#include <math.h>
#include <qpOASES/Utils.hpp>

Include dependency graph for external_packages/qpOASES-3.0beta/src/Utils.cpp:

Functions
returnValue	convertBooleanTypeToString (BooleanType value, char *const string)
returnValue	convertPrintLevelToString (PrintLevel value, char *const string)
returnValue	convertSubjectToStatusToString (SubjectToStatus value, char *const string)
real_t	getCPUtime ()
void	getKKTResidual (int nV, int nC, 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, const real_t const x, const real_t *const y, real_t &stat, real_t &feas, real_t &cmpl)
real_t	getNorm (const real_t *const v, int n)
returnValue	myPrintf (const char *s)
BEGIN_NAMESPACE_QPOASES returnValue	print (const real_t *const v, int n)
returnValue	print (const real_t const v, int n, const int const V_idx)
returnValue	print (const real_t const v, int n, const char name)
returnValue	print (const real_t *const M, int nrow, int ncol)
returnValue	print (const real_t const M, int nrow, int ncol, const int const ROW_idx, const int *const COL_idx)
returnValue	print (const real_t const M, int nrow, int ncol, const char name)
returnValue	print (const int *const index, int n)
returnValue	print (const int const index, int n, const char name)
returnValue	printCopyrightNotice ()
returnValue	readFromFile (real_t data, int nrow, int ncol, const char datafilename)
returnValue	readFromFile (real_t data, int n, const char datafilename)
returnValue	readFromFile (int data, int n, const char datafilename)
returnValue	writeIntoFile (const real_t const data, int nrow, int ncol, const char datafilename, BooleanType append)
returnValue	writeIntoFile (const real_t const data, int n, const char datafilename, BooleanType append)
returnValue	writeIntoFile (const int const integer, int n, const char datafilename, BooleanType append)

Detailed Description

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

Version:: 3.0beta

Date:: 2007-2011

Implementation of some utilities for working with the different QProblem classes.

Definition in file external_packages/qpOASES-3.0beta/src/Utils.cpp.

Function Documentation

returnValue convertBooleanTypeToString	(	BooleanType	value,
		char *const	string
	)

Writes a value of BooleanType into a string.

Returns:: SUCCESSFUL_RETURN

Parameters:

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

Definition at line 627 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue convertPrintLevelToString	(	PrintLevel	value,
		char *const	string
	)

Writes a value of PrintLevel into a string.

Returns:: SUCCESSFUL_RETURN

Parameters:

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

Definition at line 663 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue convertSubjectToStatusToString	(	SubjectToStatus	value,
		char *const	string
	)

Writes a value of SubjectToStatus into a string.

Returns:: SUCCESSFUL_RETURN

Parameters:

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

Definition at line 638 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

real_t getCPUtime ( )

Returns the current system time.

Returns:: current system time

Definition at line 505 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

void getKKTResidual	(	int	nV,
		int	nC,
		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,
		const real_t *const	x,
		const real_t *const	y,
		real_t &	stat,
		real_t &	feas,
		real_t &	cmpl
	)

Computes "residual" of KKT system.

Parameters:

nV	Number of variables.
nC	Number of constraints.
H	Hessian matrix.
g	Sequence of gradient vectors.
A	Constraint matrix.
lb	Sequence of lower bound vectors (on variables).
ub	Sequence of upper bound vectors (on variables).
lbA	Sequence of lower constraints' bound vectors.
ubA	Sequence of upper constraints' bound vectors.
x	Sequence of primal trial vectors.
y	Sequence of dual trial vectors.
stat	Maximum value of stationarity condition residual.
feas	Maximum value of primal feasibility violation.
cmpl	Maximum value of complementarity residual.

Definition at line 544 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

real_t getNorm	(	const real_t *const	v,
		int	n
	)

Returns the Euclidean norm of a vector.

Returns:: 0: successful

Parameters:

v	Vector.
n	Vector's dimension.

Definition at line 527 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue myPrintf ( const char * s )

Prints a string to desired output target (useful also for MATLAB output!).

Returns:: SUCCESSFUL_RETURN

Parameters:

s	String to be written.

