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‎include/eiquadprog/eiquadprog-rt.hxx‎

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -39,9 +39,9 @@ RtEiquadprog<nVars, nEqCon, nIneqCon>::~RtEiquadprog() {}
3939

4040
template <int nVars, int nEqCon, int nIneqCon>
4141
bool RtEiquadprog<nVars, nEqCon, nIneqCon>::add_constraint(
42-
typename RtMatrixX<nVars, nVars>::d &R,
43-
typename RtMatrixX<nVars, nVars>::d &J, typename RtVectorX<nVars>::d &d,
44-
int &iq, double &R_norm) {
42+
typename RtMatrixX<nVars, nVars>::d& R,
43+
typename RtMatrixX<nVars, nVars>::d& J, typename RtVectorX<nVars>::d& d,
44+
int& iq, double& R_norm) {
4545
// int n=J.rows();
4646
#ifdef EIQGUADPROG_TRACE_SOLVER
4747
std::cerr << "Add constraint " << iq << '/';
@@ -117,10 +117,10 @@ into column iq - 1 of R
117117

118118
template <int nVars, int nEqCon, int nIneqCon>
119119
void RtEiquadprog<nVars, nEqCon, nIneqCon>::delete_constraint(
120-
typename RtMatrixX<nVars, nVars>::d &R,
121-
typename RtMatrixX<nVars, nVars>::d &J,
122-
typename RtVectorX<nIneqCon + nEqCon>::i &A,
123-
typename RtVectorX<nIneqCon + nEqCon>::d &u, int &iq, int l) {
120+
typename RtMatrixX<nVars, nVars>::d& R,
121+
typename RtMatrixX<nVars, nVars>::d& J,
122+
typename RtVectorX<nIneqCon + nEqCon>::i& A,
123+
typename RtVectorX<nIneqCon + nEqCon>::d& u, int& iq, int l) {
124124
// int n = J.rows();
125125
#ifdef EIQGUADPROG_TRACE_SOLVER
126126
std::cerr << "Delete constraint " << l << ' ' << iq;
@@ -189,13 +189,13 @@ void RtEiquadprog<nVars, nEqCon, nIneqCon>::delete_constraint(
189189

190190
template <int nVars, int nEqCon, int nIneqCon>
191191
RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
192-
const typename RtMatrixX<nVars, nVars>::d &Hess,
193-
const typename RtVectorX<nVars>::d &g0,
194-
const typename RtMatrixX<nEqCon, nVars>::d &CE,
195-
const typename RtVectorX<nEqCon>::d &ce0,
196-
const typename RtMatrixX<nIneqCon, nVars>::d &CI,
197-
const typename RtVectorX<nIneqCon>::d &ci0,
198-
typename RtVectorX<nVars>::d &x) {
192+
const typename RtMatrixX<nVars, nVars>::d& Hess,
193+
const typename RtVectorX<nVars>::d& g0,
194+
const typename RtMatrixX<nEqCon, nVars>::d& CE,
195+
const typename RtVectorX<nEqCon>::d& ce0,
196+
const typename RtMatrixX<nIneqCon, nVars>::d& CI,
197+
const typename RtVectorX<nIneqCon>::d& ci0,
198+
typename RtVectorX<nVars>::d& x) {
199199
int i, k, l; // indices
200200
int ip; // index of the chosen violated constraint
201201
int iq; // current number of active constraints

‎include/eiquadprog/eiquadprog-utils.hxx‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -24,20 +24,20 @@ inline Scalar distance(Scalar a, Scalar b) {
2424
}
2525

2626
template <class Derived>
27-
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x) {
27+
void print_vector(const char* name, Eigen::MatrixBase<Derived>& x) {
2828
std::cerr << name << x.transpose() << std::endl;
2929
}
3030
template <class Derived>
31-
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x) {
31+
void print_matrix(const char* name, Eigen::MatrixBase<Derived>& x) {
3232
std::cerr << name << std::endl << x << std::endl;
3333
}
3434

3535
template <class Derived>
36-
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
36+
void print_vector(const char* name, Eigen::MatrixBase<Derived>& x, int /*n*/) {
3737
print_vector(name, x);
3838
}
3939
template <class Derived>
40-
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
40+
void print_matrix(const char* name, Eigen::MatrixBase<Derived>& x, int /*n*/) {
4141
print_matrix(name, x);
4242
}
4343

‎include/eiquadprog/eiquadprog.hpp‎

Lines changed: 39 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -84,64 +84,64 @@
8484
namespace eiquadprog {
8585
namespace solvers {
8686

