Options Class Reference

Provides a generic way to set and pass user-specified options. More...

#include <options.hpp>

Inheritance diagram for Options:

List of all members.

Public Member Functions
returnValue	addOptionsList ()
returnValue	ensureConsistency ()
returnValue	get (OptionsName name, int &value) const
returnValue	get (OptionsName name, double &value) const
returnValue	get (OptionsName name, std::string &value) const
returnValue	get (uint idx, OptionsName name, int &value) const
returnValue	get (uint idx, OptionsName name, double &value) const
returnValue	get (uint idx, OptionsName name, std::string &value) const
uint	getNumOptionsLists () const
Options	getOptions (uint idx) const
Options &	operator= (const Options &rhs)
	Options ()
	Options (const Options &rhs)
	Options ()
	Options (const OptionsList &_optionsList)
returnValue	print () const
returnValue	printOptionsList () const
returnValue	printOptionsList (uint idx) const
returnValue	set (OptionsName name, int value)
returnValue	set (OptionsName name, double value)
returnValue	set (OptionsName name, const std::string &value)
returnValue	set (uint idx, OptionsName name, int value)
returnValue	set (uint idx, OptionsName name, double value)
returnValue	set (uint idx, OptionsName name, const std::string &value)
returnValue	setOptions (const Options &arg)
returnValue	setOptions (uint idx, const Options &arg)
returnValue	setToDefault ()
returnValue	setToFast ()
returnValue	setToReliable ()
	~Options ()
virtual	~Options ()
Public Attributes
real_t	boundRelaxation
real_t	boundTolerance
int	enableCholeskyRefactorisation
int	enableDriftCorrection
BooleanType	enableEqualities
BooleanType	enableFarBounds
BooleanType	enableFlippingBounds
BooleanType	enableFullLITests
BooleanType	enableNZCTests
BooleanType	enableRamping
BooleanType	enableRegularisation
real_t	epsDen
real_t	epsFlipping
real_t	epsIterRef
real_t	epsLITests
real_t	epsNum
real_t	epsNZCTests
real_t	epsRegularisation
real_t	finalRamping
real_t	growFarBounds
real_t	initialFarBounds
real_t	initialRamping
SubjectToStatus	initialStatusBounds
real_t	maxDualJump
real_t	maxPrimalJump
int	numRefinementSteps
int	numRegularisationSteps
PrintLevel	printLevel
real_t	terminationTolerance
Protected Member Functions
returnValue	addOption (OptionsName name, int value)
returnValue	addOption (OptionsName name, double value)
returnValue	addOption (OptionsName name, const std::string &value)
returnValue	addOption (uint idx, OptionsName name, int value)
returnValue	addOption (uint idx, OptionsName name, double value)
returnValue	addOption (uint idx, OptionsName name, const std::string &value)
returnValue	clearOptionsList ()
returnValue	copy (const Options &rhs)
returnValue	declareOptionsUnchanged ()
returnValue	declareOptionsUnchanged (uint idx)
BooleanType	haveOptionsChanged () const
BooleanType	haveOptionsChanged (uint idx) const
virtual returnValue	setupOptions ()
Protected Attributes
std::vector< OptionsList >	lists
Friends
class	AlgorithmicBase

---

Detailed Description

Provides a generic way to set and pass user-specified options.

Manages all user-specified options for solving QPs.

The class Options provides a generic way to set and pass user-specified options. This class is part of the UserInterface class, i.e. all classes that are intended to interact with the user inherit the public functionality of the Options class.

The class Options holds an array of OptionsLists, where only one OptionsList is allocated by default. This list contains all available options and their respective values. The array can be extended by calling the addOptionsList() member function. This allows to handle more than one options list, that can be accessed via its index. This feature is, e.g., intended to manage a seperate options list for each stage of a multi-stage optimal control problem.

Note:

Parts of the functionality of the Options class are tunnelled into the AlgorithmicBase class to be used in derived developer classes. In case this functionality is modified or new functionality is added to this class, the AlgorithmicBase class has to be adapted accordingly.

