Enum HessianType

• Defined in File Task.h

Enum Documentation

enum OpenSoT::HessianType

Summarises all possible types of the QP’s Hessian matrix.

From qpOASES/Types.hpp

Values:

enumerator HST_ZERO

Hessian is zero matrix (i.e.

LP formulation).

enumerator HST_IDENTITY

Hessian is identity matrix.

enumerator HST_POSDEF

Hessian is (strictly) positive definite.

enumerator HST_POSDEF_NULLSPACE

Hessian is positive definite on null space of active bounds/constraints.

enumerator HST_SEMIDEF

Hessian is positive semi-definite.

enumerator HST_UNKNOWN

Hessian type is unknown.