Drake
 All Classes Files Functions Variables
QuadraticConstraint Class Reference

a quadratic constraint of the form lb <= .5 * x'*Q*x + b'*x <= ub More...

Inheritance diagram for QuadraticConstraint:
Collaboration diagram for QuadraticConstraint:

Public Member Functions

function QuadraticConstraint (lb, ub, Q, b)
 
- Public Member Functions inherited from Constraint
function Constraint (lb, ub, xdim, options)
 Constraint(lb,ub) or Constraint(lb,ub,eval_handle) More...
 
function setSparseStructure (obj, iCfun, jCvar)
 set the sparse structure of the 1st order gradient matrix More...
 
function getGradientSparseStructure (obj)
 
function checkGradient (obj, tol, varargin)
 Check the accuracy and sparsity pattern of the gradient. More...
 
function setName (obj, name)
 
function disp (obj)
 
function eval (obj, varargin)
 
function setBounds (obj, lb, ub)
 revise the bounds for the constraint More...
 

Protected Member Functions

function constraintEval (obj, x)
 
- Protected Member Functions inherited from Constraint
virtual function constraintEval (obj, varargin)
 

Protected Attributes

Property Q
 
Property b
 
- Protected Attributes inherited from Constraint
Property lb
 
Property ub
 
Property xdim
 
Property num_cnstr
 
Property name
 
Property ceq_idx
 
Property cin_idx
 

Additional Inherited Members

- Public Attributes inherited from Constraint
Property grad_level
 
Property grad_method
 A string indicating the method to compute gradient. If empty,. More...
 

Detailed Description

a quadratic constraint of the form lb <= .5 * x'*Q*x + b'*x <= ub

Parameters
Q– A square matrix of size nx x nx
b– A double vector of size nx x 1

Constructor & Destructor Documentation

function QuadraticConstraint ( lb  ,
ub  ,
Q  ,
b   
)
Return values
obj

Member Function Documentation

function constraintEval ( obj  ,
 
)
protected
Return values
c
dc
ddc

Member Data Documentation

Property b
protected
Property Q
protected

The documentation for this class was generated from the following file: