vpLinProg.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
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 * For using ViSP with software that can not be combined with the GNU
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 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Linear Programming with simplex
 *
 * Authors:
 * Olivier Kermorgant
 *
 *****************************************************************************/

#ifndef vpLinProgh
#define vpLinProgh

#include <cmath>     // For std::abs() on iOS
#include <cstdlib>   // For std::abs() on iOS

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMatrix.h>

class VISP_EXPORT vpLinProg
{
public:

#ifdef VISP_HAVE_CPP11_COMPATIBILITY

  typedef std::pair<unsigned int, double> BoundedIndex;

  static bool simplex(const vpColVector &c, vpMatrix A, vpColVector b,
                      vpColVector &x, const double &tol = 1e-6);

  static bool solveLP(const vpColVector &c, vpMatrix A, vpColVector b,
                      const vpMatrix &C, const vpColVector &d, vpColVector &x,
                      std::vector<BoundedIndex> l = {},
                      std::vector<BoundedIndex> u = {},
                      const double &tol = 1e-6);

#endif

  static bool colReduction(vpMatrix &A, vpColVector &b, bool full_rank = false, const double &tol = 1e-6);

  static bool rowReduction(vpMatrix &A, vpColVector &b, const double &tol = 1e-6);

  static bool allZero(const vpColVector &x, const double &tol = 1e-6)
  {
    for(unsigned int i = 0; i < x.getRows(); ++i)
    {
      if(std::abs(x[i]) > tol)
        return false;
    }
    return true;
  }

  static bool allClose(const vpMatrix &A, const vpColVector &x, const vpColVector &b, const double &tol = 1e-6)
  {
    for(unsigned int i = 0; i < b.getRows(); ++i)
    {
      if(std::abs(A.getRow(i)*x - b[i]) > tol)
        return false;
    }
    return true;
  }

  static bool allLesser(const vpMatrix &C, const vpColVector &x, const vpColVector &d, const double &thr = 1e-6)
  {
    for(unsigned int i = 0; i < d.getRows(); ++i)
    {
      if(C.getRow(i)*x - d[i] > thr)
        return false;
    }
    return true;
  }

  static bool allLesser(const vpColVector &x, const double &thr = 1e-6)
  {
    for(unsigned int i = 0; i < x.getRows(); ++i)
    {
      if(x[i] > thr)
        return false;
    }
    return true;
  }

  static bool allGreater(const vpColVector &x, const double &thr = 1e-6)
  {
    for(unsigned int i = 0; i < x.getRows(); ++i)
    {
      if(x[i] < thr)
        return false;
    }
    return true;
  }
};
#endif // vpLinProgh