Author:

Hans Joachim Ferreau, Boris Houska, Milan Vukov

This class manages all user-specified options used for solving quadratic programs.

Author:

Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:

3.0beta

Date:

2007-2011

Definition at line 65 of file options.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Options::Options

(

)

Default constructor.

Definition at line 45 of file options.cpp.

Options::Options

(

const OptionsList &

_optionsList

)

Constructor which takes an initialization for first option list.

Parameters:

[in]

_optionsList

Initialization for first option list

Definition at line 51 of file options.cpp.

Options::~Options

(

)

[virtual]

Destructor.

Definition at line 58 of file options.cpp.

Options::Options

(

)

Default constructor.

Options::Options

(

const Options &

rhs

)

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 59 of file Options.cpp.

Options::~Options

(

)

Destructor.

---

Member Function Documentation

returnValue Options::addOption	(	OptionsName	name,
		int	value
	)		[protected]

Add an option item with a given integer default value to the all option lists.

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 301 of file options.cpp.

returnValue Options::addOption	(	OptionsName	name,
		double	value
	)		[protected]

Add an option item with a given double default value to the all option lists.

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 318 of file options.cpp.

returnValue Options::addOption	(	OptionsName	name,
		const std::string &	value
	)		[protected]

Add an option item with a given double default value to the all option lists.

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 334 of file options.cpp.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		[protected]

Add an option item with a given integer default value to option list with given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 352 of file options.cpp.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		[protected]

Add an option item with a given double default value to option list with given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 364 of file options.cpp.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		const std::string &	value
	)		[protected]

Add an option item with a given double default value to option list with given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 375 of file options.cpp.

returnValue Options::addOptionsList

(

)

Adds an additional OptionsList to internal array.

Returns:

SUCCESSFUL_RETURN

Definition at line 61 of file options.cpp.

returnValue Options::clearOptionsList

(

)

[protected]

Clears all option lists from array.

Returns:

SUCCESSFUL_RETURN

returnValue Options::copy

(

const Options &

rhs

)

[protected]

Copies all members from given rhs object.

Returns:

SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

Definition at line 384 of file Options.cpp.

returnValue Options::declareOptionsUnchanged

(

)

[protected]

Declares all options of all option lists to be unchanged.

Returns:

SUCCESSFUL_RETURN

Definition at line 276 of file options.cpp.

returnValue Options::declareOptionsUnchanged

(

uint

idx

)

[protected]

Declares all options of option list with given index to be unchanged.

Parameters:

[in]

idx

Index of option list.

Returns:

SUCCESSFUL_RETURN

Definition at line 291 of file options.cpp.

returnValue Options::ensureConsistency

(

)

Ensures that all options have consistent values by automatically correcting inconsistent ones. Note: This routine cannot (and does not try to) ensure that values are set to reasonable values that make the QP solution work!

Returns:

SUCCESSFUL_RETURN

Definition at line 181 of file Options.cpp.

returnValue Options::get	(	OptionsName	name,
		int &	value
	)		const

Returns value of an existing option item of integer type.

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

Definition at line 69 of file options.cpp.

returnValue Options::get	(	OptionsName	name,
		double &	value
	)		const

Returns value of an existing option item of double type.

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

Definition at line 77 of file options.cpp.

returnValue Options::get	(	OptionsName	name,
		std::string &	value
	)		const

Returns value of an existing option item of string type.

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

Definition at line 84 of file options.cpp.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const

Returns value of an existing option item of integer type within the option list of given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 92 of file options.cpp.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const

Returns value of an existing option item of double type within the option list of given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 104 of file options.cpp.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		std::string &	value
	)		const

Returns value of an existing option item of string type within the option list of given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 115 of file options.cpp.

uint Options::getNumOptionsLists

(

)

const

Returns total number of option lists.

