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Enforce constant term in QP to be default 0 #607

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Nov 19, 2020
Merged

Enforce constant term in QP to be default 0 #607

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17 changes: 10 additions & 7 deletions gtsam_unstable/linear/QPSParser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ class QPSVisitor {
varname_to_key; // Variable QPS string name to key
std::unordered_map<Key, std::unordered_map<Key, Matrix11>>
H; // H from hessian
double f; // Constant term of quadratic cost
double f = 0; // Constant term of quadratic cost
std::string obj_name; // the objective function has a name in the QPS
std::string name_; // the quadratic program has a name in the QPS
std::unordered_map<Key, double>
Expand Down Expand Up @@ -175,10 +175,11 @@ class QPSVisitor {
string var_ = fromChars<1>(vars);
string row_ = fromChars<3>(vars);
double coefficient = at_c<5>(vars);
if (row_ == obj_name)
if (row_ == obj_name) {
f = -coefficient;
else
} else {
b[row_] = coefficient;
}

if (debug) {
cout << "Added RHS for Var: " << var_ << " Row: " << row_
Expand All @@ -194,15 +195,17 @@ class QPSVisitor {
string row2_ = fromChars<7>(vars);
double coefficient1 = at_c<5>(vars);
double coefficient2 = at_c<9>(vars);
if (row1_ == obj_name)
if (row1_ == obj_name) {
f = -coefficient1;
else
} else {
b[row1_] = coefficient1;
}

if (row2_ == obj_name)
if (row2_ == obj_name) {
f = -coefficient2;
else
} else {
b[row2_] = coefficient2;
}

if (debug) {
cout << "Added RHS for Var: " << var_ << " Row: " << row1_
Expand Down