Definition at line 242 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

BEGIN_NAMESPACE_QPOASES returnValue print	(	const real_t *const	v,
		int	n
	)

Prints a vector.

Returns:: SUCCESSFUL_RETURN

Parameters:

v	Vector to be printed.
n	Length of vector.

Definition at line 58 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const real_t *const	v,
		int	n,
		const int *const	V_idx
	)

Prints a permuted vector.

Returns:: SUCCESSFUL_RETURN

Parameters:

v	Vector to be printed.
n	Length of vector.
V_idx	Pemutation vector.

Definition at line 83 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const real_t *const	v,
		int	n,
		const char *	name
	)

Prints a named vector.

Returns:: SUCCESSFUL_RETURN

Parameters:

v	Vector to be printed.
n	Length of vector.
name	Name of vector.

Definition at line 110 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const real_t *const	M,
		int	nrow,
		int	ncol
	)

Prints a matrix.

Returns:: SUCCESSFUL_RETURN

Parameters:

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.

Definition at line 131 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const real_t *const	M,
		int	nrow,
		int	ncol,
		const int *const	ROW_idx,
		const int *const	COL_idx
	)

Prints a permuted matrix.

Returns:: SUCCESSFUL_RETURN

Parameters:

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.
ROW_idx	Row pemutation vector.
COL_idx	Column pemutation vector.

Definition at line 151 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const real_t *const	M,
		int	nrow,
		int	ncol,
		const char *	name
	)

Prints a named matrix.

Returns:: SUCCESSFUL_RETURN

Parameters:

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.
name	Name of matrix.

Definition at line 173 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const int *const	index,
		int	n
	)

Prints an index array.

Returns:: SUCCESSFUL_RETURN

Parameters:

index	Index array to be printed.
n	Length of index array.

Definition at line 195 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue print	(	const int *const	index,
		int	n,
		const char *	name
	)

Prints a named index array.

Returns:: SUCCESSFUL_RETURN

Parameters:

index	Index array to be printed.
n	Length of index array.
name	Name of index array.

Definition at line 220 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue printCopyrightNotice ( )

Prints qpOASES copyright notice.

Returns:: SUCCESSFUL_RETURN

Definition at line 265 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue readFromFile	(	real_t *	data,
		int	nrow,
		int	ncol,
		const char *	datafilename
	)

Reads a real_t matrix from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters:

data	Matrix to be read from file.
nrow	Row number of matrix.
ncol	Column number of matrix.
datafilename	Data file name.

Definition at line 283 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue readFromFile	(	real_t *	data,
		int	n,
		const char *	datafilename
	)

Reads a real_t vector from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters:

data	Vector to be read from file.
n	Length of vector.
datafilename	Data file name.

Definition at line 335 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue readFromFile	(	int *	data,
		int	n,
		const char *	datafilename
	)

Reads an integer (column) vector from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters:

data	Vector to be read from file.
n	Length of vector.
datafilename	Data file name.

Definition at line 347 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue writeIntoFile	(	const real_t *const	data,
		int	nrow,
		int	ncol,
		const char *	datafilename,
		BooleanType	append
	)

Writes a real_t matrix into a file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters:

data	Matrix to be written into file.
nrow	Row number of matrix.
ncol	Column number of matrix.
datafilename	Data file name.
append	Indicates if data shall be appended if the file already exists (otherwise it is overwritten).

Definition at line 390 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue writeIntoFile	(	const real_t *const	data,
		int	n,
		const char *	datafilename,
		BooleanType	append
	)

Writes a real_t vector into a file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters:

data	Vector to be written into file.
n	Length of vector.
datafilename	Data file name.
append	Indicates if data shall be appended if the file already exists (otherwise it is overwritten).

Definition at line 444 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

returnValue writeIntoFile	(	const int *const	integer,
		int	n,
		const char *	datafilename,
		BooleanType	append
	)

Writes an integer (column) vector into a file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters:

integer	Integer vector to be written into file.
n	Length of vector.
datafilename	Data file name.
append	Indicates if integer shall be appended if the file already exists (otherwise it is overwritten).

Definition at line 455 of file external_packages/qpOASES-3.0beta/src/Utils.cpp.

Functions

Detailed Description

Function Documentation