[clang-format]

include/jrl-qp/GoldfarbIdnaniSolver.h

@@ -32,7 +32,6 @@ class JRLQP_DLLAPI GoldfarbIdnaniSolver : public DualSolver
                           const VectorConstRef & xl,
                           const VectorConstRef & xu);
 
-
   /** This is used to set the precomputed R factor in the QR decomposition of the initially
    * active constraints. Should be used when options.gFactorization is GFactorization::L_TINV_Q.
    * Use only if you know what you are doing.

include/jrl-qp/SolverOptions.h

@@ -22,7 +22,7 @@ enum class GFactorization
   /** G is given as the lower triangular matrix invL such that G^-1 = invL invL^T */
   L_TINV,
   /** G is given as a matrix J = L^-T Q, where G = L L^T and Q is the orthonormal
-  matrix appearing in the QR decomposition of the activated constraints (see other 
+  matrix appearing in the QR decomposition of the activated constraints (see other
   options for details). */
   L_TINV_Q
 };
@@ -33,8 +33,10 @@ struct JRLQP_DLLAPI SolverOptions
   int maxIter_ = 500;
   double bigBnd_ = 1e100;
   bool warmStart_ = false;
-  bool equalityFirst_ = false;  //True if all equality constraints are given first in the constraint matrix
-  bool RIsGiven_ = false; // True when the R factor in the decomposition of some initially active constraints is given. If equalityFirst is true, these are the equality constraints. Ignored if gFactorization != L_TINV_Q or equalityFirst_ = false.
+  bool equalityFirst_ = false; // True if all equality constraints are given first in the constraint matrix
+  bool RIsGiven_ = false; // True when the R factor in the decomposition of some initially active constraints is given.
+                          // If equalityFirst is true, these are the equality constraints. Ignored if gFactorization !=
+                          // L_TINV_Q or equalityFirst_ = false.
   GFactorization gFactorization_ = GFactorization::NONE;
   std::uint32_t logFlags_ = 0;
   std::ostream * logStream_ = &defaultStream_;

src/GoldfarbIdnaniSolver.cpp

@@ -69,14 +69,13 @@ internal::InitTermination GoldfarbIdnaniSolver::init_()
       JRLQP_LOG_COMMENT(log_, LogFlags::INPUT, "Incompatible options: RIsGiven with gFactorization or equalityFirst");
   }
 
-
   auto ret = (options_.gFactorization_ == GFactorization::NONE)
                  ? Eigen::internal::llt_inplace<double, Eigen::Lower>::blocked(pb_.G)
                  : -1;
 
   if(ret >= 0) return TerminationStatus::NON_POS_HESSIAN;
 
-  if (options_.equalityFirst())
+  if(options_.equalityFirst())
   {
     processInitialActiveSetWithEqualityOnly();
     initializeComputationData();

tests/OptionsTest.cpp

@@ -61,7 +61,7 @@ TEST_CASE("Test EqualityFirst")
     auto pb = QPProblem(randomProblem(ProblemCharacteristics(7, 7, neq, 8)));
     pb.C.transposeInPlace();
 
-    for (int i = 0; i < neq; ++i)
+    for(int i = 0; i < neq; ++i)
     {
       REQUIRE_EQ(pb.l[i], pb.u[i]);
     }
@@ -86,20 +86,20 @@ TEST_CASE("Test EqualityFirst")
     solver.solve(L, pb.a, pb.C, pb.l, pb.u, pb.xl, pb.xu);
     Eigen::VectorXd x2 = solver.solution();
 
-    //options.gFactorization(jrl::qp::GFactorization::L_INV);
-    //solver.options(options);
-    //solver.solve(invL, pb.a, pb.C, pb.l, pb.u, pb.xl, pb.xu);
-    //Eigen::VectorXd x3 = solver.solution();
+    // options.gFactorization(jrl::qp::GFactorization::L_INV);
+    // solver.options(options);
+    // solver.solve(invL, pb.a, pb.C, pb.l, pb.u, pb.xl, pb.xu);
+    // Eigen::VectorXd x3 = solver.solution();
 
-    //options.gFactorization(jrl::qp::GFactorization::L_TINV);
-    //solver.options(options);
-    //solver.solve(invLT, pb.a, pb.C, pb.l, pb.u, pb.xl, pb.xu);
-    //Eigen::VectorXd x4 = solver.solution();
+    // options.gFactorization(jrl::qp::GFactorization::L_TINV);
+    // solver.options(options);
+    // solver.solve(invLT, pb.a, pb.C, pb.l, pb.u, pb.xl, pb.xu);
+    // Eigen::VectorXd x4 = solver.solution();
 
     FAST_CHECK_UNARY(x1.isApprox(x0));
     FAST_CHECK_UNARY(x2.isApprox(x0));
-    //FAST_CHECK_UNARY(x3.isApprox(x0));
-    //FAST_CHECK_UNARY(x4.isApprox(x0));
+    // FAST_CHECK_UNARY(x3.isApprox(x0));
+    // FAST_CHECK_UNARY(x4.isApprox(x0));
   }
 }
 
@@ -108,7 +108,7 @@ TEST_CASE("Precomputed R")
   const int nbVar = 7;
   const int neq = 4;
   const int nIneq = 8;
-  jrl::qp::GoldfarbIdnaniSolver solver(nbVar, neq+nIneq, false);
+  jrl::qp::GoldfarbIdnaniSolver solver(nbVar, neq + nIneq, false);
   jrl::qp::SolverOptions options;
 
   for(int i = 0; i < 10; ++i)
@@ -137,8 +137,9 @@ TEST_CASE("Precomputed R")
 
     options.gFactorization(jrl::qp::GFactorization::L_TINV_Q);
     options.RIsGiven(true);
+    options.equalityFirst(true);
     solver.options(options);
-    solver.setPrecomputedR(Eigen::MatrixXd(qr.matrixQR().triangularView<Eigen::Upper>()));
+    solver.setPrecomputedR(qr.matrixQR());
     solver.solve(J, pb.a, pb.C, pb.l, pb.u, pb.xl, pb.xu);
     Eigen::VectorXd x1 = solver.solution();