Implements the online active set strategy for box-constrained QPs. More...

#include <QProblemB.hpp>

Inheritance diagram for QProblemB:

Public Member Functions
returnValue	getBounds (Bounds *const _bounds) const
returnValue	getBounds (Bounds *const _bounds) const
returnValue	getBounds (Bounds &_bounds) const
returnValue	getDualSolution (real_t *const yOpt) const
returnValue	getDualSolution (real_t *const yOpt) const
virtual returnValue	getDualSolution (real_t *const yOpt) const
returnValue	getG (real_t *const _g) const
returnValue	getG (real_t *const _g) const
returnValue	getH (real_t *const _H) const
returnValue	getH (real_t *const _H) const
HessianType	getHessianType () const
HessianType	getHessianType () const
HessianType	getHessianType () const
returnValue	getLB (real_t *const _lb) const
returnValue	getLB (int number, real_t &value) const
returnValue	getLB (real_t *const _lb) const
returnValue	getLB (int number, real_t &value) const
int	getNFR ()
int	getNFR ()
int	getNFR () const
int	getNFV () const
int	getNFV () const
int	getNFV () const
int	getNFX ()
int	getNFX ()
int	getNFX () const
int	getNV () const
int	getNV () const
int	getNV () const
int	getNZ ()
int	getNZ ()
virtual int	getNZ () const
real_t	getObjVal () const
real_t	getObjVal (const real_t *const _x) const
real_t	getObjVal () const
real_t	getObjVal (const real_t *const _x) const
real_t	getObjVal () const
real_t	getObjVal (const real_t *const _x) const
Options	getOptions () const
returnValue	getPrimalSolution (real_t *const xOpt) const
returnValue	getPrimalSolution (real_t *const xOpt) const
returnValue	getPrimalSolution (real_t *const xOpt) const
PrintLevel	getPrintLevel () const
PrintLevel	getPrintLevel () const
PrintLevel	getPrintLevel () const
QProblemStatus	getStatus () const
QProblemStatus	getStatus () const
QProblemStatus	getStatus () const
returnValue	getUB (real_t *const _ub) const
returnValue	getUB (int number, real_t &value) const
returnValue	getUB (real_t *const _ub) const
returnValue	getUB (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, 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, 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, int &nWSR, real_t const cputime)
returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_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, int &nWSR, real_t const cputime, const Bounds *const guessedBounds)
returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, int &nWSR, real_t const cputime, const Bounds *const guessedBounds)
returnValue	init (const real_t const _H, const real_t const _g, const real_t const _lb, const real_t const _ub, 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 _lb, const real_t const _ub, int &nWSR, const real_t const yOpt=0, real_t const cputime=0)
returnValue	init (SymmetricMatrix _H, const real_t const _g, const real_t const _lb, const real_t const _ub, 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 _lb, const real_t const _ub, 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 _lb, const real_t const _ub, int &nWSR, real_t *const cputime)
returnValue	init (const char const H_file, const char const g_file, const char const lb_file, const char const ub_file, int &nWSR, real_t *const cputime)
returnValue	init (SymmetricMatrix _H, const real_t const _g, const real_t const _lb, const real_t const _ub, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds)
returnValue	init (const real_t const _H, const real_t const _g, const real_t const _lb, const real_t const _ub, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds)
returnValue	init (const char const H_file, const char const g_file, const char const lb_file, const char const ub_file, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds)
BooleanType	isInfeasible () const
BooleanType	isInfeasible () const
BooleanType	isInfeasible () const
BooleanType	isInitialised () const
BooleanType	isInitialised () const
BooleanType	isInitialised () const
BooleanType	isSolved () const
BooleanType	isSolved () const
BooleanType	isSolved () const
BooleanType	isUnbounded () const
BooleanType	isUnbounded () const
BooleanType	isUnbounded () const
QProblemB &	operator= (const QProblemB &rhs)
QProblemB &	operator= (const QProblemB &rhs)
QProblemB &	operator= (const QProblemB &rhs)
returnValue	printOptions () const
virtual returnValue	printProperties ()
	QProblemB ()
	QProblemB ()
	QProblemB (int _nV)
	QProblemB (int _nV)
	QProblemB (const QProblemB &rhs)
	QProblemB (const QProblemB &rhs)
	QProblemB ()
	QProblemB (int _nV, HessianType _hessianType=HST_UNKNOWN)
	QProblemB (const QProblemB &rhs)
returnValue	reset ()
returnValue	reset ()
virtual returnValue	reset ()
returnValue	setHessianType (HessianType _hessianType)
returnValue	setHessianType (HessianType _hessianType)
returnValue	setHessianType (HessianType _hessianType)
returnValue	setOptions (const Options &_options)
returnValue	setPrintLevel (PrintLevel _printlevel)
returnValue	setPrintLevel (PrintLevel _printlevel)
returnValue	setPrintLevel (PrintLevel _printlevel)
BooleanType	usingRegularisation () const
	~QProblemB ()
	~QProblemB ()
virtual	~QProblemB ()
Protected Member Functions
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
void	applyGivens (real_t c, real_t s, real_t xold, real_t yold, real_t &xnew, real_t &ynew) const
void	applyGivens (real_t c, real_t s, real_t xold, real_t yold, real_t &xnew, real_t &ynew) const
void	applyGivens (real_t c, real_t s, real_t nu, real_t xold, real_t yold, real_t &xnew, real_t &ynew) const
BooleanType	areBoundsConsistent (const real_t const delta_lb, const real_t const delta_ub) const
