Options.hpp
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00001 /*
00002  *      This file is part of qpOASES.
00003  *
00004  *      qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
00006  *      Christian Kirches et al. All rights reserved.
00007  *
00008  *      qpOASES is free software; you can redistribute it and/or
00009  *      modify it under the terms of the GNU Lesser General Public
00010  *      License as published by the Free Software Foundation; either
00011  *      version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *      qpOASES is distributed in the hope that it will be useful,
00014  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *      See the GNU Lesser General Public License for more details.
00017  *
00018  *      You should have received a copy of the GNU Lesser General Public
00019  *      License along with qpOASES; if not, write to the Free Software
00020  *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00036 #ifndef QPOASES_OPTIONS_HPP
00037 #define QPOASES_OPTIONS_HPP
00038 
00039 
00040 #include <qpOASES/Utils.hpp>
00041 
00042 
00043 BEGIN_NAMESPACE_QPOASES
00044 
00045 
00056 class Options
00057 {
00058         /*
00059          *      PUBLIC MEMBER FUNCTIONS
00060          */
00061         public:
00063                 Options( );
00064 
00066                 Options(        const Options& rhs                      
00067                                         );
00068 
00070                 ~Options( );
00071 
00073                 Options& operator=(     const Options& rhs      
00074                                                         );
00075 
00076 
00079                 returnValue setToDefault( );
00080 
00083                 returnValue setToReliable( );
00084 
00087                 returnValue setToFast( );
00088 
00089 
00095                 returnValue ensureConsistency( );
00096 
00097 
00100                 returnValue print( ) const;
00101 
00102 
00103         /*
00104          *      PROTECTED MEMBER FUNCTIONS
00105          */
00106         protected:
00107 
00110                 returnValue copy(       const Options& rhs      
00111                                                         );
00112 
00113         /*
00114          *      PUBLIC MEMBER VARIABLES
00115          */
00116         public:
00117                 PrintLevel printLevel;                                  
00119                 BooleanType enableRamping;                              
00120                 BooleanType enableFarBounds;                    
00121                 BooleanType enableFlippingBounds;               
00122                 BooleanType enableRegularisation;               
00123                 BooleanType enableFullLITests;                  
00124                 BooleanType enableNZCTests;                             
00125                 int         enableDriftCorrection;              
00126                 int enableCholeskyRefactorisation;              
00127                 BooleanType enableEqualities;                   
00129                 real_t terminationTolerance;                    
00130                 real_t boundTolerance;                                  
00131                 real_t boundRelaxation;                                 
00132                 real_t epsNum;                                                  
00133                 real_t epsDen;                                                  
00134                 real_t maxPrimalJump;                                   
00135                 real_t maxDualJump;                                             
00137                 real_t initialRamping;                                  
00138                 real_t finalRamping;                                    
00139                 real_t initialFarBounds;                                
00140                 real_t growFarBounds;                                   
00141                 SubjectToStatus initialStatusBounds;    
00142                 real_t epsFlipping;                                             
00143                 int numRegularisationSteps;                             
00144                 real_t epsRegularisation;                               
00145                 int numRefinementSteps;                                 
00146                 real_t epsIterRef;                                              
00147                 real_t epsLITests;                                              
00148                 real_t epsNZCTests;                                             
00149 };
00150 
00151 
00152 END_NAMESPACE_QPOASES
00153 
00154 
00155 #endif  /* QPOASES_OPTIONS_HPP */
00156 
00157 
00158 /*
00159  *      end of file
00160  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:15