87-
inline void compute_d(Eigen::VectorXd &d, const Eigen::MatrixXd &J,
88-
const Eigen::VectorXd &np) {
87+
inline void compute_d(Eigen::VectorXd& d, const Eigen::MatrixXd& J,
88+
const Eigen::VectorXd& np) {
8989
d.noalias() = J.adjoint() * np;
9090
}
9191

92-
inline void update_z(Eigen::VectorXd &z, const Eigen::MatrixXd &J,
93-
const Eigen::VectorXd &d, size_t iq) {
92+
inline void update_z(Eigen::VectorXd& z, const Eigen::MatrixXd& J,
93+
const Eigen::VectorXd& d, size_t iq) {
9494
z.noalias() = J.rightCols(z.size() - iq) * d.tail(d.size() - iq);
9595
}
9696

97-
inline void update_r(const Eigen::MatrixXd &R, Eigen::VectorXd &r,
98-
const Eigen::VectorXd &d, size_t iq) {
97+
inline void update_r(const Eigen::MatrixXd& R, Eigen::VectorXd& r,
98+
const Eigen::VectorXd& d, size_t iq) {
9999
r.head(iq) = d.head(iq);
100100
R.topLeftCorner(iq, iq).triangularView<Eigen::Upper>().solveInPlace(
101101
r.head(iq));
102102
}
103103

104-
bool add_constraint(Eigen::MatrixXd &R, Eigen::MatrixXd &J, Eigen::VectorXd &d,
105-
size_t &iq, double &R_norm);
106-
void delete_constraint(Eigen::MatrixXd &R, Eigen::MatrixXd &J,
107-
Eigen::VectorXi &A, Eigen::VectorXd &u, size_t p,
108-
size_t &iq, size_t l);
104+
bool add_constraint(Eigen::MatrixXd& R, Eigen::MatrixXd& J, Eigen::VectorXd& d,
105+
size_t& iq, double& R_norm);
106+
void delete_constraint(Eigen::MatrixXd& R, Eigen::MatrixXd& J,
107+
Eigen::VectorXi& A, Eigen::VectorXd& u, size_t p,
108+
size_t& iq, size_t l);
109109

110-
double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower> &chol,
111-
double c1, Eigen::VectorXd &g0, const Eigen::MatrixXd &CE,
112-
const Eigen::VectorXd &ce0, const Eigen::MatrixXd &CI,
113-
const Eigen::VectorXd &ci0, Eigen::VectorXd &x,
114-
Eigen::VectorXi &A, size_t &q);
110+
double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower>& chol,
111+
double c1, Eigen::VectorXd& g0, const Eigen::MatrixXd& CE,
112+
const Eigen::VectorXd& ce0, const Eigen::MatrixXd& CI,
113+
const Eigen::VectorXd& ci0, Eigen::VectorXd& x,
114+
Eigen::VectorXi& A, size_t& q);
115115

116-
double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower> &chol,
117-
double c1, Eigen::VectorXd &g0, const Eigen::MatrixXd &CE,
118-
const Eigen::VectorXd &ce0, const Eigen::MatrixXd &CI,
119-
const Eigen::VectorXd &ci0, Eigen::VectorXd &x,
120-
Eigen::VectorXd &y, Eigen::VectorXi &A, size_t &q);
116+
double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower>& chol,
117+
double c1, Eigen::VectorXd& g0, const Eigen::MatrixXd& CE,
118+
const Eigen::VectorXd& ce0, const Eigen::MatrixXd& CI,
119+
const Eigen::VectorXd& ci0, Eigen::VectorXd& x,
120+
Eigen::VectorXd& y, Eigen::VectorXi& A, size_t& q);
121121

122122
EIQUADPROG_DEPRECATED
123-
inline double solve_quadprog2(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower> &chol,
124-
double c1, Eigen::VectorXd &g0,
125-
const Eigen::MatrixXd &CE,
126-
const Eigen::VectorXd &ce0,
127-
const Eigen::MatrixXd &CI,
128-
const Eigen::VectorXd &ci0, Eigen::VectorXd &x,
129-
Eigen::VectorXi &A, size_t &q) {
123+
inline double solve_quadprog2(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower>& chol,
124+
double c1, Eigen::VectorXd& g0,
125+
const Eigen::MatrixXd& CE,
126+
const Eigen::VectorXd& ce0,
127+
const Eigen::MatrixXd& CI,
128+
const Eigen::VectorXd& ci0, Eigen::VectorXd& x,
129+
Eigen::VectorXi& A, size_t& q) {
130130
return solve_quadprog(chol, c1, g0, CE, ce0, CI, ci0, x, A, q);
131131
}
132132

