better documentation for eigen version

Former-commit-id: d4625ef7bdbe36b0a526334937720c2ff5a48a15

include/igl/mosek/mosek_quadprog.h

@@ -10,7 +10,7 @@
 #include "../igl_inline.h"
 #include <vector>
 #include <map>
-#include "mosek.h"
+#include <mosek.h>
 
 
 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET
@@ -42,10 +42,10 @@ namespace igl
     //
     // Note: Q⁰ must be symmetric and the ½ is a convention of MOSEK
     //
-    // Note: Because of how MOSEK accepts different parts of the system, Q should
-    // be stored in IJV (aka Coordinate) format and should only include entries in
-    // the lower triangle. A should be stored in Column compressed (aka Harwell
-    // Boeing) format. As described:
+    // Note: Because of how MOSEK accepts different parts of the system, Q
+    // should be stored in IJV (aka Coordinate) format and should only include
+    // entries in the lower triangle. A should be stored in Column compressed
+    // (aka Harwell Boeing) format. As described:
     // http://netlib.org/linalg/html_templates/node92.html
     // or
     // http://en.wikipedia.org/wiki/Sparse_matrix
@@ -57,24 +57,27 @@ namespace igl
     //   Scalar  type for floating point variables (gets cast to double?)
     // Input:
     //   n  number of variables, i.e. size of x
-    //   Qi  vector of qnnz row indices of non-zeros in LOWER TRIANGLE ONLY of Q⁰
-    //   Qj  vector of qnnz column indices of non-zeros in LOWER TRIANGLE ONLY of 
-    //     Q⁰
+    //   Qi  vector of qnnz row indices of non-zeros in LOWER TRIANGLE ONLY of
+    //       Q⁰
+    //   Qj  vector of qnnz column indices of non-zeros in LOWER TRIANGLE ONLY
+    //       of Q⁰
     //   Qv  vector of qnnz values of non-zeros in LOWER TRIANGLE ONLY of Q⁰, 
-    //     such that:
-    //     Q⁰(Qi[k],Qj[k]) = Qv[k] for k ∈ [0,Qnnz-1], where Qnnz is the number of
-    //     non-zeros in Q⁰
-    //   c   (optional) vector of n values of c, transpose of coefficient row vector
-    //     of linear terms, EMPTY means c == 0
-    //   cf  (optional) value of constant term in objective, 0 means cf == 0, so
-    //     optional only in the sense that it is mandatory
+    //       such that:
+    //
+    //           Q⁰(Qi[k],Qj[k]) = Qv[k] for k ∈ [0,Qnnz-1], where Qnnz is the
+    // 
+    //       number of non-zeros in Q⁰
+    //   c   (optional) vector of n values of c, transpose of coefficient row
+    //       vector of linear terms, EMPTY means c == 0
+    //   cf  (ignored) value of constant term in objective, 0 means cf == 0, so
+    //       optional only in the sense that it is mandatory
     //   m  number of constraints, therefore also number of rows in linear
-    //     constraint coefficient matrix A, and in linear constraint bound vectors 
-    //     lc and uc
+    //      constraint coefficient matrix A, and in linear constraint bound
+    //      vectors lc and uc
     //   Av  vector of non-zero values of A, in column compressed order
     //   Ari  vector of row indices corresponding to non-zero values of A,
-    //   Acp  vector of indices into Ari and Av of the first entry for each column
-    //     of A, size(Acp) = (# columns of A) + 1 = n + 1
+    //   Acp  vector of indices into Ari and Av of the first entry for each
+    //        column of A, size(Acp) = (# columns of A) + 1 = n + 1
     //   lc  vector of m linear constraint lower bounds
     //   uc  vector of m linear constraint upper bounds
     //   lx  vector of n constant lower bounds
@@ -87,39 +90,51 @@ namespace igl
     // Note: All indices are 0-based
     //
     template <typename Index, typename Scalar>
-      IGL_INLINE bool mosek_quadprog(
-          const Index n,
-          /* mosek won't allow this to be const*/ std::vector<Index> & Qi,
-          /* mosek won't allow this to be const*/ std::vector<Index> & Qj,
-          /* mosek won't allow this to be const*/ std::vector<Scalar> & Qv,
-          const std::vector<Scalar> & c,
-          const Scalar cf,
-          const Index m,
-          /* mosek won't allow this to be const*/ std::vector<Scalar> & Av,
-          /* mosek won't allow this to be const*/ std::vector<Index> & Ari,
-          const std::vector<Index> & Acp,
-          const std::vector<Scalar> & lc,
-          const std::vector<Scalar> & uc,
-          const std::vector<Scalar> & lx,
-          const std::vector<Scalar> & ux,
-          MosekData & mosek_data,
-          std::vector<Scalar> & x);
-
+    IGL_INLINE bool mosek_quadprog(
+      const Index n,
+      /* mosek won't allow this to be const*/ std::vector<Index> & Qi,
+      /* mosek won't allow this to be const*/ std::vector<Index> & Qj,
+      /* mosek won't allow this to be const*/ std::vector<Scalar> & Qv,
+      const std::vector<Scalar> & c,
+      const Scalar cf,
+      const Index m,
+      /* mosek won't allow this to be const*/ std::vector<Scalar> & Av,
+      /* mosek won't allow this to be const*/ std::vector<Index> & Ari,
+      const std::vector<Index> & Acp,
+      const std::vector<Scalar> & lc,
+      const std::vector<Scalar> & uc,
+      const std::vector<Scalar> & lx,
+      const std::vector<Scalar> & ux,
+      MosekData & mosek_data,
+      std::vector<Scalar> & x);
     // Wrapper with Eigen elements
-    //// Templates:
-    ////   Scalar  Scalar type for sparse matrix  (e.g. double)
-    ////   Derived  dervied type from matrix/vector (e.g. VectorXd)
+    //
+    // Inputs:
+    //   Q  n by n square quadratic coefficients matrix **only lower triangle
+    //      is used**.
+    //   c  n-long vector of linear coefficients
+    //   cf  constant coefficient
+    //   A  m by n square linear coefficienst matrix of inequality constraints
+    //   lc  m-long vector of lower bounds for linear inequality constraints
+    //   uc  m-long vector of upper bounds for linear inequality constraints
+    //   lx  n-long vector of lower bounds
+    //   ux  n-long vector of upper bounds
+    //   mosek_data  parameters struct
+    // Outputs:
+    //   x  n-long solution vector
+    // Returns true only if optimization finishes without error
+    //
     IGL_INLINE bool mosek_quadprog(
-        const Eigen::SparseMatrix<double> & Q,
-        const Eigen::VectorXd & c,
-        const double cf,
-        const Eigen::SparseMatrix<double> & A,
-        const Eigen::VectorXd & lc,
-        const Eigen::VectorXd & uc,
-        const Eigen::VectorXd & lx,
-        const Eigen::VectorXd & ux,
-        MosekData & mosek_data,
-        Eigen::VectorXd & x);
+      const Eigen::SparseMatrix<double> & Q,
+      const Eigen::VectorXd & c,
+      const double cf,
+      const Eigen::SparseMatrix<double> & A,
+      const Eigen::VectorXd & lc,
+      const Eigen::VectorXd & uc,
+      const Eigen::VectorXd & lx,
+      const Eigen::VectorXd & ux,
+      MosekData & mosek_data,
+      Eigen::VectorXd & x);
   }
 }