{1.0, 0.7, 0.7}; OSQPInt n = 2; OSQPInt m = 3; // 初始化稀疏矩阵P和A OSQPCscMatrix *P = (OSQPCscMatrix *)malloc(sizeof(OSQPCscMatrix)); OSQPCscMatrix *A = (OSQPCscMatrix *)malloc(sizeof(OSQPCscMatrix)); csc_set_data(P, n, n, P_nnz, P_x, P_i, P_p); csc_set_...
where A must be a square quasi-definite matrix in scipy sparse CSC format. The algorithm internally converts the matrix into upper triangular format. If A is already upper-triangular, you can specify it with the argument upper=True to the qdldl.Solver constructor. To solve the linear system ...
The matrix A is assumed to be symmetric and only the upper triangular portion of A should be passed to the API. The factor L is lower triangular with implicit ones on the diagonal (i.e. the diagonal of L is not stored as part of the CSC formatted data.) The matrices D and Dinv ...
csc_matrix(np.block([[Q_x, Q_zeros, Q_zeros], [Q_zeros, Q_dx, Q_zeros], [Q_zeros, Q_zeros, Q_ddx] ])) p_total = - x0_total p_total[:n] = self.weight_pos * p_total[:n] # 动力学模型,所以是等式约束 # x(i+1) = x(i) + x'(i)△t # x'(i+1) = x'(i)...
whereAmust be a square quasi-definite matrix inscipy sparse CSC format. The algorithm internally converts the matrix into upper triangular format. IfAis already upper-triangular, you can specify it with the argumentupper=Trueto theqdldl.Solverconstructor. ...
其中 P 和A 都以稀疏矩阵CSC的形式进行存储. // the location of file: /usr/local/include/osqp/types.h typedef struct { c_int n; ///< number of variables n c_int m; ///< number of constraints m csc *P; ///< the upper triangular part of the quadratic cost matrix P csc *A; /...
(OSQPData))); data->n = num_of_variables_; data->m = num_of_constraints_; data->P = csc_matrix(data->n, data->n, P_data.size(), P_data.data(), P_indices.data(), P_indptr.data()); data->q = q.data(); data->A = csc_matrix(data->m, data->n, A_data.size(),...
#include"modules/planning/lattice/trajectory_generation/lateral_osqp_optimizer.h"#include"cyber/common/log.h"#include"modules/common/math/matrix_operations.h"#include"modules/planning/common/planning_gflags.h"namespaceapollo{namespaceplanning{//优化函数?//输入参数:d_state横向状态(d,d',d''),调用时...
符号定义的文章:https://zhuanlan.zhihu.com/p/444096265// https://cloud.tencent.com/developer/article/2190924boolFemPosDeviationOsqpInterface::Solve(){// Sanity Checkif(ref_points_.empty()){AERROR<<"reference points empty, solver early terminates";returnfalse;}if(ref_points_.size()!=bounds_...