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Sep 12, 2025
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[pre-commit.ci] pre-commit autoupdate #63

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278a46f
[pre-commit.ci] pre-commit autoupdate
pre-commit-ci[bot] Sep 1, 2025
3a805a1
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Sep 1, 2025
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4 changes: 2 additions & 2 deletions .pre-commit-config.yaml
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Expand Up @@ -6,13 +6,13 @@ repos:
hooks:
- id: cmake-format
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v20.1.5
rev: v21.1.0
hooks:
- id: clang-format
args:
- --style=Google
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v5.0.0
rev: v6.0.0
hooks:
- id: check-added-large-files
- id: check-ast
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28 changes: 14 additions & 14 deletions include/eiquadprog/eiquadprog-rt.hxx
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Expand Up @@ -39,9 +39,9 @@ RtEiquadprog<nVars, nEqCon, nIneqCon>::~RtEiquadprog() {}

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

template <int nVars, int nEqCon, int nIneqCon>
void RtEiquadprog<nVars, nEqCon, nIneqCon>::delete_constraint(
typename RtMatrixX<nVars, nVars>::d &R,
typename RtMatrixX<nVars, nVars>::d &J,
typename RtVectorX<nIneqCon + nEqCon>::i &A,
typename RtVectorX<nIneqCon + nEqCon>::d &u, int &iq, int l) {
typename RtMatrixX<nVars, nVars>::d& R,
typename RtMatrixX<nVars, nVars>::d& J,
typename RtVectorX<nIneqCon + nEqCon>::i& A,
typename RtVectorX<nIneqCon + nEqCon>::d& u, int& iq, int l) {
// int n = J.rows();
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Delete constraint " << l << ' ' << iq;
Expand Down Expand Up @@ -189,13 +189,13 @@ void RtEiquadprog<nVars, nEqCon, nIneqCon>::delete_constraint(

template <int nVars, int nEqCon, int nIneqCon>
RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
const typename RtMatrixX<nVars, nVars>::d &Hess,
const typename RtVectorX<nVars>::d &g0,
const typename RtMatrixX<nEqCon, nVars>::d &CE,
const typename RtVectorX<nEqCon>::d &ce0,
const typename RtMatrixX<nIneqCon, nVars>::d &CI,
const typename RtVectorX<nIneqCon>::d &ci0,
typename RtVectorX<nVars>::d &x) {
const typename RtMatrixX<nVars, nVars>::d& Hess,
const typename RtVectorX<nVars>::d& g0,
const typename RtMatrixX<nEqCon, nVars>::d& CE,
const typename RtVectorX<nEqCon>::d& ce0,
const typename RtMatrixX<nIneqCon, nVars>::d& CI,
const typename RtVectorX<nIneqCon>::d& ci0,
typename RtVectorX<nVars>::d& x) {
int i, k, l; // indices
int ip; // index of the chosen violated constraint
int iq; // current number of active constraints
Expand Down
8 changes: 4 additions & 4 deletions include/eiquadprog/eiquadprog-utils.hxx
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Expand Up @@ -24,20 +24,20 @@ inline Scalar distance(Scalar a, Scalar b) {
}

template <class Derived>
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x) {
void print_vector(const char* name, Eigen::MatrixBase<Derived>& x) {
std::cerr << name << x.transpose() << std::endl;
}
template <class Derived>
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x) {
void print_matrix(const char* name, Eigen::MatrixBase<Derived>& x) {
std::cerr << name << std::endl << x << std::endl;
}

template <class Derived>
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
void print_vector(const char* name, Eigen::MatrixBase<Derived>& x, int /*n*/) {
print_vector(name, x);
}
template <class Derived>
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
void print_matrix(const char* name, Eigen::MatrixBase<Derived>& x, int /*n*/) {
print_matrix(name, x);
}

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78 changes: 39 additions & 39 deletions include/eiquadprog/eiquadprog.hpp
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Expand Up @@ -84,64 +84,64 @@
namespace eiquadprog {
namespace solvers {

inline void compute_d(Eigen::VectorXd &d, const Eigen::MatrixXd &J,
const Eigen::VectorXd &np) {
inline void compute_d(Eigen::VectorXd& d, const Eigen::MatrixXd& J,
const Eigen::VectorXd& np) {
d.noalias() = J.adjoint() * np;
}

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

inline void update_r(const Eigen::MatrixXd &R, Eigen::VectorXd &r,
const Eigen::VectorXd &d, size_t iq) {
inline void update_r(const Eigen::MatrixXd& R, Eigen::VectorXd& r,
const Eigen::VectorXd& d, size_t iq) {
r.head(iq) = d.head(iq);
R.topLeftCorner(iq, iq).triangularView<Eigen::Upper>().solveInPlace(
r.head(iq));
}

