Implements the online active set strategy for QPs with general constraints. More...

#include <QProblem.hpp>

Inheritance diagram for QProblem:

Public Member Functions
returnValue	getA (real_t *const _A) const
returnValue	getA (int number, real_t *const row) const
returnValue	getA (real_t *const _A) const
returnValue	getA (int number, real_t *const row) const
returnValue	getConstraints (Constraints *const _constraints) const
returnValue	getConstraints (Constraints *const _constraints) const
returnValue	getConstraints (Constraints &_constraints) const
returnValue	getDualSolution (real_t *const yOpt) const
returnValue	getDualSolution (real_t *const yOpt) const
virtual returnValue	getDualSolution (real_t *const yOpt) const
returnValue	getLBA (real_t *const _lbA) const
returnValue	getLBA (int number, real_t &value) const
returnValue	getLBA (real_t *const _lbA) const
returnValue	getLBA (int number, real_t &value) const
int	getNAC ()
int	getNAC ()
int	getNAC () const
int	getNC () const
int	getNC () const
int	getNC () const
int	getNEC () const
int	getNEC () const
int	getNEC () const
int	getNIAC ()
int	getNIAC ()
int	getNIAC () const
int	getNZ ()
int	getNZ ()
virtual int	getNZ () const
returnValue	getUBA (real_t *const _ubA) const
returnValue	getUBA (int number, real_t &value) const
returnValue	getUBA (real_t *const _ubA) const
returnValue	getUBA (int number, real_t &value) const
returnValue	hotstart (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime)
returnValue	hotstart (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime)
returnValue	hotstart (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime)
returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime)
returnValue	hotstart (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime, const Bounds const guessedBounds, const Constraints const guessedConstraints)
returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime, const Bounds const guessedBounds, const Constraints const guessedConstraints)
returnValue	init (const real_t const _H, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, const real_t const yOpt=0, real_t *const cputime=0)
returnValue	init (const real_t const _H, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, const real_t const yOpt=0, real_t *const cputime=0)
returnValue	init (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime)
returnValue	init (const real_t const _H, const real_t const _R, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, const real_t const yOpt=0, real_t const cputime=0)
returnValue	init (const real_t const _H, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime)
returnValue	init (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime)
returnValue	init (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints)
returnValue	init (const real_t const _H, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints)
returnValue	init (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints)
QProblem &	operator= (const QProblem &rhs)
QProblem &	operator= (const QProblem &rhs)
QProblem &	operator= (const QProblem &rhs)
virtual returnValue	printProperties ()
	QProblem ()
	QProblem ()
	QProblem (int _nV, int _nC)
	QProblem (int _nV, int _nC)
	QProblem ()
	QProblem (const QProblem &rhs)
	QProblem (const QProblem &rhs)
	QProblem (int _nV, int _nC, HessianType _hessianType=HST_UNKNOWN)
	QProblem (const QProblem &rhs)
returnValue	reset ()
returnValue	reset ()
virtual returnValue	reset ()
returnValue	setConstraintProduct (ConstraintProduct *const _constraintProduct)
returnValue	solveCurrentEQP (const int n_rhs, const real_t g_in, const real_t lb_in, const real_t ub_in, const real_t lbA_in, const real_t ubA_in, real_t x_out, real_t *y_out)
	~QProblem ()
	~QProblem ()
virtual	~QProblem ()
Protected Member Functions
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
returnValue	addBound_checkLI (int number)
returnValue	addBound_checkLI (int number)
returnValue	addBound_checkLI (int number)
returnValue	addBound_ensureLI (int number, SubjectToStatus B_status)
returnValue	addBound_ensureLI (int number, SubjectToStatus B_status)
returnValue	addBound_ensureLI (int number, SubjectToStatus B_status)
returnValue	addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky)
returnValue	addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky)
returnValue	addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
returnValue	addConstraint_checkLI (int number)
returnValue	addConstraint_checkLI (int number)
returnValue	addConstraint_checkLI (int number)
returnValue	addConstraint_ensureLI (int number, SubjectToStatus C_status)
returnValue	addConstraint_ensureLI (int number, SubjectToStatus C_status)
returnValue	addConstraint_ensureLI (int number, SubjectToStatus C_status)
BooleanType	areBoundsConsistent (const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_lbA, const real_t const delta_ubA) const
BooleanType	areBoundsConsistent (const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_lbA, const real_t const delta_ubA) const
returnValue	backsolveR (const real_t const b, BooleanType transposed, real_t const a)
returnValue	backsolveR (const real_t const b, BooleanType transposed, BooleanType removingBound, real_t const a)
returnValue	backsolveR (const real_t const b, BooleanType transposed, real_t const a)
returnValue	backsolveR (const real_t const b, BooleanType transposed, BooleanType removingBound, real_t const a)
returnValue	backsolveT (const real_t const b, BooleanType transposed, real_t const a)
returnValue	backsolveT (const real_t const b, BooleanType transposed, real_t const a)
returnValue	backsolveT (const real_t const b, BooleanType transposed, real_t const a) const
returnValue	changeActiveSet (int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
returnValue	checkKKTconditions ()
returnValue	checkKKTconditions ()
returnValue	clear ()
returnValue	computeInitialCholesky ()
returnValue	copy (const QProblem &rhs)
returnValue	determineDataShift (const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
returnValue	determineStepDirection (const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t *const delta_yFX)
returnValue	ensureNonzeroCurvature (BooleanType removeBoundNotConstraint, int remIdx, BooleanType &exchangeHappened, BooleanType &addBoundNotConstraint, int &addIdx, SubjectToStatus &addStatus)
returnValue	hotstart_determineDataShift (const int const FX_idx, const int const AC_idx, const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
returnValue	hotstart_determineDataShift (const int const FX_idx, const int const AC_idx, const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
returnValue	hotstart_determineStepDirection (const int const FR_idx, const int const FX_idx, const int const AC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t const delta_yFX)