133133
/* solve_quadprog is used for on-demand QP solving */
134-
double solve_quadprog(Eigen::MatrixXd &G, Eigen::VectorXd &g0,
135-
const Eigen::MatrixXd &CE, const Eigen::VectorXd &ce0,
136-
const Eigen::MatrixXd &CI, const Eigen::VectorXd &ci0,
137-
Eigen::VectorXd &x, Eigen::VectorXi &activeSet,
138-
size_t &activeSetSize);
139-
140-
double solve_quadprog(Eigen::MatrixXd &G, Eigen::VectorXd &g0,
141-
const Eigen::MatrixXd &CE, const Eigen::VectorXd &ce0,
142-
const Eigen::MatrixXd &CI, const Eigen::VectorXd &ci0,
143-
Eigen::VectorXd &x, Eigen::VectorXd &y,
144-
Eigen::VectorXi &activeSet, size_t &activeSetSize);
134+
double solve_quadprog(Eigen::MatrixXd& G, Eigen::VectorXd& g0,
135+
const Eigen::MatrixXd& CE, const Eigen::VectorXd& ce0,
136+
const Eigen::MatrixXd& CI, const Eigen::VectorXd& ci0,
137+
Eigen::VectorXd& x, Eigen::VectorXi& activeSet,
138+
size_t& activeSetSize);
139+
140+
double solve_quadprog(Eigen::MatrixXd& G, Eigen::VectorXd& g0,
141+
const Eigen::MatrixXd& CE, const Eigen::VectorXd& ce0,
142+
const Eigen::MatrixXd& CI, const Eigen::VectorXd& ci0,
143+
Eigen::VectorXd& x, Eigen::VectorXd& y,
144+
Eigen::VectorXi& activeSet, size_t& activeSetSize);
145145
// }
146146

147147
} // namespace solvers

‎src/eiquadprog-fast.cpp‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -42,8 +42,8 @@ void EiquadprogFast::reset(size_t nVars, size_t nEqCon, size_t nIneqCon) {
4242
#endif
4343
}
4444

45-
bool EiquadprogFast::add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d,
46-
size_t &iq, double &R_norm) {
45+
bool EiquadprogFast::add_constraint(MatrixXd& R, MatrixXd& J, VectorXd& d,
46+
size_t& iq, double& R_norm) {
4747
size_t nVars = J.rows();
4848
#ifdef EIQGUADPROG_TRACE_SOLVER
4949
std::cerr << "Add constraint " << iq << '/';
@@ -117,8 +117,8 @@ into column iq - 1 of R
117117
return true;
118118
}
119119

120-
void EiquadprogFast::delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A,
121-
VectorXd &u, size_t nEqCon, size_t &iq,
120+
void EiquadprogFast::delete_constraint(MatrixXd& R, MatrixXd& J, VectorXi& A,
121+
VectorXd& u, size_t nEqCon, size_t& iq,
122122
size_t l) {
123123
size_t nVars = R.rows();
124124
#ifdef EIQGUADPROG_TRACE_SOLVER
@@ -187,8 +187,8 @@ void EiquadprogFast::delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A,
187187
}
188188

189189
EiquadprogFast_status EiquadprogFast::solve_quadprog(
190-
const MatrixXd &Hess, const VectorXd &g0, const MatrixXd &CE,
191-
const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x) {
190+
const MatrixXd& Hess, const VectorXd& g0, const MatrixXd& CE,
191+
const VectorXd& ce0, const MatrixXd& CI, const VectorXd& ci0, VectorXd& x) {
192192
const size_t nVars = g0.size();
193193
const size_t nEqCon = ce0.size();
194194
const size_t nIneqCon = ci0.size();

‎src/eiquadprog.cpp‎

Lines changed: 20 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -6,10 +6,10 @@ using namespace Eigen;
66

77
/* solve_quadprog is used for on-demand QP solving */
88

9-
double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
10-
const VectorXd &ce0, const MatrixXd &CI,
11-
const VectorXd &ci0, VectorXd &x, VectorXi &activeSet,
12-
size_t &activeSetSize) {
9+
double solve_quadprog(MatrixXd& G, VectorXd& g0, const MatrixXd& CE,
10+
const VectorXd& ce0, const MatrixXd& CI,
11+
const VectorXd& ci0, VectorXd& x, VectorXi& activeSet,
12+
size_t& activeSetSize) {
1313
Eigen::DenseIndex p = CE.cols();
1414
Eigen::DenseIndex m = CI.cols();
1515