bool add_constraint(Eigen::MatrixXd &R, Eigen::MatrixXd &J, Eigen::VectorXd &d,
size_t &iq, double &R_norm);
void delete_constraint(Eigen::MatrixXd &R, Eigen::MatrixXd &J,
Eigen::VectorXi &A, Eigen::VectorXd &u, size_t p,
size_t &iq, size_t l);
bool add_constraint(Eigen::MatrixXd& R, Eigen::MatrixXd& J, Eigen::VectorXd& d,
size_t& iq, double& R_norm);
void delete_constraint(Eigen::MatrixXd& R, Eigen::MatrixXd& J,
Eigen::VectorXi& A, Eigen::VectorXd& u, size_t p,
size_t& iq, size_t l);

double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower> &chol,
double c1, Eigen::VectorXd &g0, const Eigen::MatrixXd &CE,
const Eigen::VectorXd &ce0, const Eigen::MatrixXd &CI,
const Eigen::VectorXd &ci0, Eigen::VectorXd &x,
Eigen::VectorXi &A, size_t &q);
double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower>& chol,
double c1, Eigen::VectorXd& g0, const Eigen::MatrixXd& CE,
const Eigen::VectorXd& ce0, const Eigen::MatrixXd& CI,
const Eigen::VectorXd& ci0, Eigen::VectorXd& x,
Eigen::VectorXi& A, size_t& q);

double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower> &chol,
double c1, Eigen::VectorXd &g0, const Eigen::MatrixXd &CE,
const Eigen::VectorXd &ce0, const Eigen::MatrixXd &CI,
const Eigen::VectorXd &ci0, Eigen::VectorXd &x,
Eigen::VectorXd &y, Eigen::VectorXi &A, size_t &q);
double solve_quadprog(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower>& chol,
double c1, Eigen::VectorXd& g0, const Eigen::MatrixXd& CE,
const Eigen::VectorXd& ce0, const Eigen::MatrixXd& CI,
const Eigen::VectorXd& ci0, Eigen::VectorXd& x,
Eigen::VectorXd& y, Eigen::VectorXi& A, size_t& q);

EIQUADPROG_DEPRECATED
inline double solve_quadprog2(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower> &chol,
double c1, Eigen::VectorXd &g0,
const Eigen::MatrixXd &CE,
const Eigen::VectorXd &ce0,
const Eigen::MatrixXd &CI,
const Eigen::VectorXd &ci0, Eigen::VectorXd &x,
Eigen::VectorXi &A, size_t &q) {
inline double solve_quadprog2(Eigen::LLT<Eigen::MatrixXd, Eigen::Lower>& chol,
double c1, Eigen::VectorXd& g0,
const Eigen::MatrixXd& CE,
const Eigen::VectorXd& ce0,
const Eigen::MatrixXd& CI,
const Eigen::VectorXd& ci0, Eigen::VectorXd& x,
Eigen::VectorXi& A, size_t& q) {
return solve_quadprog(chol, c1, g0, CE, ce0, CI, ci0, x, A, q);
}

/* solve_quadprog is used for on-demand QP solving */
double solve_quadprog(Eigen::MatrixXd &G, Eigen::VectorXd &g0,
const Eigen::MatrixXd &CE, const Eigen::VectorXd &ce0,
const Eigen::MatrixXd &CI, const Eigen::VectorXd &ci0,
Eigen::VectorXd &x, Eigen::VectorXi &activeSet,
size_t &activeSetSize);

double solve_quadprog(Eigen::MatrixXd &G, Eigen::VectorXd &g0,
const Eigen::MatrixXd &CE, const Eigen::VectorXd &ce0,
const Eigen::MatrixXd &CI, const Eigen::VectorXd &ci0,
Eigen::VectorXd &x, Eigen::VectorXd &y,
Eigen::VectorXi &activeSet, size_t &activeSetSize);
double solve_quadprog(Eigen::MatrixXd& G, Eigen::VectorXd& g0,
const Eigen::MatrixXd& CE, const Eigen::VectorXd& ce0,
const Eigen::MatrixXd& CI, const Eigen::VectorXd& ci0,
Eigen::VectorXd& x, Eigen::VectorXi& activeSet,
size_t& activeSetSize);

double solve_quadprog(Eigen::MatrixXd& G, Eigen::VectorXd& g0,
const Eigen::MatrixXd& CE, const Eigen::VectorXd& ce0,
const Eigen::MatrixXd& CI, const Eigen::VectorXd& ci0,
Eigen::VectorXd& x, Eigen::VectorXd& y,
Eigen::VectorXi& activeSet, size_t& activeSetSize);
// }

} // namespace solvers
Expand Down
12 changes: 6 additions & 6 deletions src/eiquadprog-fast.cpp
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Expand Up @@ -42,8 +42,8 @@ void EiquadprogFast::reset(size_t nVars, size_t nEqCon, size_t nIneqCon) {
#endif
}

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

void EiquadprogFast::delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A,
VectorXd &u, size_t nEqCon, size_t &iq,
void EiquadprogFast::delete_constraint(MatrixXd& R, MatrixXd& J, VectorXi& A,
VectorXd& u, size_t nEqCon, size_t& iq,
size_t l) {
size_t nVars = R.rows();
#ifdef EIQGUADPROG_TRACE_SOLVER
Expand Down Expand Up @@ -187,8 +187,8 @@ void EiquadprogFast::delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A,
}