returnValue	hotstart_determineStepDirection (const int const FR_idx, const int const FX_idx, const int const AC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t const delta_yFX)
returnValue	hotstart_determineStepLength (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFX, const real_t const delta_xFR, const real_t const delta_yAC, const real_t const delta_yFX, real_t *const delta_Ax, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
returnValue	hotstart_determineStepLength (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFX, const real_t const delta_xFR, const real_t const delta_yAC, const real_t const delta_yFX, real_t *const delta_Ax, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
returnValue	hotstart_performStep (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFX, const real_t const delta_xFR, const real_t const delta_yAC, const real_t const delta_yFX, const real_t const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
returnValue	hotstart_performStep (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFX, const real_t const delta_xFR, const real_t const delta_yAC, const real_t const delta_yFX, const real_t const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
returnValue	loadQPvectorsFromFile (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, real_t const g_new, real_t const lb_new, real_t const ub_new, real_t const lbA_new, real_t const ubA_new) const
returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const
returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const
returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const
returnValue	performDriftCorrection ()
returnValue	performPlainRatioTest (int nIdx, const int const idxList, const real_t const num, const real_t *const den, real_t epsNum, real_t epsDen, real_t &t, int &BC_idx) const
virtual returnValue	performRamping ()
returnValue	performStep (const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFX, const real_t const delta_xFR, const real_t const delta_yAC, const real_t *const delta_yFX, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
returnValue	printIteration (int iteration, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
real_t	relativeHomotopyLength (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t *const ubA_new)
returnValue	removeBound (int number, BooleanType updateCholesky)
returnValue	removeBound (int number, BooleanType updateCholesky)
returnValue	removeBound (int number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
returnValue	removeConstraint (int number, BooleanType updateCholesky)
returnValue	removeConstraint (int number, BooleanType updateCholesky)
returnValue	removeConstraint (int number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
returnValue	setA (const real_t *const A_new)
returnValue	setA (int number, const real_t *const value)
returnValue	setA (const real_t *const A_new)
returnValue	setA (int number, const real_t *const value)
returnValue	setA (Matrix *A_new)
returnValue	setA (const real_t *const A_new)
returnValue	setLBA (const real_t *const lbA_new)
returnValue	setLBA (int number, real_t value)
returnValue	setLBA (const real_t *const lbA_new)
returnValue	setLBA (int number, real_t value)
returnValue	setLBA (const real_t *const lbA_new)
returnValue	setLBA (int number, real_t value)
returnValue	setUBA (const real_t *const ubA_new)
returnValue	setUBA (int number, real_t value)
returnValue	setUBA (const real_t *const ubA_new)
returnValue	setUBA (int number, real_t value)
returnValue	setUBA (const real_t *const ubA_new)
returnValue	setUBA (int number, real_t value)
virtual returnValue	setupAuxiliaryQP (const Bounds const guessedBounds, const Constraints const guessedConstraints)
returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)
returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)
returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)
returnValue	setupAuxiliaryQPgradient ()
returnValue	setupAuxiliaryQPgradient ()
returnValue	setupAuxiliaryQPgradient ()
returnValue	setupAuxiliaryQPsolution (const real_t const xOpt, const real_t const yOpt)
returnValue	setupAuxiliaryQPsolution (const real_t const xOpt, const real_t const yOpt)
returnValue	setupAuxiliaryQPsolution (const real_t const xOpt, const real_t const yOpt)
returnValue	setupAuxiliaryWorkingSet (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)
returnValue	setupAuxiliaryWorkingSet (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)
returnValue	setupAuxiliaryWorkingSet (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)
returnValue	setupCholeskyDecompositionProjected ()
returnValue	setupCholeskyDecompositionProjected ()
returnValue	setupCholeskyDecompositionProjected ()
returnValue	setupQPdata (const real_t const _H, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t *const _ubA)
returnValue	setupQPdata (const real_t const _H, const real_t const _R, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA)
returnValue	setupQPdata (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t *const _ubA)
returnValue	setupQPdata (const real_t const _H, const real_t const _g, const real_t const _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t *const _ubA)
returnValue	setupQPdataFromFile (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char *const ubA_file)
returnValue	setupSubjectToType ()
returnValue	setupSubjectToType ()
virtual returnValue	setupSubjectToType ()
virtual returnValue	setupSubjectToType (const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new)
returnValue	setupTQfactorisation ()
returnValue	setupTQfactorisation ()
returnValue	setupTQfactorisation ()
BooleanType	shallRefactorise (const Bounds const guessedBounds, const Constraints const guessedConstraints) const
returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, int &nWSR, real_t *const cputime)
returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, int &nWSR, real_t *const cputime)
returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, int &nWSR, real_t *const cputime)
returnValue	solveQP (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime, int nWSRperformed=0)
returnValue	solveRegularisedQP (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime, int nWSRperformed=0)
Protected Attributes
real_t	A [NCMAX_ALLOC *NVMAX]
Matrix *	A
real_t	Ax [NCMAX_ALLOC]
real_t *	Ax
real_t *	Ax_l
real_t *	Ax_u
ConstraintProduct *	constraintProduct
Constraints	constraints
CyclingManager	cyclingManager
real_t *	delta_xFRy
real_t *	delta_xFRz
real_t *	delta_yAC_TMP
BooleanType	freeConstraintMatrix
int	idxAddB
int	idxAddC
int	idxRemB
int	idxRemC
real_t	lbA [NCMAX_ALLOC]
real_t *	lbA
real_t	Q [NVMAX *NVMAX]
real_t *	Q
int	sizeT
real_t	T [NVMAX *NVMAX]
real_t *	T
real_t *	tempA
real_t *	tempB
real_t	ubA [NCMAX_ALLOC]
real_t *	ubA
real_t *	ZFR_delta_xFRz
Friends
class	SolutionAnalysis