@@ -19,10 +19,10 @@ double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
1919
activeSetSize);
2020
}
2121

22-
double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
23-
const VectorXd &ce0, const MatrixXd &CI,
24-
const VectorXd &ci0, VectorXd &x, VectorXd &y,
25-
VectorXi &activeSet, size_t &activeSetSize) {
22+
double solve_quadprog(MatrixXd& G, VectorXd& g0, const MatrixXd& CE,
23+
const VectorXd& ce0, const MatrixXd& CI,
24+
const VectorXd& ci0, VectorXd& x, VectorXd& y,
25+
VectorXi& activeSet, size_t& activeSetSize) {
2626
LLT<MatrixXd, Lower> chol(G.cols());
2727
double c1;
2828
/* compute the trace of the original matrix G */
@@ -35,10 +35,10 @@ double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
3535
activeSetSize);
3636
}
3737

38-
double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
39-
const MatrixXd &CE, const VectorXd &ce0,
40-
const MatrixXd &CI, const VectorXd &ci0, VectorXd &x,
41-
VectorXi &activeSet, size_t &activeSetSize) {
38+
double solve_quadprog(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0,
39+
const MatrixXd& CE, const VectorXd& ce0,
40+
const MatrixXd& CI, const VectorXd& ci0, VectorXd& x,
41+
VectorXi& activeSet, size_t& activeSetSize) {
4242
Eigen::DenseIndex p = CE.cols();
4343
Eigen::DenseIndex m = CI.cols();
4444

@@ -53,10 +53,10 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
5353
* @param A Output vector containing the indexes of the active constraints.
5454
* @param q Output value representing the size of the active set.
5555
*/
56-
double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
57-
const MatrixXd &CE, const VectorXd &ce0,
58-
const MatrixXd &CI, const VectorXd &ci0, VectorXd &x,
59-
VectorXd &u, VectorXi &A, size_t &q) {
56+
double solve_quadprog(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0,
57+
const MatrixXd& CE, const VectorXd& ce0,
58+
const MatrixXd& CI, const VectorXd& ci0, VectorXd& x,
59+
VectorXd& u, VectorXi& A, size_t& q) {
6060
size_t i, k, l; /* indices */
6161
size_t ip, me, mi;
6262
size_t n = g0.size();
@@ -358,8 +358,8 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
358358
goto l2a;
359359
}
360360

361-
bool add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d, size_t &iq,
362-
double &R_norm) {
361+
bool add_constraint(MatrixXd& R, MatrixXd& J, VectorXd& d, size_t& iq,
362+
double& R_norm) {
363363
size_t n = J.rows();
364364
#ifdef EIQGUADPROG_TRACE_SOLVER
365365
std::cerr << "Add constraint " << iq << '/';
@@ -418,8 +418,8 @@ bool add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d, size_t &iq,
418418
return true;
419419
}
420420

421-
void delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A, VectorXd &u,
422-
size_t p, size_t &iq, size_t l) {
421+
void delete_constraint(MatrixXd& R, MatrixXd& J, VectorXi& A, VectorXd& u,
422+
size_t p, size_t& iq, size_t l) {
423423
size_t n = R.rows();
424424
#ifdef EIQGUADPROG_TRACE_SOLVER
425425
std::cerr << "Delete constraint " << l << ' ' << iq;

‎tests/TestA.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,6 @@ A::A() : Q_(2, 2), C_(2), Aeq_(0, 2), Beq_(0), Aineq_(0, 2), Bineq_(0), QP_() {
1818
expected_ = EIQUADPROG_FAST_OPTIMAL;
1919
}
2020

21-
EiquadprogFast_status A::solve(Eigen::VectorXd &x) {
21+
EiquadprogFast_status A::solve(Eigen::VectorXd& x) {
2222
return QP_.solve_quadprog(Q_, C_, Aeq_, Beq_, Aineq_, Bineq_, x);
2323
}

‎tests/TestA.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ class A {
2121
eiquadprog::solvers::EiquadprogFast QP_;
2222

2323
A();
24-
eiquadprog::solvers::EiquadprogFast_status solve(Eigen::VectorXd &x);
24+
eiquadprog::solvers::EiquadprogFast_status solve(Eigen::VectorXd& x);
2525
};
2626

2727
} // namespace tests

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