qp_problem.proto

浏览该文件的文档.

syntax = "proto2";
 
package apollo.planning;
 
// create the quadratic programming proto
// 1/2 x^T Q x + c^T x
// w.r.t
// A x = b
// C x >= d
// specified input: input_marker
// as well as optimal solution optimal param
 
message QuadraticProgrammingProblem {
  optional int32 param_size = 1;            // specified parameter size
  optional QPMatrix quadratic_matrix = 2;   // Q matrix
  repeated double bias = 3;                 // c
  optional QPMatrix equality_matrix = 4;    // A matrix
  repeated double equality_value = 5;       // b vector
  optional QPMatrix inequality_matrix = 6;  // C matrix
  repeated double inequality_value = 7;     // d vector
  repeated double input_marker = 8;         // marker for the specified matrix
  repeated double optimal_param = 9;        // optimal result
};
 
message QPMatrix {
  optional int32 row_size = 1;
  optional int32 col_size = 2;
  // element with element(col_size * r + c)
  repeated double element = 3;
}
 
message QuadraticProgrammingProblemSet {
  repeated QuadraticProgrammingProblem problem = 1;  // QPProblem
}