StructuredJ.h

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/* Copyright 2020-2021 CNRS-AIST JRL */
 
#pragma once
 
#include <jrl-qp/api.h>
#include <jrl-qp/defs.h>
 
#include <jrl-qp/internal/OrthonormalSequence.h>
#include <jrl-qp/internal/SelectedConstraint.h>
#include <jrl-qp/internal/Workspace.h>
#include <jrl-qp/structured/StructuredC.h>
#include <jrl-qp/structured/StructuredG.h>
 
namespace jrl::qp::structured
{
class JRLQP_DLLAPI StructuredJ
{
public:
  StructuredJ();
 
  void setL(const StructuredG & decomposedG);
  void setQ(const internal::PartitionnedQ & Q);
 
  void reset();
  void resize(int nbVar);
 
  void premultByJ2(VectorRef out, const VectorConstRef & in) const;
  void premultByJt(VectorRef out, const StructuredC & C, const internal::SelectedConstraint & sc) const;
 
private:
  int nbVar_ = 0;
  const StructuredG * L_ = nullptr;
  internal::PartitionnedQ Q_;
};
} // namespace jrl::qp::structured