Returns:

Total number of option lists

Definition at line 386 of file options.cpp.

Options Options::getOptions

(

uint

idx

)

const

Returns an Options object containing exactly the option list with given index.

Parameters:

[in]

idx

Index of option list.

Returns:

Options object containing exactly the option list with given index

Definition at line 204 of file options.cpp.

BooleanType Options::haveOptionsChanged

(

)

const [protected]

Determines whether options of at least one option list have been modified.

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

Definition at line 251 of file options.cpp.

BooleanType Options::haveOptionsChanged

(

uint

idx

)

const [protected]

Determines whether options of option list with given index have been modified.

Parameters:

[in]

idx

Index of option list.

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

Definition at line 263 of file options.cpp.

Options & Options::operator=

(

const Options &

rhs

)

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 76 of file Options.cpp.

returnValue Options::print

(

)

const

Prints values of all options.

Returns:

SUCCESSFUL_RETURN

Definition at line 256 of file Options.cpp.

returnValue Options::printOptionsList

(

)

const

Prints a list of all available options of all option lists.

Returns:

SUCCESSFUL_RETURN

Definition at line 217 of file options.cpp.

returnValue Options::printOptionsList

(

uint

idx

)

const

Prints a list of all available options of option list with given index.

Parameters:

[in]

idx

Index of option list.

Returns:

SUCCESSFUL_RETURN

Definition at line 232 of file options.cpp.

returnValue Options::set	(	OptionsName	name,
		int	value
	)

Sets value of an existing option item of integer type to a given value.

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 126 of file options.cpp.

returnValue Options::set	(	OptionsName	name,
		double	value
	)

Sets value of an existing option item of double type to a given value.

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 134 of file options.cpp.

returnValue Options::set	(	OptionsName	name,
		const std::string &	value
	)

Sets value of an existing option item of string type to a given value.

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 141 of file options.cpp.

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		int	value
	)

Sets value of an existing option item of integer type within the option list of given index to a given value.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 148 of file options.cpp.

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		double	value
	)

Sets value of an existing option item of double type within the option list of given index to a given value.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 160 of file options.cpp.

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		const std::string &	value
	)

Sets value of an existing option item of string type within the option list of given index to a given value.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 171 of file options.cpp.

returnValue Options::setOptions

(

const Options &

arg

)

Assigns a given Options object to this object.

Parameters:

[in]

arg

New Options object to be assigned.

Note:

This routine is introduced only for convenience and is equivalent to the assignment operator.

Returns:

SUCCESSFUL_RETURN

Definition at line 183 of file options.cpp.

returnValue Options::setOptions	(	uint	idx,
		const Options &	arg
	)

Assigns the option list with given index of a given Options object to option list with given index of this object.

Parameters:

[in]	idx	Index of option list.
[in]	arg	Options object containing the option list to be assigned.

Returns:

SUCCESSFUL_RETURN

Definition at line 191 of file options.cpp.

returnValue Options::setToDefault

(

)

Sets all options to default values.

Returns:

SUCCESSFUL_RETURN

Definition at line 91 of file Options.cpp.

returnValue Options::setToFast

(

)

Sets all options to values resulting in minimum solution time.

Returns:

SUCCESSFUL_RETURN

Definition at line 155 of file Options.cpp.

returnValue Options::setToReliable

(

)

Sets all options to values resulting in maximum reliabilty.

Returns:

SUCCESSFUL_RETURN

Definition at line 139 of file Options.cpp.

returnValue Options::setupOptions

(

)

[protected, virtual]

Prototype member function for setting-up the option list(s) at initialization of derived classes.

Returns:

SUCCESSFUL_RETURN

Reimplemented in Process, Controller, IntegrationAlgorithm, SimulationEnvironment, RealTimeAlgorithm, MultiObjectiveAlgorithm, ExportModule, and OptimizationAlgorithm.

Definition at line 246 of file options.cpp.