Detailed Description

Implements the online active set strategy for QPs with general constraints.

A class for setting up and solving quadratic programs. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.

Author:: Hans Joachim Ferreau

Version:: 1.3embedded

Date:: 2007-2008

A class for setting up and solving quadratic programs. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.

Author:: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:: 3.0beta

Date:: 2007-2011

Definition at line 53 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES QProblem::QProblem ( )

Default constructor.

Definition at line 62 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem	(	int	_nV,
		int	_nC
	)

Constructor which takes the QP dimensions only.

Parameters:

_nV	Number of variables.
_nC	Number of constraints.

Definition at line 75 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 101 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::~QProblem ( )

Destructor.

Definition at line 144 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem ( )

Default constructor.

QProblem::QProblem	(	int	_nV,
		int	_nC
	)

Constructor which takes the QP dimensions only.

Parameters:

_nV	Number of variables.
_nC	Number of constraints.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

QProblem::~QProblem ( )

Destructor.

QProblem::QProblem ( )

Default constructor.

QProblem::QProblem	(	int	_nV,
		int	_nC,
		HessianType	_hessianType = `HST_UNKNOWN`
	)

Constructor which takes the QP dimension and Hessian type information. If the Hessian is the zero (i.e. HST_ZERO) or the identity matrix (i.e. HST_IDENTITY), respectively, no memory is allocated for it and a NULL pointer can be passed for it to the init() functions.

Parameters:

_nV	Number of variables.
_nC	Number of constraints.
_hessianType	Type of Hessian matrix.

Definition at line 80 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

virtual QProblem::~QProblem ( ) [virtual]

Destructor.

Member Function Documentation

returnValue QProblem::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky
	)		`[protected]`

Adds a bound to active set.

Returns:: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters:

number	Number of bound to be added to active set.
B_status	Status of new active bound.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

Definition at line 1787 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky
	)		`[protected]`

Adds a bound to active set.

Returns:: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters:

number	Number of bound to be added to active set.
B_status	Status of new active bound.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

returnValue QProblem::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky,
		BooleanType	ensureLI = `BT_TRUE`
	)		`[protected]`

Adds a bound to active set.

Returns:: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters:

number	Number of bound to be added to active set.
B_status	Status of new active bound.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
ensureLI	Ensure linear independence by exchange rules by default.

Definition at line 3371 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::addBound_checkLI ( int number ) [protected]

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns:: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters:

number Number of bound to be added to active set.

Definition at line 1953 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound_checkLI ( int number ) [protected]

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns:: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters:

number Number of bound to be added to active set.

returnValue QProblem::addBound_checkLI ( int number ) [protected]

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns:: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters:

number Number of bound to be added to active set.

returnValue QProblem::addBound_ensureLI	(	int	number,
		SubjectToStatus	B_status
	)		`[protected]`

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters:

number	Number of bound to be added to active set.
B_status	Status of new active bound.

Definition at line 1975 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound_ensureLI	(	int	number,
		SubjectToStatus	B_status
	)		`[protected]`

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters:

number	Number of bound to be added to active set.
B_status	Status of new active bound.

returnValue QProblem::addBound_ensureLI	(	int	number,
		SubjectToStatus	B_status
	)		`[protected]`

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters:

number	Number of bound to be added to active set.
B_status	Status of new active bound.

returnValue QProblem::addConstraint	(	int	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky
	)		`[protected]`

Adds a constraint to active set.

Returns:: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters:

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Definition at line 1339 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint	(	int	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky
	)		`[protected]`

Adds a constraint to active set.

Returns:: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters:

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

returnValue QProblem::addConstraint	(	int	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky,
		BooleanType	ensureLI = `BT_TRUE`
	)		`[protected]`

Adds a constraint to active set.

Returns:: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters:

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
ensureLI	Ensure linear independence by exchange rules by default.

Definition at line 2901 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::addConstraint_checkLI ( int number ) [protected]

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns:: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters:

number Number of constraint to be added to active set.

Definition at line 1493 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint_checkLI ( int number ) [protected]

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns:: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters:

number Number of constraint to be added to active set.

returnValue QProblem::addConstraint_checkLI ( int number ) [protected]

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns:: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters:

number Number of constraint to be added to active set.

returnValue QProblem::addConstraint_ensureLI	(	int	number,
		SubjectToStatus	C_status
	)		`[protected]`

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters:

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

Definition at line 1527 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint_ensureLI	(	int	number,
		SubjectToStatus	C_status
	)		`[protected]`

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters:

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

returnValue QProblem::addConstraint_ensureLI	(	int	number,
		SubjectToStatus	C_status
	)		`[protected]`

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters:

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

BooleanType QProblem::areBoundsConsistent	(	const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA
	)		const `[protected]`

Checks if lower/upper (constraints') bounds remain consistent (i.e. if lb <= ub and lbA <= ubA ) during the current step.

Returns:: BT_TRUE iff (constraints") bounds remain consistent

Parameters:

delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.

Definition at line 3496 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

BooleanType QProblem::areBoundsConsistent	(	const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA
	)		const `[protected]`

Checks if lower/upper (constraints') bounds remain consistent (i.e. if lb <= ub and lbA <= ubA ) during the current step.

Returns:: BT_TRUE iff (constraints") bounds remain consistent

Parameters:

delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.

returnValue QProblem::backsolveR	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		`[protected]`

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
a	Output: Solution vector

Reimplemented from QProblemB.

Definition at line 2514 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveR	(	const real_t *const	b,
		BooleanType	transposed,
		BooleanType	removingBound,
		real_t *const	a
	)		`[protected]`

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
Special variant for the case that this function is called from within "removeBound()".

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
removingBound	Indicates if function is called from "removeBound()".
a	Output: Solution vector

Reimplemented from QProblemB.

Definition at line 2526 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveR	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		`[protected]`

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
a	Output: Solution vector

Reimplemented from QProblemB.

returnValue QProblem::backsolveR	(	const real_t *const	b,
		BooleanType	transposed,
		BooleanType	removingBound,
		real_t *const	a
	)		`[protected]`

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
Special variant for the case that this function is called from within "removeBound()".

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
removingBound	Indicates if function is called from "removeBound()".
a	Output: Solution vector

Reimplemented from QProblemB.

returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		`[protected]`

Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
a	Output: Solution vector

Definition at line 2586 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		`[protected]`

Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
a	Output: Solution vector

returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		const `[protected]`

Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.

Returns:: SUCCESSFUL_RETURN
RET_DIV_BY_ZERO

Parameters:

b	Right hand side vector.
transposed	Indicates if the transposed system shall be solved.
a	Output: Solution vector

Definition at line 4547 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::changeActiveSet	(	int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)		`[protected]`

Updates the active set.

Returns:: SUCCESSFUL_RETURN
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED

Parameters:

BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

Definition at line 5399 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::checkKKTconditions ( ) [protected]

Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblem object.

Returns:: SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Reimplemented from QProblemB.

Definition at line 3656 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::checkKKTconditions ( ) [protected]

Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblem object.

Returns:: SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Reimplemented from QProblemB.

returnValue QProblem::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1321 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::computeInitialCholesky ( ) [protected]

Computes initial Cholesky decomposition of the projected Hessian making use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().

