The eigen-quadprog from jrl-umi3218

QPTest does not compile any more

Since #4 was merged I get the following make error:

[ 87%] Building CXX object tests/CMakeFiles/QPTest.dir/QPTest.cpp.o
cd /home/scaron/Software/eigen-quadprog/build/tests && /usr/bin/c++   -I/home/scaron/Software/eigen-quadprog/build -I/home/scaron/Software/eigen-quadprog/build/include -I/home/scaron/Software/eigen-quadprog/include -I/home/scaron/Software/eigen-quadprog/src -isystem /usr/local/include/eigen3  -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -O2 -g -DNDEBUG   -o CMakeFiles/QPTest.dir/QPTest.cpp.o -c /home/scaron/Software/eigen-quadprog/tests/QPTest.cpp
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp: In function ‘void ineqWithXBounds(Eigen::MatrixXd&, Eigen::VectorXd&, const VectorXd&, const VectorXd&)’:
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:90:12: error: ‘class std::vector<std::pair<int, double> >’ has no member named ‘emplace_back’
    lbounds.emplace_back(i, XL[i]);
            ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:92:12: error: ‘class std::vector<std::pair<int, double> >’ has no member named ‘emplace_back’
    ubounds.emplace_back(i, XU[i]);
            ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:108:9: warning: ‘auto’ changes meaning in C++11; please remove it [-Wc++0x-compat]
   const auto& b = lbounds[i];
         ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:108:15: error: ISO C++ forbids declaration of ‘b’ with no type [-fpermissive]
   const auto& b = lbounds[i];
               ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:108:28: error: invalid initialization of reference of type ‘const int&’ from expression of type ‘std::pair<int, double>’
   const auto& b = lbounds[i];
                            ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:109:14: error: request for member ‘first’ in ‘b’, which is of non-class type ‘const int’
   A(start, b.first) = -1.;
              ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:110:17: error: request for member ‘second’ in ‘b’, which is of non-class type ‘const int’
   B(start) = -b.second;
                 ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:116:9: warning: ‘auto’ changes meaning in C++11; please remove it [-Wc++0x-compat]
   const auto& b = ubounds[i];
         ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:116:15: error: ISO C++ forbids declaration of ‘b’ with no type [-fpermissive]
   const auto& b = ubounds[i];
               ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:116:28: error: invalid initialization of reference of type ‘const int&’ from expression of type ‘std::pair<int, double>’
   const auto& b = ubounds[i];
                            ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:117:14: error: request for member ‘first’ in ‘b’, which is of non-class type ‘const int’
   A(start, b.first) = 1.;
              ^
/home/scaron/Software/eigen-quadprog/tests/QPTest.cpp:118:16: error: request for member ‘second’ in ‘b’, which is of non-class type ‘const int’
   B(start) = b.second;
                ^
make[2]: *** [tests/CMakeFiles/QPTest.dir/QPTest.cpp.o] Error 1

On this system c++ is g++ (Ubuntu 5.4.1-2ubuntu1~14.04) 5.4.1 20160904.

How to solve a problem without inequality constraints?

Hi there,

thanks for making this library! I'm trying to solve a problem where I don't have any inequality constraints, I've tried something like:

Eigen::QuadProgDense qp(..., ..., 0);
VectorXd c = VectorXd::Zero(getCostMatrix(dim).rows()); // zero linear term
auto Aeq = getConstraintMatrix(dim);
auto beq = getConstraintVector(dim);
MatrixXd Aineq;
VectorXd bineq;
qp.solve(H_[dim], c, Aeq, beq, Aineq, bineq);

But I get the following problem:

 /usr/include/eigen3/Eigen/src/Core/DenseBase.h:261: void Eigen::DenseBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; Eigen::Index = long int]: Assertion `rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow to resize."' failed.

Any ideas?

problem

Hello, I'm working on this algorithm. Can you ask which paper you referred to?

Hello, I am using the Eigen::QuadProgDense solver and I wonder if there is a way to give an initial guess as an input. I am running an MPC and pushing the previous solutionto the qp would probably save some computation time.
Thank you for the info

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QPTest does not compile any more

How to solve a problem without inequality constraints?

problem

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