us.ihmc.utilities.optimization
Class EqualityConstraintEnforcer

java.lang.Object
  extended by us.ihmc.utilities.optimization.EqualityConstraintEnforcer

public class EqualityConstraintEnforcer
extends java.lang.Object

See IHMCUtilities/technicalDocuments/Equality Constrained Least Squares.lyx

Author:
twan Date: 4/30/13

Constructor Summary
EqualityConstraintEnforcer(org.ejml.factory.LinearSolver<org.ejml.data.DenseMatrix64F> solver)
           
 
Method Summary
 boolean areConstraintsEnforcedSuccesfully(org.ejml.data.DenseMatrix64F x, org.ejml.data.DenseMatrix64F j, org.ejml.data.DenseMatrix64F p, double epsilon)
           
 void constrainEquation(org.ejml.data.DenseMatrix64F a, org.ejml.data.DenseMatrix64F b)
           
 org.ejml.data.DenseMatrix64F constrainResult(org.ejml.data.DenseMatrix64F xBar)
           
 org.ejml.data.DenseMatrix64F getConstraintPseudoInverse()
           
 void setConstraint(org.ejml.data.DenseMatrix64F j, org.ejml.data.DenseMatrix64F p)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

EqualityConstraintEnforcer

public EqualityConstraintEnforcer(org.ejml.factory.LinearSolver<org.ejml.data.DenseMatrix64F> solver)
Method Detail

setConstraint

public void setConstraint(org.ejml.data.DenseMatrix64F j,
                          org.ejml.data.DenseMatrix64F p)

constrainEquation

public void constrainEquation(org.ejml.data.DenseMatrix64F a,
                              org.ejml.data.DenseMatrix64F b)

constrainResult

public org.ejml.data.DenseMatrix64F constrainResult(org.ejml.data.DenseMatrix64F xBar)

getConstraintPseudoInverse

public org.ejml.data.DenseMatrix64F getConstraintPseudoInverse()

areConstraintsEnforcedSuccesfully

public boolean areConstraintsEnforcedSuccesfully(org.ejml.data.DenseMatrix64F x,
                                                 org.ejml.data.DenseMatrix64F j,
                                                 org.ejml.data.DenseMatrix64F p,
                                                 double epsilon)