Returns:: SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED

Definition at line 466 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::copy ( const QProblem & rhs ) [protected]

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

Definition at line 1414 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::determineDataShift	(	const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		BooleanType &	Delta_bB_isZero
	)		`[protected]`

Determines step direction of the shift of the QP data.

Returns:: SUCCESSFUL_RETURN

Parameters:

g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

Definition at line 4600 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::determineStepDirection	(	const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)		`[protected]`

Determines step direction of the homotopy path.

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Indicates if active bounds are to be shifted.
delta_xFX	Output: Primal homotopy step direction of fixed variables.
delta_xFR	Output: Primal homotopy step direction of free variables.
delta_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 4666 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::ensureNonzeroCurvature	(	BooleanType	removeBoundNotConstraint,
		int	remIdx,
		BooleanType &	exchangeHappened,
		BooleanType &	addBoundNotConstraint,
		int &	addIdx,
		SubjectToStatus &	addStatus
	)		`[protected]`

Ensure non-zero curvature by primal jump.

Returns:: SUCCESSFUL_RETURN
RET_HOTSTART_STOPPED_UNBOUNDEDNESS

Parameters:

removeBoundNotConstraint	SubjectTo to be removed is a bound.
remIdx	Index of bound/constraint to be removed.
exchangeHappened	Output: Exchange was necessary to ensure.
addBoundNotConstraint	SubjectTo to be added is a bound.
addIdx	Index of bound/constraint to be added.
addStatus	Status of bound/constraint to be added.

Definition at line 4306 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::getA ( real_t *const _A ) const [inline]

Returns constraint matrix of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_A	Array of appropriate dimension for copying constraint matrix.

returnValue QProblem::getA	(	int	number,
		real_t *const	row
	)		const `[inline]`

Returns a single row of constraint matrix of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be returned.
row	Array of appropriate dimension for copying (number)th constraint.

returnValue QProblem::getA ( real_t *const _A ) const [inline]

Returns constraint matrix of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_A	Array of appropriate dimension for copying constraint matrix.

returnValue QProblem::getA	(	int	number,
		real_t *const	row
	)		const `[inline]`

Returns a single row of constraint matrix of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be returned.
row	Array of appropriate dimension for copying (number)th constraint.

returnValue QProblem::getConstraints ( Constraints *const _constraints ) const [inline]

Returns current constraints object of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_constraints Output: Constraints object.

returnValue QProblem::getConstraints ( Constraints *const _constraints ) const [inline]

Returns current constraints object of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_constraints Output: Constraints object.

returnValue QProblem::getConstraints ( Constraints & _constraints ) const [inline]

Returns current constraints object of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP

Parameters:

_constraints Output: Constraints object.

returnValue QProblem::getDualSolution ( real_t *const yOpt ) const

Returns the dual solution vector (deep copy).

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

yOpt	Output: Dual solution vector (if QP has been solved).

Reimplemented from QProblemB.

Definition at line 477 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::getDualSolution ( real_t *const yOpt ) const

Returns the dual solution vector (deep copy).

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

yOpt	Output: Dual solution vector (if QP has been solved).

Reimplemented from QProblemB.

virtual returnValue QProblem::getDualSolution ( real_t *const yOpt ) const [virtual]

Returns the dual solution vector (deep copy).

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

yOpt	Output: Dual solution vector (if QP has been solved).

Reimplemented from QProblemB.

returnValue QProblem::getLBA ( real_t *const _lbA ) const [inline]

Returns lower constraints' bound vector of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_lbA	Array of appropriate dimension for copying lower constraints' bound vector.

returnValue QProblem::getLBA	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of lower constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be returned.
value	Output: lbA[number].

returnValue QProblem::getLBA ( real_t *const _lbA ) const [inline]

Returns lower constraints' bound vector of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_lbA	Array of appropriate dimension for copying lower constraints' bound vector.

returnValue QProblem::getLBA	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of lower constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be returned.
value	Output: lbA[number].

int QProblem::getNAC ( ) [inline]

Returns the number of active constraints.

Returns:: Number of active constraints.

int QProblem::getNAC ( ) [inline]

Returns the number of active constraints.

Returns:: Number of active constraints.

int QProblem::getNAC ( ) const [inline]

Returns the number of active constraints.

Returns:: Number of active constraints.

int QProblem::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

int QProblem::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

int QProblem::getNC ( ) const [inline]

Returns the number of constraints.

Returns:: Number of constraints.

int QProblem::getNEC ( ) const [inline]

Returns the number of (implicitly defined) equality constraints.

Returns:: Number of (implicitly defined) equality constraints.

int QProblem::getNEC ( ) const [inline]

Returns the number of (implicitly defined) equality constraints.

Returns:: Number of (implicitly defined) equality constraints.

int QProblem::getNEC ( ) const [inline]

Returns the number of (implicitly defined) equality constraints.

Returns:: Number of (implicitly defined) equality constraints.

int QProblem::getNIAC ( ) [inline]

Returns the number of inactive constraints.

Returns:: Number of inactive constraints.

int QProblem::getNIAC ( ) [inline]

Returns the number of inactive constraints.

Returns:: Number of inactive constraints.

int QProblem::getNIAC ( ) const [inline]

Returns the number of inactive constraints.

Returns:: Number of inactive constraints.

int QProblem::getNZ ( )

Returns the dimension of null space.

Returns:: Dimension of null space.

Reimplemented from QProblemB.

Definition at line 467 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

int QProblem::getNZ ( )

Returns the dimension of null space.

Returns:: Dimension of null space.

Reimplemented from QProblemB.

int QProblem::getNZ ( ) const [virtual]

Returns the dimension of null space.

Returns:: Dimension of null space.

Reimplemented from QProblemB.

Definition at line 1117 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::getUBA ( real_t *const _ubA ) const [inline]

Returns upper constraints' bound vector of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_ubA	Array of appropriate dimension for copying upper constraints' bound vector.

returnValue QProblem::getUBA	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of upper constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be returned.
value	Output: ubA[number].

returnValue QProblem::getUBA ( real_t *const _ubA ) const [inline]

Returns upper constraints' bound vector of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_ubA	Array of appropriate dimension for copying upper constraints' bound vector.

returnValue QProblem::getUBA	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of upper constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be returned.
value	Output: ubA[number].

returnValue QProblem::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime
	)

Solves QProblem using online active set strategy.

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Parameters:

g_new	Gradient of neighbouring QP to be solved.
lb_new	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_new	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Output: CPU time required to solve QP (or to perform nWSR iterations).

