void QLDSolver::updateEqualityEquations()
{
int m = 0;
for (size_t i=0; i<_equalityConstraints.size(); ++i)
{
LinearConstraint* cstr = _equalityConstraints[i];
int dim = cstr->getDimension();
// XXX http://eigen.tuxfamily.org/api/TopicFunctionTakingEigenTypes.html#TopicPlainFunctionsFailing
Eigen::Block<MatrixMap> _A_block = _A.block(m, 0, dim, n());
Eigen::DenseBase<VectorMap>::SegmentReturnType _b_segment = _b.segment(m, dim);
Eigen::VectorXd v;
utils::convert(*cstr, findMapping(cstr->getVariable()), CSTR_PLUS_EQUAL, _A_block, _b_segment, v);
m += dim;
}
}
void QLDSolver::updateInequalityEquations()
{
int p = static_cast<int>(_m);
for (size_t i=0; i<_inequalityConstraints.size(); ++i)
{
LinearConstraint* cstr = _inequalityConstraints[i];
int dim = cstr->getDimension();
if(cstr->getType() == CSTR_LOWER_AND_GREATER)
dim *= 2;
// XXX http://eigen.tuxfamily.org/api/TopicFunctionTakingEigenTypes.html#TopicPlainFunctionsFailing
Eigen::Block<Eigen::Map<Eigen::MatrixXd> > _A_block = _A.block(p, 0, dim, n());
Eigen::VectorBlock<Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, 1> > > _b_segment = _b.segment(p, dim);
Eigen::VectorXd v;
utils::convert(*cstr, findMapping(cstr->getVariable()), CSTR_PLUS_GREATER, _A_block, _b_segment, v);
p += dim;
}
}