dust3d/third_party/libigl/include/igl/mosek/mosek_quadprog.h

// This file is part of libigl, a simple c++ geometry processing library.
// 
// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
// 
// This Source Code Form is subject to the terms of the Mozilla Public License 
// v. 2.0. If a copy of the MPL was not distributed with this file, You can 
// obtain one at http://mozilla.org/MPL/2.0/.
#ifndef IGL_MOSEK_MOSEK_QUADPROG_H
#define IGL_MOSEK_MOSEK_QUADPROG_H
#include "../igl_inline.h"
#include <vector>
#include <map>
#include <mosek.h>


#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET
#include <Eigen/Dense>
#include <Eigen/Sparse>

namespace igl
{
  namespace mosek
  {
    struct MosekData
    {
      // Integer parameters
      std::map<MSKiparame,int> intparam;
      // Double parameters
      std::map<MSKdparame,double> douparam;
      // Default values
      IGL_INLINE MosekData();
    };
    // Solve a convex quadratic optimization problem with linear and constant
    // bounds, that is:
    //
    // Minimize: ½ * xT * Q⁰ * x + cT * x + cf
    //
    // Subject to: lc ≤ Ax ≤ uc
    //             lx ≤ x ≤ ux
    //
    // where we are trying to find the optimal vector of values x. 
    //
    // Note: Q⁰ must be symmetric and the ½ is a convention of MOSEK
    //
    // Note: Because of how MOSEK accepts different parts of the system, Q
    // should be stored in IJV (aka Coordinate) format and should only include
    // entries in the lower triangle. A should be stored in Column compressed
    // (aka Harwell Boeing) format. As described:
    // http://netlib.org/linalg/html_templates/node92.html
    // or
    // http://en.wikipedia.org/wiki/Sparse_matrix
    //   #Compressed_sparse_column_.28CSC_or_CCS.29
    // 
    //
    // Templates:
    //   Index  type for index variables
    //   Scalar  type for floating point variables (gets cast to double?)
    // Input:
    //   n  number of variables, i.e. size of x
    //   Qi  vector of qnnz row indices of non-zeros in LOWER TRIANGLE ONLY of
    //       Q⁰
    //   Qj  vector of qnnz column indices of non-zeros in LOWER TRIANGLE ONLY
    //       of Q⁰
    //   Qv  vector of qnnz values of non-zeros in LOWER TRIANGLE ONLY of Q⁰, 
    //       such that:
    //
    //           Q⁰(Qi[k],Qj[k]) = Qv[k] for k ∈ [0,Qnnz-1], where Qnnz is the
    // 
    //       number of non-zeros in Q⁰
    //   c   (optional) vector of n values of c, transpose of coefficient row
    //       vector of linear terms, EMPTY means c == 0
    //   cf  (ignored) value of constant term in objective, 0 means cf == 0, so
    //       optional only in the sense that it is mandatory
    //   m  number of constraints, therefore also number of rows in linear
    //      constraint coefficient matrix A, and in linear constraint bound
    //      vectors lc and uc
    //   Av  vector of non-zero values of A, in column compressed order
    //   Ari  vector of row indices corresponding to non-zero values of A,
    //   Acp  vector of indices into Ari and Av of the first entry for each
    //        column of A, size(Acp) = (# columns of A) + 1 = n + 1
    //   lc  vector of m linear constraint lower bounds
    //   uc  vector of m linear constraint upper bounds
    //   lx  vector of n constant lower bounds
    //   ux  vector of n constant upper bounds
    // Output:
    //   x  vector of size n to hold output of optimization
    // Return:
    //   true only if optimization was successful with no errors
    // 
    // Note: All indices are 0-based
    //
    template <typename Index, typename Scalar>
    IGL_INLINE bool mosek_quadprog(
      const Index n,
      /* mosek won't allow this to be const*/ std::vector<Index> & Qi,
      /* mosek won't allow this to be const*/ std::vector<Index> & Qj,
      /* mosek won't allow this to be const*/ std::vector<Scalar> & Qv,
      const std::vector<Scalar> & c,
      const Scalar cf,
      const Index m,
      /* mosek won't allow this to be const*/ std::vector<Scalar> & Av,
      /* mosek won't allow this to be const*/ std::vector<Index> & Ari,
      const std::vector<Index> & Acp,
      const std::vector<Scalar> & lc,
      const std::vector<Scalar> & uc,
      const std::vector<Scalar> & lx,
      const std::vector<Scalar> & ux,
      MosekData & mosek_data,
      std::vector<Scalar> & x);
    // Wrapper with Eigen elements
    //
    // Inputs:
    //   Q  n by n square quadratic coefficients matrix **only lower triangle
    //      is used**.
    //   c  n-long vector of linear coefficients
    //   cf  constant coefficient
    //   A  m by n square linear coefficienst matrix of inequality constraints
    //   lc  m-long vector of lower bounds for linear inequality constraints
    //   uc  m-long vector of upper bounds for linear inequality constraints
    //   lx  n-long vector of lower bounds
    //   ux  n-long vector of upper bounds
    //   mosek_data  parameters struct
    // Outputs:
    //   x  n-long solution vector
    // Returns true only if optimization finishes without error
    //
    IGL_INLINE bool mosek_quadprog(
      const Eigen::SparseMatrix<double> & Q,
      const Eigen::VectorXd & c,
      const double cf,
      const Eigen::SparseMatrix<double> & A,
      const Eigen::VectorXd & lc,
      const Eigen::VectorXd & uc,
      const Eigen::VectorXd & lx,
      const Eigen::VectorXd & ux,
      MosekData & mosek_data,
      Eigen::VectorXd & x);
  }
}

#ifndef IGL_STATIC_LIBRARY
#  include "mosek_quadprog.cpp"
#endif

#endif