---

Friends And Related Function Documentation

friend class AlgorithmicBase [friend]

Definition at line 67 of file options.hpp.

---

Member Data Documentation

real_t Options::boundRelaxation

Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds.

Definition at line 131 of file Options.hpp.

real_t Options::boundTolerance

Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint).

Definition at line 130 of file Options.hpp.

int Options::enableCholeskyRefactorisation

Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates).

Definition at line 126 of file Options.hpp.

int Options::enableDriftCorrection

Specifies the frequency of drift corrections (0 = off).

Definition at line 125 of file Options.hpp.

BooleanType Options::enableEqualities

Specifies whether equalities shall be always treated as active constraints.

Definition at line 127 of file Options.hpp.

BooleanType Options::enableFarBounds

Specifies whether far bounds shall be used or not.

Definition at line 120 of file Options.hpp.

BooleanType Options::enableFlippingBounds

Specifies whether flipping bounds shall be used or not.

Definition at line 121 of file Options.hpp.

BooleanType Options::enableFullLITests

Specifies whether condition-hardened LI test shall be used or not.

Definition at line 123 of file Options.hpp.

BooleanType Options::enableNZCTests

Specifies whether nonzero curvature tests shall be used.

Definition at line 124 of file Options.hpp.

BooleanType Options::enableRamping

Specifies whether ramping shall be enabled or not.

Definition at line 119 of file Options.hpp.

BooleanType Options::enableRegularisation

Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected.

Definition at line 122 of file Options.hpp.

real_t Options::epsDen

Denominator tolerance for ratio tests.

Definition at line 133 of file Options.hpp.

real_t Options::epsFlipping

Tolerance of squared Cholesky diagonal factor which triggers flipping bound.

Definition at line 142 of file Options.hpp.

real_t Options::epsIterRef

Early termination tolerance for iterative refinement.

Definition at line 146 of file Options.hpp.

real_t Options::epsLITests

Tolerance for linear independence tests.

Definition at line 147 of file Options.hpp.

real_t Options::epsNum

Numerator tolerance for ratio tests.

Definition at line 132 of file Options.hpp.

real_t Options::epsNZCTests

Tolerance for nonzero curvature tests.

Definition at line 148 of file Options.hpp.

real_t Options::epsRegularisation

Scaling factor of identity matrix used for Hessian regularisation.

Definition at line 144 of file Options.hpp.

real_t Options::finalRamping

Final value for Ramping Strategy (usually 1.0 or 0.5).

Definition at line 138 of file Options.hpp.

real_t Options::growFarBounds

Factor to grow Far Bounds.

Definition at line 140 of file Options.hpp.

real_t Options::initialFarBounds

Initial size of Far Bounds.

Definition at line 139 of file Options.hpp.

real_t Options::initialRamping

Start value for Ramping Strategy (usually 0.5 or 1.0).

Definition at line 137 of file Options.hpp.

SubjectToStatus Options::initialStatusBounds

Initial status of bounds at first iteration.

Definition at line 141 of file Options.hpp.

std::vector< OptionsList > Options::lists [protected]

A list consisting of OptionsLists.

Definition at line 476 of file options.hpp.

real_t Options::maxDualJump

Maximum allowed jump in dual variables in linear independence tests.

Definition at line 135 of file Options.hpp.

real_t Options::maxPrimalJump

Maximum allowed jump in primal variables in nonzero curvature tests.

Definition at line 134 of file Options.hpp.

int Options::numRefinementSteps

Maximum number of iterative refinement steps.

Definition at line 145 of file Options.hpp.

int Options::numRegularisationSteps

Maximum number of successive regularisation steps.

Definition at line 143 of file Options.hpp.

PrintLevel Options::printLevel

Print level.

Definition at line 117 of file Options.hpp.

real_t Options::terminationTolerance

Termination tolerance.

Definition at line 129 of file Options.hpp.

---

The documentation for this class was generated from the following files:

• options.hpp
• Options.hpp
• options.cpp
• Options.cpp