QPsolver_qpOASES Class Reference

(not yet documented) More...

#include <qp_solver_qpoases.hpp>

Inheritance diagram for QPsolver_qpOASES:

List of all members.

Public Member Functions
virtual DenseCPsolver *	clone () const
virtual DenseQPsolver *	cloneDenseQPsolver () const
virtual returnValue	getDualSolution (DVector &yOpt) const
virtual uint	getNumberOfConstraints () const
virtual uint	getNumberOfVariables () const
virtual double	getObjVal () const
virtual returnValue	getPrimalSolution (DVector &xOpt) const
virtual returnValue	getVarianceCovariance (DMatrix &var)
virtual returnValue	getVarianceCovariance (DMatrix &H, DMatrix &var)
QPsolver_qpOASES &	operator= (const QPsolver_qpOASES &rhs)
	QPsolver_qpOASES ()
	QPsolver_qpOASES (UserInteraction *_userInteraction)
	QPsolver_qpOASES (const QPsolver_qpOASES &rhs)
virtual returnValue	solve (DenseCP *cp_)
virtual returnValue	solve (double *H, double *A, double *g, double *lb, double *ub, double *lbA, double *ubA, uint maxIter)
virtual returnValue	solve (DMatrix *H, DMatrix *A, DVector *g, DVector *lb, DVector *ub, DVector *lbA, DVector *ubA, uint maxIter)
virtual returnValue	step (double *H, double *A, double *g, double *lb, double *ub, double *lbA, double *ubA)
virtual returnValue	step (DMatrix *H, DMatrix *A, DVector *g, DVector *lb, DVector *ub, DVector *lbA, DVector *ubA)
virtual	~QPsolver_qpOASES ()
Protected Member Functions
virtual returnValue	setupQPobject (uint nV, uint nC)
returnValue	updateQPstatus (int ret)
Protected Attributes
qpOASES::SQProblem *	qp

---

Detailed Description

(not yet documented)

The class QPsolver_qpOASES interfaces the qpOASES software package for solving convex quadratic programming (QP) problems.

Author:

Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file qp_solver_qpoases.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO QPsolver_qpOASES::QPsolver_qpOASES

(

)

Default constructor.

Definition at line 44 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES::QPsolver_qpOASES

(

UserInteraction *

_userInteraction

)

Definition at line 50 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES::QPsolver_qpOASES

(

const QPsolver_qpOASES &

rhs

)

Copy constructor (deep copy).

Definition at line 56 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES::~QPsolver_qpOASES

(

)

[virtual]

Destructor.

Definition at line 65 of file qp_solver_qpoases.cpp.

---

Member Function Documentation

DenseCPsolver * QPsolver_qpOASES::clone

(

)

const [virtual]

Implements DenseQPsolver.

Definition at line 93 of file qp_solver_qpoases.cpp.

DenseQPsolver * QPsolver_qpOASES::cloneDenseQPsolver

(

)

const [virtual]

Implements DenseQPsolver.

Definition at line 99 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getDualSolution

(

DVector &

yOpt

)

const [virtual]

Returns dual solution vector if QP has been solved.

Returns:

SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

yOpt	OUTPUT: dual solution vector.

Implements DenseQPsolver.

Definition at line 230 of file qp_solver_qpoases.cpp.

uint QPsolver_qpOASES::getNumberOfConstraints

(

)

const [virtual]

Implements DenseQPsolver.

Definition at line 278 of file qp_solver_qpoases.cpp.

uint QPsolver_qpOASES::getNumberOfVariables

(

)

const [virtual]

Implements DenseQPsolver.

Definition at line 270 of file qp_solver_qpoases.cpp.

double QPsolver_qpOASES::getObjVal

(

)

const [virtual]

Returns optimal objective function value.

Returns:

finite value: Optimal objective function value (QP has been solved)
+INFTY: QP has not been solved or is infeasible
-INFTY: QP is unbounded

Implements DenseQPsolver.

Definition at line 252 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getPrimalSolution

(

DVector &

xOpt

)

const [virtual]

Returns primal solution vector if QP has been solved.

Returns:

SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

xOpt	OUTPUT: primal solution vector.

Implements DenseQPsolver.

Definition at line 208 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getVarianceCovariance

(

DMatrix &

var

)

[virtual]

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns:

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseQPsolver.

Definition at line 264 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getVarianceCovariance	(	DMatrix &	H,
		DMatrix &	var
	)		[virtual]

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns:

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseQPsolver.

Definition at line 287 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES & QPsolver_qpOASES::operator=

(

const QPsolver_qpOASES &

rhs

)

Assignment operator (deep copy).

Definition at line 72 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::setupQPobject	(	uint	nV,
		uint	nC
	)		[protected, virtual]

Setups QP object.

Returns:

SUCCESSFUL_RETURN
RET_QP_INIT_FAILED

Parameters:

nV	Number of QP variables.
nC	Number of QP constraints (without bounds).

Implements DenseQPsolver.

Definition at line 339 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve

(

DenseCP *

cp_

)

[virtual]

Solves the QP.

Reimplemented from DenseQPsolver.

Definition at line 105 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve	(	double *	H,
		double *	A,
		double *	g,
		double *	lb,
		double *	ub,
		double *	lbA,
		double *	ubA,
		uint	maxIter
	)		[virtual]

Solves QP using at most <maxIter> iterations.

Returns:

SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.
maxIter	Maximum number of iterations.

Implements DenseQPsolver.

Definition at line 111 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve	(	DMatrix *	H,
		DMatrix *	A,
		DVector *	g,
		DVector *	lb,
		DVector *	ub,
		DVector *	lbA,
		DVector *	ubA,
		uint	maxIter
	)		[virtual]

Solves QP using at most <maxIter> iterations.

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.
maxIter	Maximum number of iterations.

Implements DenseQPsolver.

Definition at line 158 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::step	(	double *	H,
		double *	A,
		double *	g,
		double *	lb,
		double *	ub,
		double *	lbA,
		double *	ubA
	)		[virtual]

Performs exactly one QP iteration.

Returns:

SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.

Implements DenseQPsolver.

Definition at line 180 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::step	(	DMatrix *	H,
		DMatrix *	A,
		DVector *	g,
		DVector *	lb,
		DVector *	ub,
		DVector *	lbA,
		DVector *	ubA
	)		[virtual]

Performs exactly one QP iteration.

Returns:

SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.

Implements DenseQPsolver.

Definition at line 194 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::updateQPstatus

(

int

ret

)

[protected]

Definition at line 377 of file qp_solver_qpoases.cpp.

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Member Data Documentation

qpOASES::SQProblem* QPsolver_qpOASES::qp [protected]

Definition at line 204 of file qp_solver_qpoases.hpp.

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

• qp_solver_qpoases.hpp
• qp_solver_qpoases.cpp