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• ConvexOptimizationAdapter.java

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us.ihmc.convexOptimization.ConvexOptimizationAdapter Maven / Gradle / Ivy

package us.ihmc.convexOptimization;

public interface ConvexOptimizationAdapter
{
   public abstract void setLinearCostFunctionVector(double[] linearCostFunctionVector);

   public abstract void setQuadraticCostFunction(double[][] quadraticCostFunctionPMatrix, double[] quadraticCostFunctionQVector, double quadraticCostFunctionR);

   public abstract void setLinearEqualityConstraintsAMatrix(double[][] linearEqualityConstraintsAMatrix);

   public abstract void setLinearEqualityConstraintsBVector(double[] linearEqualityConstraintsBVector);

   public abstract void setLinearInequalityConstraints(double[][] linearInequalityConstraintCVectors, double[] linearInequalityConstraintBs);

   public abstract void addQuadraticInequalities(double[][] quadraticPMatrix, double[] quadraticQVector, double quadraticRScalar);

   public abstract void addSecondOrderConeConstraints(double[][] secondOrderConeAMatrix, double[] secondOrderConeBVector, double[] secondOrderConeCVector,
                                                      double secondOrderConeDScalar);

   public abstract double[] solve();

   public abstract void dispose();
}