Reimplemented in SQProblem.

Definition at line 255 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime
	)

Solves QProblem using online active set strategy.

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Parameters:

g_new	Gradient of neighbouring QP to be solved.
lb_new	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_new	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Output: CPU time required to solve QP (or to perform nWSR iterations).

Reimplemented in SQProblem.

returnValue QProblem::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime
	)

Solves QProblem using online active set strategy. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS

Parameters:

g_new	Gradient of neighbouring QP to be solved.
lb_new	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_new	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).

Reimplemented in SQProblem.

returnValue QProblem::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime
	)

Solves QProblem using online active set strategy reading QP data from files. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS

Parameters:

g_file	Name of file where gradient, of neighbouring QP to be solved, is stored.
lb_file	Name of file where lower bounds, of neighbouring QP to be solved, is stored. If no lower bounds exist, a NULL pointer can be passed.
ub_file	Name of file where upper bounds, of neighbouring QP to be solved, is stored. If no upper bounds exist, a NULL pointer can be passed.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).

Reimplemented in SQProblem.

Definition at line 809 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Solves an initialised QProblem using online active set strategy (using an initialised homotopy). Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_SETUP_AUXILIARYQP_FAILED

Parameters:

g_new	Gradient of neighbouring QP to be solved.
lb_new	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_new	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).
guessedBounds	Initial guess for working set of bounds. A null pointer corresponds to an empty working set!
guessedConstraints	Initial guess for working set of constraints. A null pointer corresponds to an empty working set!

Reimplemented in SQProblem.

Definition at line 883 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Solves an initialised QProblem using online active set strategy (using an initialised homotopy) reading QP data from files. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_SETUP_AUXILIARYQP_FAILED
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS

Parameters:

g_file	Name of file where gradient, of neighbouring QP to be solved, is stored.
lb_file	Name of file where lower bounds, of neighbouring QP to be solved, is stored. If no lower bounds exist, a NULL pointer can be passed.
ub_file	Name of file where upper bounds, of neighbouring QP to be solved, is stored. If no upper bounds exist, a NULL pointer can be passed.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).
guessedBounds	Initial guess for working set of bounds. A null pointer corresponds to an empty working set!
guessedConstraints	Initial guess for working set of constraints. A null pointer corresponds to an empty working set!

Reimplemented in SQProblem.

Definition at line 968 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart_determineDataShift	(	const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		BooleanType &	Delta_bB_isZero
	)		`[protected]`

Determines step direction of the shift of the QP data.

Returns:: SUCCESSFUL_RETURN

Parameters:

FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

Definition at line 2639 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineDataShift	(	const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		BooleanType &	Delta_bB_isZero
	)		`[protected]`

Determines step direction of the shift of the QP data.

Returns:: SUCCESSFUL_RETURN

Parameters:

FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

returnValue QProblem::hotstart_determineStepDirection	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)		`[protected]`

Determines step direction of the homotopy path.

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Indicates if active bounds are to be shifted.
delta_xFX	Output: Primal homotopy step direction of fixed variables.
delta_xFR	Output: Primal homotopy step direction of free variables.
delta_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 2697 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineStepDirection	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)		`[protected]`

Determines step direction of the homotopy path.

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Indicates if active bounds are to be shifted.
delta_xFX	Output: Primal homotopy step direction of fixed variables.
delta_xFR	Output: Primal homotopy step direction of free variables.
delta_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

returnValue QProblem::hotstart_determineStepLength	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFX,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yAC,
		const real_t *const	delta_yFX,
		real_t *const	delta_Ax,
		int &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)		`[protected]`

Determines the maximum possible step length along the homotopy path.

Returns:: SUCCESSFUL_RETURN

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFX	Primal homotopy step direction of fixed variables.
delta_xFR	Primal homotopy step direction of free variables.
delta_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Output: Step in vector Ax.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

Definition at line 3052 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineStepLength	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFX,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yAC,
		const real_t *const	delta_yFX,
		real_t *const	delta_Ax,
		int &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)		`[protected]`

Determines the maximum possible step length along the homotopy path.

Returns:: SUCCESSFUL_RETURN

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFX	Primal homotopy step direction of fixed variables.
delta_xFR	Primal homotopy step direction of free variables.
delta_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Output: Step in vector Ax.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

returnValue QProblem::hotstart_performStep	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFX,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yAC,
		const real_t *const	delta_yFX,
		const real_t *const	delta_Ax,
		int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)		`[protected]`

Performs a step along the homotopy path (and updates active set).

Returns:: SUCCESSFUL_RETURN
RET_OPTIMAL_SOLUTION_FOUND
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
RET_QP_INFEASIBLE

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFX	Primal homotopy step direction of fixed variables.
delta_xFR	Primal homotopy step direction of free variables.
delta_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Step in vector Ax.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

Definition at line 3318 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_performStep	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFX,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yAC,
		const real_t *const	delta_yFX,
		const real_t *const	delta_Ax,
		int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)		`[protected]`

Performs a step along the homotopy path (and updates active set).

Returns:: SUCCESSFUL_RETURN
RET_OPTIMAL_SOLUTION_FOUND
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
RET_QP_INFEASIBLE

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFX	Primal homotopy step direction of fixed variables.
delta_xFR	Primal homotopy step direction of free variables.
delta_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Step in vector Ax.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

returnValue QProblem::init	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		const real_t *const	yOpt = `0`,
		real_t *const	cputime = `0`
	)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
yOpt	Initial guess for dual solution vector.
cputime	Output: CPU time required to initialise QP.

Definition at line 237 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::init	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		const real_t *const	yOpt = `0`,
		real_t *const	cputime = `0`
	)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
yOpt	Initial guess for dual solution vector.
cputime	Output: CPU time required to initialise QP.

returnValue QProblem::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP initialisation. Output: CPU time spend for QP initialisation.

Definition at line 230 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	const real_t *const	_H,
		const real_t *const	_R,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		const real_t *const	yOpt = `0`,
		real_t *const	cputime = `0`
	)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Parameters:

_H	Hessian matrix.
_R	Cholesky factorization of the Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
yOpt	Initial guess for dual solution vector.
cputime	Output: CPU time required to initialise QP.

Definition at line 251 of file external_packages/qpoases/SRC/QProblem.cpp.

returnValue QProblem::init	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix. If Hessian matrix is trivial, a NULL pointer can be passed.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP initialisation. Output: CPU time spend for QP initialisation.

