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Merge pull request #607 from borglab/fix/306 

Enforce constant term in QP to be default 0
release/4.3a0
Varun Agrawal 2020-11-19 17:21:38 -05:00 committed by GitHub
parent 70b04afaa3 802580eec7
commit ea2064e74d
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 10 additions and 7 deletions
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17
gtsam_unstable/linear/QPSParser.cpp
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@ -81,7 +81,7 @@ class QPSVisitor {
varname_to_key; // Variable QPS string name to key varname_to_key; // Variable QPS string name to key
std::unordered_map<Key, std::unordered_map<Key, Matrix11>> std::unordered_map<Key, std::unordered_map<Key, Matrix11>>
H; // H from hessian H; // H from hessian
double f; // Constant term of quadratic cost double f = 0; // Constant term of quadratic cost
std::string obj_name; // the objective function has a name in the QPS 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::string name_; // the quadratic program has a name in the QPS
std::unordered_map<Key, double> std::unordered_map<Key, double>
@ -175,10 +175,11 @@ class QPSVisitor {
string var_ = fromChars<1>(vars); string var_ = fromChars<1>(vars);
string row_ = fromChars<3>(vars); string row_ = fromChars<3>(vars);
double coefficient = at_c<5>(vars); double coefficient = at_c<5>(vars);
if (row_ == obj_name) if (row_ == obj_name) {
f = -coefficient; f = -coefficient;
else } else {
b[row_] = coefficient; b[row_] = coefficient;
}
if (debug) { if (debug) {
cout << "Added RHS for Var: " << var_ << " Row: " << row_ cout << "Added RHS for Var: " << var_ << " Row: " << row_
@ -194,15 +195,17 @@ class QPSVisitor {
string row2_ = fromChars<7>(vars); string row2_ = fromChars<7>(vars);
double coefficient1 = at_c<5>(vars); double coefficient1 = at_c<5>(vars);
double coefficient2 = at_c<9>(vars); double coefficient2 = at_c<9>(vars);
if (row1_ == obj_name) if (row1_ == obj_name) {
f = -coefficient1; f = -coefficient1;
else } else {
b[row1_] = coefficient1; b[row1_] = coefficient1;
}
if (row2_ == obj_name) if (row2_ == obj_name) {
f = -coefficient2; f = -coefficient2;
else } else {
b[row2_] = coefficient2; b[row2_] = coefficient2;
}
if (debug) { if (debug) {
cout << "Added RHS for Var: " << var_ << " Row: " << row1_ cout << "Added RHS for Var: " << var_ << " Row: " << row1_