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eiquadprog
Commits
ace8d662
Commit
ace8d662
authored
Sep 16, 2019
by
Gabriele Buondonno
Browse files
Fix Cholesky spelling
parent
f786a873
Changes
1
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Inline
Side-by-side
include/eiquadprog/eiquadprog-fast.hxx
View file @
ace8d662
...
...
@@ -290,7 +290,7 @@ namespace eiquadprog
size_t
iq
;
// current number of active constraints
double
psi
;
// current sum of constraint violations
double
c1
;
// Hessian trace
double
c2
;
// Hessian Cho
w
lesky factor trace
double
c2
;
// Hessian Cholesky factor trace
double
ss
;
// largest constraint violation (negative for violation)
double
R_norm
;
// norm of matrix R
const
double
inf
=
std
::
numeric_limits
<
double
>::
infinity
();
...
...
@@ -309,9 +309,9 @@ namespace eiquadprog
/* decompose the matrix Hess in the form LL^T */
if
(
!
is_inverse_provided_
)
{
START_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHO
W
LESKY_DECOMPOSITION
);
START_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHOLESKY_DECOMPOSITION
);
chol_
.
compute
(
Hess
);
STOP_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHO
W
LESKY_DECOMPOSITION
);
STOP_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHOLESKY_DECOMPOSITION
);
}
...
...
@@ -324,14 +324,14 @@ namespace eiquadprog
// m_J = L^-T
if
(
!
is_inverse_provided_
)
{
START_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHO
W
LESKY_INVERSE
);
START_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHOLESKY_INVERSE
);
m_J
.
setIdentity
(
nVars
,
nVars
);
#ifdef OPTIMIZE_HESSIAN_INVERSE
chol_
.
matrixU
().
solveInPlace
(
m_J
);
#else
m_J
=
chol_
.
matrixU
().
solve
(
m_J
);
#endif
STOP_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHO
W
LESKY_INVERSE
);
STOP_PROFILER_EIQUADPROG_FAST
(
EIQUADPROG_FAST_CHOLESKY_INVERSE
);
}
c2
=
m_J
.
trace
();
...
...
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