Definition at line 258 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblem with given QP data to be read from files and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_UNABLE_TO_READ_FILE

Parameters:

H_file	Name of file where Hessian matrix is stored. If Hessian matrix is trivial, a NULL pointer can be passed.
g_file	Name of file where gradient vector is stored.
A_file	Name of file where constraint matrix is stored.
lb_file	Name of file where lower bound vector. If no lower bounds exist, a NULL pointer can be passed.
ub_file	Name of file where upper bound vector. If no upper bounds exist, a NULL pointer can be passed.
lbA_file	Name of file where lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bound vector. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP initialisation. Output: CPU time spend for QP initialisation.

Definition at line 286 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Initialises a QProblem with given QP data and solves it depending on the parameter constellation:
1. 0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
2. xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
3. 0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
4. 0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
5. xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
6. xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
7. xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!) Note: This function internally calls solveInitialQP for initialisation!

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP initialisation. Output: CPU time spend for QP initialisation.
xOpt	Optimal primal solution vector. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).

Definition at line 314 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Initialises a QProblem with given QP data and solves it depending on the parameter constellation:
1. 0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
2. xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
3. 0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
4. 0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
5. xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
6. xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
7. xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!) Note: This function internally calls solveInitialQP for initialisation!

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix. If Hessian matrix is trivial, a NULL pointer can be passed.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP initialisation. Output: CPU time spend for QP initialisation.
xOpt	Optimal primal solution vector. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).

Definition at line 368 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Initialises a QProblem with given QP data to be read from files and solves it depending on the parameter constellation:
Note: This function internally calls solveInitialQP for initialisation! 1. 0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
2. xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
3. 0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
4. 0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
5. xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
6. xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
7. xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!)

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_UNABLE_TO_READ_FILE

Parameters:

H_file	Name of file where Hessian matrix is stored. If Hessian matrix is trivial, a NULL pointer can be passed.
g_file	Name of file where gradient vector is stored.
A_file	Name of file where constraint matrix is stored.
lb_file	Name of file where lower bound vector. If no lower bounds exist, a NULL pointer can be passed.
ub_file	Name of file where upper bound vector. If no upper bounds exist, a NULL pointer can be passed.
lbA_file	Name of file where lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bound vector. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP initialisation. Output: CPU time spend for QP initialisation.
xOpt	Optimal primal solution vector. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).

Definition at line 422 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::loadQPvectorsFromFile	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		real_t *const	g_new,
		real_t *const	lb_new,
		real_t *const	ub_new,
		real_t *const	lbA_new,
		real_t *const	ubA_new
	)		const `[protected]`

Loads new QP vectors from files (internal members are not affected!).

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS

Parameters:

g_file	Name of file where gradient, of neighbouring QP to be solved, is stored.
lb_file	Name of file where lower bounds, of neighbouring QP to be solved, is stored. If no lower bounds exist, a NULL pointer can be passed.
ub_file	Name of file where upper bounds, of neighbouring QP to be solved, is stored. If no upper bounds exist, a NULL pointer can be passed.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' bounds exist, a NULL pointer can be passed.
g_new	Output: Gradient of neighbouring QP to be solved.
lb_new	Output: Lower bounds of neighbouring QP to be solved
ub_new	Output: Upper bounds of neighbouring QP to be solved
lbA_new	Output: Lower constraints' bounds of neighbouring QP to be solved
ubA_new	Output: Upper constraints' bounds of neighbouring QP to be solved

Definition at line 5981 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const `[protected]`

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

Returns:: SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS

Parameters:

xOpt	Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
yOpt	Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
guessedBounds	Guessed working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

Definition at line 857 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const `[protected]`

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

Returns:: SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS

Parameters:

xOpt	Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
yOpt	Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
guessedBounds	Guessed working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const `[protected]`

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

Returns:: SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS

Parameters:

xOpt	Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
yOpt	Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
guessedBounds	Guessed working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

QProblem & QProblem::operator= ( const QProblem & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 152 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem& QProblem::operator= ( const QProblem & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

QProblem& QProblem::operator= ( const QProblem & rhs )

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

returnValue QProblem::performDriftCorrection ( ) [protected]

Drift correction at end of each active set iteration

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 5575 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performPlainRatioTest	(	int	nIdx,
		const int *const	idxList,
		const real_t *const	num,
		const real_t *const	den,
		real_t	epsNum,
		real_t	epsDen,
		real_t &	t,
		int &	BC_idx
	)		const `[protected]`

Performs robustified ratio test yield the maximum possible step length along the homotopy path.

Returns:: SUCCESSFUL_RETURN

Parameters:

nIdx	Number of ratios to be checked.
idxList	Array containing the indices of all ratios to be checked.
num	Array containing all numerators for performing the ratio test.
den	Array containing all denominators for performing the ratio test.
epsNum	Numerator tolerance.
epsDen	Denominator tolerance.
t	Output: Maximum possible step length along the homotopy path.
BC_idx	Output: Index of blocking constraint.

Definition at line 4284 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performRamping ( ) [protected, virtual]

Ramping Strategy to avoid ties. Modifies homotopy start without changing current active set.

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 5517 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performStep	(	const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFX,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yAC,
		const real_t *const	delta_yFX,
		int &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)		`[protected]`

Determines the maximum possible step length along the homotopy path and performs this step (without changing working set).

Returns:: SUCCESSFUL_RETURN
RET_ERROR_IN_CONSTRAINTPRODUCT
RET_QP_INFEASIBLE

Parameters:

delta_g	Step direction of gradient.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFX	Primal homotopy step direction of fixed variables.
delta_xFR	Primal homotopy step direction of free variables.
delta_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

Definition at line 4997 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::printIteration	(	int	iteration,
		int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)		`[protected]`

Prints concise information on the current iteration.

Returns:: SUCCESSFUL_RETURN

Parameters:

iteration	Number of current iteration.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

Definition at line 6039 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::printProperties ( ) [virtual]

Prints concise list of properties of the current QP.

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1164 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

real_t QProblem::relativeHomotopyLength	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new
	)		`[protected]`

Compute relative length of homotopy in data space for termination criterion.

Returns:: Relative length in data space.

Parameters:

g_new	Final gradient.
lb_new	Final lower variable bounds.
ub_new	Final upper variable bounds.
lbA_new	Final lower constraint bounds.
ubA_new	Final upper constraint bounds.

