Adding options for precomputed QR of constraint matrix

include/jrl-qp/SolverOptions.h

@@ -20,7 +20,11 @@ enum class GFactorization
   /** G is given as the lower triangular matrix invL such that G^-1 = invL^T invL */
   L_INV,
   /** G is given as the lower triangular matrix invL such that G^-1 = invL invL^T */
-  L_TINV
+  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 
+  options for details). */
+  L_TINV_Q
 };
 
 /** Options for the solvers*/
@@ -30,6 +34,7 @@ struct JRLQP_DLLAPI SolverOptions
   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.
   GFactorization gFactorization_ = GFactorization::NONE;
   std::uint32_t logFlags_ = 0;
   std::ostream * logStream_ = &defaultStream_;
@@ -101,6 +106,16 @@ struct JRLQP_DLLAPI SolverOptions
     return *this;
   }
 
+  bool RIsGiven() const
+  {
+    return RIsGiven_;
+  }
+  SolverOptions & RIsGiven(bool Rgiven)
+  {
+    RIsGiven_ = Rgiven;
+    return *this;
+  }
+
   GFactorization gFactorization() const
   {
     return gFactorization_;