jsk-ros-pkg/jsk_control — pull request #13 by s-noda (2014-04-05 11:38:00+00:00)
Title: Qp with error tolerance

add solve-eiquadprog-raw-with-error function, which solve the following qp problem.

min xTGx/2 + g0x + eeT Gee ee + eiT Gei ei
CEx + ce + ee = 0
CIx + ci + ei > 0

always there will be some answers

[usage]
(solve-eiquadprog :eiquadprog-function 'solve-eiquadprog-raw-with-error)

off cause, if you do not set this :eiquadprog-function keyword, solve qp without error tolerance.