EiquadprogFast_status EiquadprogFast::solve_quadprog(
const MatrixXd &Hess, const VectorXd &g0, const MatrixXd &CE,
const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, VectorXd &x) {
const MatrixXd& Hess, const VectorXd& g0, const MatrixXd& CE,
const VectorXd& ce0, const MatrixXd& CI, const VectorXd& ci0, VectorXd& x) {
const size_t nVars = g0.size();
const size_t nEqCon = ce0.size();
const size_t nIneqCon = ci0.size();
Expand Down
40 changes: 20 additions & 20 deletions src/eiquadprog.cpp
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Expand Up @@ -6,10 +6,10 @@ using namespace Eigen;

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

double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
const VectorXd &ce0, const MatrixXd &CI,
const VectorXd &ci0, VectorXd &x, VectorXi &activeSet,
size_t &activeSetSize) {
double solve_quadprog(MatrixXd& G, VectorXd& g0, const MatrixXd& CE,
const VectorXd& ce0, const MatrixXd& CI,
const VectorXd& ci0, VectorXd& x, VectorXi& activeSet,
size_t& activeSetSize) {
Eigen::DenseIndex p = CE.cols();
Eigen::DenseIndex m = CI.cols();

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

double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
const VectorXd &ce0, const MatrixXd &CI,
const VectorXd &ci0, VectorXd &x, VectorXd &y,
VectorXi &activeSet, size_t &activeSetSize) {
double solve_quadprog(MatrixXd& G, VectorXd& g0, const MatrixXd& CE,
const VectorXd& ce0, const MatrixXd& CI,
const VectorXd& ci0, VectorXd& x, VectorXd& y,
VectorXi& activeSet, size_t& activeSetSize) {
LLT<MatrixXd, Lower> chol(G.cols());
double c1;
/* compute the trace of the original matrix G */
Expand All @@ -35,10 +35,10 @@ double solve_quadprog(MatrixXd &G, VectorXd &g0, const MatrixXd &CE,
activeSetSize);
}

double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
const MatrixXd &CE, const VectorXd &ce0,
const MatrixXd &CI, const VectorXd &ci0, VectorXd &x,
VectorXi &activeSet, size_t &activeSetSize) {
double solve_quadprog(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0,
const MatrixXd& CE, const VectorXd& ce0,
const MatrixXd& CI, const VectorXd& ci0, VectorXd& x,
VectorXi& activeSet, size_t& activeSetSize) {
Eigen::DenseIndex p = CE.cols();
Eigen::DenseIndex m = CI.cols();

Expand All @@ -53,10 +53,10 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
* @param A Output vector containing the indexes of the active constraints.
* @param q Output value representing the size of the active set.
*/
double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
const MatrixXd &CE, const VectorXd &ce0,
const MatrixXd &CI, const VectorXd &ci0, VectorXd &x,
VectorXd &u, VectorXi &A, size_t &q) {
double solve_quadprog(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0,
const MatrixXd& CE, const VectorXd& ce0,
const MatrixXd& CI, const VectorXd& ci0, VectorXd& x,
VectorXd& u, VectorXi& A, size_t& q) {
size_t i, k, l; /* indices */
size_t ip, me, mi;
size_t n = g0.size();
Expand Down Expand Up @@ -358,8 +358,8 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
goto l2a;
}

bool add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d, size_t &iq,
double &R_norm) {
bool add_constraint(MatrixXd& R, MatrixXd& J, VectorXd& d, size_t& iq,
double& R_norm) {
size_t n = J.rows();
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Add constraint " << iq << '/';
Expand Down Expand Up @@ -418,8 +418,8 @@ bool add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d, size_t &iq,
return true;
}

void delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A, VectorXd &u,
size_t p, size_t &iq, size_t l) {
void delete_constraint(MatrixXd& R, MatrixXd& J, VectorXi& A, VectorXd& u,
size_t p, size_t& iq, size_t l) {
size_t n = R.rows();
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Delete constraint " << l << ' ' << iq;
Expand Down
2 changes: 1 addition & 1 deletion tests/TestA.cpp
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Expand Up @@ -18,6 +18,6 @@ A::A() : Q_(2, 2), C_(2), Aeq_(0, 2), Beq_(0), Aineq_(0, 2), Bineq_(0), QP_() {
expected_ = EIQUADPROG_FAST_OPTIMAL;
}

EiquadprogFast_status A::solve(Eigen::VectorXd &x) {
EiquadprogFast_status A::solve(Eigen::VectorXd& x) {
return QP_.solve_quadprog(Q_, C_, Aeq_, Beq_, Aineq_, Bineq_, x);
}
2 changes: 1 addition & 1 deletion tests/TestA.hpp
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Expand Up @@ -21,7 +21,7 @@ class A {
eiquadprog::solvers::EiquadprogFast QP_;

A();
eiquadprog::solvers::EiquadprogFast_status solve(Eigen::VectorXd &x);
eiquadprog::solvers::EiquadprogFast_status solve(Eigen::VectorXd& x);
};

} // namespace tests
Expand Down