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));
}
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);
}