30 H.setIdentity(size, size);
34 A.resize(num_ctr, size);
43 lb << 1, 2, 3, 4, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5;
44 ub << 1, 2, 3, 4, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5;
ReturnStatus solve(QPVector &primal, QPMatrix &H, const QPVector &h, const QPMatrix &A, const QPVector &Alb, const QPVector &Aub)