Definition at line 5485 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::removeBound	(	int	number,
		BooleanType	updateCholesky
	)		`[protected]`

Removes a bounds from active set.

Returns:: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED

Parameters:

number	Number of bound to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

Definition at line 2351 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::removeBound	(	int	number,
		BooleanType	updateCholesky
	)		`[protected]`

Removes a bounds from active set.

Returns:: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED

Parameters:

number	Number of bound to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

returnValue QProblem::removeBound	(	int	number,
		BooleanType	updateCholesky,
		BooleanType	allowFlipping = `BT_FALSE`,
		BooleanType	ensureNZC = `BT_FALSE`
	)		`[protected]`

Removes a bounds from active set.

Returns:: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED

Parameters:

number	Number of bound to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
allowFlipping	Flag indicating if flipping bounds are allowed.
ensureNZC	Flag indicating if non-zero curvature is ensured by exchange rules.

Definition at line 4058 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::removeConstraint	(	int	number,
		BooleanType	updateCholesky
	)		`[protected]`

Removes a constraint from active set.

Returns:: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters:

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Definition at line 2201 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::removeConstraint	(	int	number,
		BooleanType	updateCholesky
	)		`[protected]`

Removes a constraint from active set.

Returns:: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters:

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

returnValue QProblem::removeConstraint	(	int	number,
		BooleanType	updateCholesky,
		BooleanType	allowFlipping = `BT_FALSE`,
		BooleanType	ensureNZC = `BT_FALSE`
	)		`[protected]`

Removes a constraint from active set.

Returns:: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters:

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
allowFlipping	Flag indicating if flipping bounds are allowed.
ensureNZC	Flag indicating if non-zero curvature is ensured by exchange rules.

Definition at line 3829 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::reset ( )

Clears all data structures of QProblemB except for QP data.

Returns:: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

Definition at line 203 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::reset ( )

Clears all data structures of QProblemB except for QP data.

Returns:: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

virtual returnValue QProblem::reset ( ) [virtual]

Clears all data structures of QProblemB except for QP data.

Returns:: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

returnValue QProblem::setA ( const real_t *const A_new ) [inline, protected]

Sets constraint matrix of the QP.
(Remark: Also internal vector Ax is recomputed!)

Returns:: SUCCESSFUL_RETURN

Parameters:

A_new New constraint matrix (with correct dimension!).

returnValue QProblem::setA	(	int	number,
		const real_t *const	value
	)		`[inline, protected]`

Changes single row of constraint matrix of the QP.
(Remark: Also correponding component of internal vector Ax is recomputed!)

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of row to be changed.
value	New (number)th constraint (with correct dimension!).

returnValue QProblem::setA ( const real_t *const A_new ) [inline, protected]

Sets constraint matrix of the QP.
(Remark: Also internal vector Ax is recomputed!)

Returns:: SUCCESSFUL_RETURN

Parameters:

A_new New constraint matrix (with correct dimension!).

returnValue QProblem::setA	(	int	number,
		const real_t *const	value
	)		`[inline, protected]`

Changes single row of constraint matrix of the QP.
(Remark: Also correponding component of internal vector Ax is recomputed!)

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of row to be changed.
value	New (number)th constraint (with correct dimension!).

returnValue QProblem::setA ( Matrix * A_new ) [inline, protected]

Sets constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

A_new New constraint matrix.

returnValue QProblem::setA ( const real_t *const A_new ) [inline, protected]

Sets dense constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

A_new New dense constraint matrix (with correct dimension!).

returnValue QProblem::setConstraintProduct ( ConstraintProduct *const _constraintProduct )

Defines user-defined routine for calculating the constraint product A*x

Returns:: SUCCESSFUL_RETURN

Definition at line 1153 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setLBA ( const real_t *const lbA_new ) [inline, protected]

Sets constraints' lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of lower constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be changed.
value	New value for entry of lower constraints' bound vector (with correct dimension!).

returnValue QProblem::setLBA ( const real_t *const lbA_new ) [inline, protected]

Sets constraints' lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of lower constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be changed.
value	New value for entry of lower constraints' bound vector (with correct dimension!).

returnValue QProblem::setLBA ( const real_t *const lbA_new ) [inline, protected]

Sets constraints' lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of lower constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be changed.
value	New value for entry of lower constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new ) [inline, protected]

Sets constraints' upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of upper constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be changed.
value	New value for entry of upper constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new ) [inline, protected]

Sets constraints' upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of upper constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be changed.
value	New value for entry of upper constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new ) [inline, protected]

Sets constraints' upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of upper constraints' bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

number	Number of entry to be changed.
value	New value for entry of upper constraints' bound vector (with correct dimension!).

returnValue QProblem::setupAuxiliaryQP	(	const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)		`[protected, virtual]`

Updates QP vectors, working sets and internal data structures in order to start from an optimal solution corresponding to initial guesses of the working set for bounds and constraints.

Returns:: SUCCESSFUL_RETURN
RET_SETUP_AUXILIARYQP_FAILED
RET_INVALID_ARGUMENTS

Parameters:

guessedBounds	Initial guess for working set of bounds.
guessedConstraints	Initial guess for working set of constraints.

Definition at line 5669 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)		`[protected]`

Setups (constraints') bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN BUG

Parameters:

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

Definition at line 1198 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)		`[protected]`

Setups (constraints') bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN BUG

Parameters:

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)		`[protected]`

Setups (constraints') bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN_BUG

Parameters:

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

returnValue QProblem::setupAuxiliaryQPgradient ( ) [protected]

Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1169 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPgradient ( ) [protected]

Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryQPgradient ( ) [protected]

Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryQPsolution	(	const real_t *const	xOpt,
		const real_t *const	yOpt
	)		`[protected]`

Setups the optimal primal/dual solution of the auxiliary initial QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

xOpt	Optimal primal solution vector. If a NULL pointer is passed, all entries are set to zero.
yOpt	Optimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.

Reimplemented from QProblemB.

Definition at line 1116 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPsolution	(	const real_t *const	xOpt,
		const real_t *const	yOpt
	)		`[protected]`

Setups the optimal primal/dual solution of the auxiliary initial QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

xOpt	Optimal primal solution vector. If a NULL pointer is passed, all entries are set to zero.
yOpt	Optimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryQPsolution	(	const real_t *const	xOpt,
		const real_t *const	yOpt
	)		`[protected]`

Setups the optimal primal/dual solution of the auxiliary initial QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

xOpt	Optimal primal solution vector. If a NULL pointer is passed, all entries are set to zero.
yOpt	Optimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)		`[protected]`

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns:: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG

Parameters:

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
setupAfresh	Flag indicating if given working set shall be setup afresh or by updating the current one.

