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| std::unique_ptr< MathematicalProgram > | MakeSemidefiniteRelaxation (const MathematicalProgram &prog) |
| | Constructs a new MathematicalProgram which represents the semidefinite programming convex relaxation of the (likely nonconvex) program prog. More...
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| std::unique_ptr< MathematicalProgram > | MakeSemidefiniteRelaxation (const MathematicalProgram &prog, const std::vector< symbolic::Variables > &variable_groups) |
| | A version of MakeSemidefiniteRelaxation that allows for specifying the sparsity of the relaxation. More...
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