maps QPS ROWS to Variable-Matrix pairs
|
||||
constraint_v E; // Equalities
|
||||
constraint_v IG;// Inequalities >=
|
||||
constraint_v IL;// Inequalities <=
|
||||
std::unordered_map<std::string, constraint_v*> row_to_constraint_v; // Maps QPS ROWS to Variable-Matrix pairs
|
||||
constraint_v E; // Equalities
|
||||
constraint_v IG; // Inequalities >=
|
||||
constraint_v IL; // Inequalities <=
|
||||
unsigned int numVariables;
|
||||
std::unordered_map<std::string, double> b; // maps from constraint name to b value for Ax = b equality constraints
|
||||
std::unordered_map<std::string, double> ranges; // Inequalities can be specified as ranges on a variable
|
||||
std::unordered_map<Key, Vector1> g; // linear term of quadratic cost
|
||||
std::unordered_map<std::string, Key> varname_to_key; // Variable QPS string name to key
|
||||
std::unordered_map<Key, std::unordered_map<Key, Matrix11> > H; // H from hessian
|
||||
double f; // Constant term of quadratic cost
|
||||
std::string obj_name; // the objective function has a name in the QPS
|
||||
std::string name_; // the quadratic program has a name in the QPS
|
||||
std::unordered_map<Key, double> up; // Upper Bound constraints on variable where X < MAX
|
||||
std::unordered_map<Key, double> lo; // Lower Bound constraints on variable where MIN < X
|
||||
std::unordered_map<Key, double> fx; // Equalities specified as FX in BOUNDS part of QPS
|
||||
std::vector<Key> Free; // Variables can be specified as Free (to which no constraints apply)
|
||||
std::unordered_map<std::string, double> b; // maps from constraint name to b value for Ax = b equality constraints
|
||||
std::unordered_map<std::string, double> ranges; // Inequalities can be specified as ranges on a variable
|
||||
std::unordered_map<Key, Vector1> g; // linear term of quadratic cost
|
||||
std::unordered_map<std::string, Key> varname_to_key; // Variable QPS string name to key
|
||||
std::unordered_map<Key, std::unordered_map<Key, Matrix11> > H; // H from hessian
|
||||
double f; // Constant term of quadratic cost
|
||||
std::string obj_name; // the objective function has a name in the QPS
|
||||
std::string name_; // the quadratic program has a name in the QPS
|
||||
std::unordered_map<Key, double> up; // Upper Bound constraints on variable where X < MAX
|
||||
std::unordered_map<Key, double> lo; // Lower Bound constraints on variable where MIN < X
|
||||
std::unordered_map<Key, double> fx; // Equalities specified as FX in BOUNDS part of QPS
|
||||
KeyVector free; // Variables can be specified as free (to which no constraints apply)
|
||||
const bool debug = false;
|
||||
|
||||
public:
|
||||
QPSVisitor() : numVariables(1) {
|
||||
}
|
||||
using Chars = std::vector<char>;
|
||||
|
||||
void setName(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>> const & name);
|
||||
public:
|
||||
QPSVisitor() : numVariables(1) {}
|
||||
|
||||
void addColumn(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double,
|
||||
std::vector<char>> const & vars);
|
||||
void setName(boost::fusion::vector<Chars, Chars, Chars> const& name);
|
||||
|
||||
void addColumn(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars,
|
||||
double, Chars> const& vars);
|
||||
|
||||
void addColumnDouble(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, double, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, double> const & vars);
|
||||
boost::fusion::vector<Chars, Chars, Chars, Chars, double, Chars, Chars,
|
||||
Chars, double> const& vars);
|
||||
|
||||
void addRHS(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double,
|
||||
std::vector<char>> const & vars);
|
||||
void addRHS(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double,
|
||||
Chars> const& vars);
|
||||
|
||||
void addRHSDouble(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double> const & vars);
|
||||
boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double, Chars,
|
||||
Chars, Chars, double> const& vars);
|
||||
|
||||
void addRangeSingle(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double,
|
||||
std::vector<char>> const & vars);
|
||||
void addRangeSingle(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars,
|
||||
double, Chars> const& vars);
|
||||
|
||||
void addRangeDouble(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double> const & vars);
|
||||
boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, double, Chars,
|
||||
Chars, Chars, double> const& vars);
|
||||
|
||||
void addRow(
|
||||
boost::fusion::vector<std::vector<char>, char, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>> const & vars);
|
||||
boost::fusion::vector<Chars, char, Chars, Chars, Chars> const& vars);
|
||||
|
||||
void addBound(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, double> const & vars);
|
||||
void addBound(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars, Chars,
|
||||
Chars, double> const& vars);
|
||||
|
||||
void addFreeBound(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>> const & vars);
|
||||
void addFreeBound(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars,
|
||||
Chars, Chars> const& vars);
|
||||
|
||||
void addQuadTerm(
|
||||
boost::fusion::vector<std::vector<char>, std::vector<char>,
|
||||
std::vector<char>, std::vector<char>, std::vector<char>, double,
|
||||
std::vector<char>> const & vars);
|
||||
void addQuadTerm(boost::fusion::vector<Chars, Chars, Chars, Chars, Chars,
|
||||
double, Chars> const& vars);
|
||||
|
||||
QP makeQP();
|
||||
}
|
||||
;
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace gtsam
|
||||
|
|
|
|||
Loading…
Reference in New Issue