Exemple #1
0
void QPReconstructLambda(Vector vLambda, Vector vLambdaScale)
{
    int n=vi_QP.sz()-1, nc=vLambda.sz();
    int *ii=vi_QP;
    double *l=vLambda, *s=vLambdaScale;

    if (n>=0)
        while (nc--)
        {
            if (ii[n]==nc) 
            { 
//                l[nc]=mmax(0.0,l[n]/s[n]); 
                l[nc]=l[n]/s[n]; 
                n--; 
                if (n<0) break; 
            }
            else l[nc]=0.0;
        }
    if (nc) memset(l,0,nc*sizeof(double));
}
Exemple #2
0
void restartSimpleQPSolve(Vector vBO,   // in
                          Vector vP)                    // out
{
    if (bQRFailed_QP) { vP.zero(); return; }
    int i,k=0, *ii=vi_QP, nc2=vi_QP.sz();
    double *lambda=vLastLambda_QP, *b=vBO;
    Vector vTmp(nc2);
    for (i=0; i<nc2; i++)
    {
        if (lambda[i]!=0.0)
        {
            b[k]=b[ii[i]];
            k++;
        }
    }
    vBO.setSize(k);
    vBO.permutIn(vTmp,viPermut_QP);
    mR_QP.solveInPlace(vTmp);
    mQ_QP.multiply(vP,vTmp);
}