Visual Servoing Platform version 3.6.0
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vpLinProg.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Linear Programming with simplex
32 */
33
34#ifndef vpLinProgh
35#define vpLinProgh
36
37#include <cmath> // For std::abs() on iOS
38#include <cstdlib> // For std::abs() on iOS
39
40#include <visp3/core/vpColVector.h>
41#include <visp3/core/vpConfig.h>
42#include <visp3/core/vpMatrix.h>
43
61class VISP_EXPORT vpLinProg
62{
63public:
64#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
117 typedef std::pair<unsigned int, double> BoundedIndex;
118
121 static bool simplex(const vpColVector &c, vpMatrix A, vpColVector b, vpColVector &x, const double &tol = 1e-6);
122
123 static bool solveLP(const vpColVector &c, vpMatrix A, vpColVector b, const vpMatrix &C, const vpColVector &d,
124 vpColVector &x, std::vector<BoundedIndex> l = {}, std::vector<BoundedIndex> u = {},
125 const double &tol = 1e-6);
126
128#endif
129
132 static bool colReduction(vpMatrix &A, vpColVector &b, bool full_rank = false, const double &tol = 1e-6);
133
134 static bool rowReduction(vpMatrix &A, vpColVector &b, const double &tol = 1e-6);
136
147 static bool allZero(const vpColVector &x, const double &tol = 1e-6)
148 {
149 for (unsigned int i = 0; i < x.getRows(); ++i) {
150 if (std::abs(x[i]) > tol)
151 return false;
152 }
153 return true;
154 }
155
166 static bool allClose(const vpMatrix &A, const vpColVector &x, const vpColVector &b, const double &tol = 1e-6)
167 {
168 for (unsigned int i = 0; i < b.getRows(); ++i) {
169 if (std::abs(A.getRow(i) * x - b[i]) > tol)
170 return false;
171 }
172 return true;
173 }
174
184 static bool allLesser(const vpMatrix &C, const vpColVector &x, const vpColVector &d, const double &thr = 1e-6)
185 {
186 for (unsigned int i = 0; i < d.getRows(); ++i) {
187 if (C.getRow(i) * x - d[i] > thr)
188 return false;
189 }
190 return true;
191 }
192
201 static bool allLesser(const vpColVector &x, const double &thr = 1e-6)
202 {
203 for (unsigned int i = 0; i < x.getRows(); ++i) {
204 if (x[i] > thr)
205 return false;
206 }
207 return true;
208 }
209
218 static bool allGreater(const vpColVector &x, const double &thr = 1e-6)
219 {
220 for (unsigned int i = 0; i < x.getRows(); ++i) {
221 if (x[i] < thr)
222 return false;
223 }
224 return true;
225 }
227};
228#endif // vpLinProgh
unsigned int getRows() const
Definition vpArray2D.h:290
Implementation of column vector and the associated operations.
This class provides two solvers for Linear Programs.
Definition vpLinProg.h:62
static bool allGreater(const vpColVector &x, const double &thr=1e-6)
Definition vpLinProg.h:218
static bool allLesser(const vpColVector &x, const double &thr=1e-6)
Definition vpLinProg.h:201
std::pair< unsigned int, double > BoundedIndex
Definition vpLinProg.h:117
static bool allZero(const vpColVector &x, const double &tol=1e-6)
Definition vpLinProg.h:147
static bool allLesser(const vpMatrix &C, const vpColVector &x, const vpColVector &d, const double &thr=1e-6)
Definition vpLinProg.h:184
static bool allClose(const vpMatrix &A, const vpColVector &x, const vpColVector &b, const double &tol=1e-6)
Definition vpLinProg.h:166
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpRowVector getRow(unsigned int i) const