Definition at line 1000 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)		`[protected]`

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns:: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG

Parameters:

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
setupAfresh	Flag indicating if given working set shall be setup afresh or by updating the current one.

returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)		`[protected]`

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns:: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG

Parameters:

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
setupAfresh	Flag indicating if given working set shall be setup afresh or by updating the current one.

returnValue QProblem::setupCholeskyDecompositionProjected ( ) [protected]

Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 578 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupCholeskyDecompositionProjected ( ) [protected]

Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

returnValue QProblem::setupCholeskyDecompositionProjected ( ) [protected]

Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z). Note: If Hessian turns out not to be positive definite, the Hessian type is set to HST_SEMIDEF accordingly.

Returns:: SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED

returnValue QProblem::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA
	)		`[protected]`

Setups internal QP data.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 3520 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_R,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA
	)		`[protected]`

Setups internal QP data.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix.
_R	Cholesky factorization of the Hessian matrix.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 3607 of file external_packages/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupQPdata	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA
	)		`[protected]`

Setups internal QP data.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG

Parameters:

_H	Hessian matrix. If Hessian matrix is trivial,a NULL pointer can be passed.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 5806 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA
	)		`[protected]`

Setups dense internal QP data. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG

Parameters:

_H	Hessian matrix. If Hessian matrix is trivial,a NULL pointer can be passed.
_g	Gradient vector.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.

returnValue QProblem::setupQPdataFromFile	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file
	)		`[protected]`

Setups internal QP data by loading it from files. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG

Parameters:

H_file	Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. If Hessian matrix is trivial,a NULL pointer can be passed.
g_file	Name of file where gradient, of neighbouring QP to be solved, is stored.
A_file	Name of file where constraint matrix, of neighbouring QP to be solved, is stored.
lb_file	Name of file where lower bounds, of neighbouring QP to be solved, is stored. If no lower bounds exist, a NULL pointer can be passed.
ub_file	Name of file where upper bounds, of neighbouring QP to be solved, is stored. If no upper bounds exist, a NULL pointer can be passed.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' bounds exist, a NULL pointer can be passed.

Definition at line 5912 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupSubjectToType ( ) [protected]

Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

Definition at line 507 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupSubjectToType ( ) [protected]

Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

virtual returnValue QProblem::setupSubjectToType ( ) [protected, virtual]

Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

returnValue QProblem::setupSubjectToType	(	const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new
	)		`[protected, virtual]`

Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Parameters:

lb_new	New lower bounds.
ub_new	New upper bounds.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.

Definition at line 2127 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupTQfactorisation ( ) [protected]

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 680 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupTQfactorisation ( ) [protected]

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

returnValue QProblem::setupTQfactorisation ( ) [protected]

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

BooleanType QProblem::shallRefactorise	(	const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)		const `[protected]`

Determines if it is more efficient to refactorise the matrices when hotstarting or not (i.e. better to update the existing factorisations).

Returns:: BT_TRUE iff matrices shall be refactorised afresh

Parameters:

guessedBounds	Guessed new working set of bounds.
guessedConstraints	Guessed new working set of constraints.

Definition at line 5767 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveCurrentEQP	(	const int	n_rhs,
		const real_t *	g_in,
		const real_t *	lb_in,
		const real_t *	ub_in,
		const real_t *	lbA_in,
		const real_t *	ubA_in,
		real_t *	x_out,
		real_t *	y_out
	)

Solves using the current working set

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

n_rhs	Number of consecutive right hand sides
g_in	Gradient of neighbouring QP to be solved.
lb_in	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_in	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_in	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_in	Upper constraints' bounds of neighbouring QP to be solved.
x_out	Primal solution
y_out	Dual solution

Definition at line 1045 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		int &	nWSR,
		real_t *const	cputime
	)		`[protected]`

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints can be provided.

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED

Parameters:

xOpt	Optimal primal solution vector. A NULL pointer can be passed.
yOpt	Optimal dual solution vector. A NULL pointer can be passed.
guessedBounds	Guessed working set of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). A NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Output: CPU time required to solve QP (or to perform nWSR iterations).

Definition at line 713 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		int &	nWSR,
		real_t *const	cputime
	)		`[protected]`

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints can be provided.

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED

Parameters:

xOpt	Optimal primal solution vector. A NULL pointer can be passed.
yOpt	Optimal dual solution vector. A NULL pointer can be passed.
guessedBounds	Guessed working set of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). A NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Output: CPU time required to solve QP (or to perform nWSR iterations).

returnValue QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		int &	nWSR,
		real_t *const	cputime
	)		`[protected]`

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints can be provided. Note: This function is internally called by all init functions!

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED

Parameters:

xOpt	Optimal primal solution vector. A NULL pointer can be passed.
yOpt	Optimal dual solution vector. A NULL pointer can be passed.
guessedBounds	Guessed working set of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). A NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).

returnValue QProblem::solveQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime,
		int	nWSRperformed = `0`
	)		`[protected]`

Solves QProblem using online active set strategy. Note: This function is internally called by all hotstart functions!

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS

Parameters:

g_new	Gradient of neighbouring QP to be solved.
lb_new	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_new	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).
nWSRperformed	Number of working set recalculations already performed to solve this QP within previous solveQP() calls. This number is always zero, except for successive calls from solveRegularisedQP() or when using the far bound strategy.

Definition at line 1694 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveRegularisedQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime,
		int	nWSRperformed = `0`
	)		`[protected]`

Solves QProblem using online active set strategy. Note: This function is internally called by all hotstart functions!

Returns:: SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS

Parameters:

g_new	Gradient of neighbouring QP to be solved.
lb_new	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_new	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSR	Input: Maximum number of working set recalculations; Output: Number of performed working set recalculations.
cputime	Input: Maximum CPU time allowed for QP solution. Output: CPU time spend for QP solution (or to perform nWSR iterations).
nWSRperformed	Number of working set recalculations already performed to solve this QP within previous solveRegularisedQP() calls. This number is always zero, except for successive calls when using the far bound strategy.