BooleanType	areBoundsConsistent (const real_t const delta_lb, const real_t const delta_ub) 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	backsolveR (const real_t const b, BooleanType transposed, real_t const a) const
returnValue	backsolveR (const real_t const b, BooleanType transposed, BooleanType removingBound, real_t const a) const
returnValue	checkForIdentityHessian ()
returnValue	checkForIdentityHessian ()
returnValue	clear ()
void	computeGivens (real_t xold, real_t yold, real_t &xnew, real_t &ynew, real_t &c, real_t &s) const
void	computeGivens (real_t xold, real_t yold, real_t &xnew, real_t &ynew, real_t &c, real_t &s) const
void	computeGivens (real_t xold, real_t yold, real_t &xnew, real_t &ynew, real_t &c, real_t &s) const
returnValue	copy (const QProblemB &rhs)
returnValue	determineDataShift (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bB_isZero)
returnValue	determineHessianType ()
returnValue	hotstart_determineDataShift (const int const FX_idx, const real_t const g_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lb, real_t *const delta_ub, BooleanType &Delta_bB_isZero)
returnValue	hotstart_determineDataShift (const int const FX_idx, const real_t const g_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lb, real_t *const delta_ub, BooleanType &Delta_bB_isZero)
BooleanType	isBlocking (real_t num, real_t den, real_t epsNum, real_t epsDen, real_t &t) const
BooleanType	isCPUtimeLimitExceeded (const real_t *const cputime, real_t starttime, int nWSR) const
returnValue	loadQPvectorsFromFile (const char const g_file, const char const lb_file, const char const ub_file, real_t const g_new, real_t const lb_new, real_t const ub_new) const
returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, Bounds auxiliaryBounds) const
returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, Bounds auxiliaryBounds) const
returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, Bounds auxiliaryBounds) const
virtual returnValue	performRamping ()
returnValue	performRatioTest (int nIdx, const int const idxList, const SubjectTo const subjectTo, const real_t const num, const real_t const den, real_t epsNum, real_t epsDen, real_t &t, int &BC_idx) const
returnValue	regulariseHessian ()
real_t	relativeHomotopyLength (const real_t const g_new, const real_t const lb_new, const real_t *const ub_new)
returnValue	removeBound (int number, BooleanType updateCholesky)
returnValue	removeBound (int number, BooleanType updateCholesky)
returnValue	setG (const real_t *const g_new)
returnValue	setG (const real_t *const g_new)
returnValue	setG (const real_t *const g_new)
returnValue	setH (const real_t *const H_new)
returnValue	setH (const real_t *const H_new)
returnValue	setH (SymmetricMatrix *H_new)
returnValue	setH (const real_t *const H_new)
returnValue	setInfeasibilityFlag (returnValue returnvalue)
returnValue	setLB (const real_t *const lb_new)
returnValue	setLB (int number, real_t value)
returnValue	setLB (const real_t *const lb_new)
returnValue	setLB (int number, real_t value)
returnValue	setLB (const real_t *const lb_new)
returnValue	setLB (int number, real_t value)
returnValue	setUB (const real_t *const ub_new)
returnValue	setUB (int number, real_t value)
returnValue	setUB (const real_t *const ub_new)
returnValue	setUB (int number, real_t value)
returnValue	setUB (const real_t *const ub_new)
returnValue	setUB (int number, real_t value)
returnValue	setupAuxiliaryQPbounds (BooleanType useRelaxation)
returnValue	setupAuxiliaryQPbounds (BooleanType useRelaxation)
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	setupAuxiliaryWorkingSet (const Bounds *const auxiliaryBounds, BooleanType setupAfresh)
returnValue	setupAuxiliaryWorkingSet (const Bounds *const auxiliaryBounds, BooleanType setupAfresh)
returnValue	setupCholeskyDecomposition ()
returnValue	setupCholeskyDecomposition ()
returnValue	setupCholeskyDecomposition ()
returnValue	setupQPdata (const real_t const _H, const real_t const _g, const real_t const _lb, const real_t const _ub)
returnValue	setupQPdata (const real_t const _H, const real_t const _R, const real_t const _g, const real_t const _lb, const real_t *const _ub)
returnValue	setupQPdata (SymmetricMatrix _H, const real_t const _g, const real_t const _lb, const real_t const _ub)
returnValue	setupQPdata (const real_t const _H, const real_t const _g, const real_t const _lb, const real_t const _ub)
returnValue	setupQPdataFromFile (const char const H_file, const char const g_file, const char const lb_file, const char const ub_file)
returnValue	setupSubjectToType ()
returnValue	setupSubjectToType ()
virtual returnValue	setupSubjectToType ()
virtual returnValue	setupSubjectToType (const real_t const lb_new, const real_t const ub_new)
returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, int &nWSR, real_t const cputime)
returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, int &nWSR, real_t const cputime)
Protected Attributes
Bounds	bounds
int	count
real_t *	delta_xFR_TMP
Flipper	flipper
BooleanType	freeHessian
real_t	g [NVMAX]
real_t *	g
real_t	H [NVMAX *NVMAX]
SymmetricMatrix *	H
BooleanType	hasCholesky
BooleanType	hasHessian
BooleanType	haveCholesky
HessianType	hessianType
BooleanType	infeasible
BooleanType	isRegularised
real_t	lb [NVMAX]
real_t *	lb
Options	options
PrintLevel	printlevel
real_t	R [NVMAX *NVMAX]
real_t *	R
real_t	ramp0
real_t	ramp1
QProblemStatus	status
real_t	tau
real_t	ub [NVMAX]
real_t *	ub
BooleanType	unbounded
real_t	x [NVMAX]
real_t *	x
real_t	y [NVMAX+NCMAX]
real_t *	y
Private Member Functions
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
returnValue	changeActiveSet (int BC_idx, SubjectToStatus BC_status)
returnValue	checkKKTconditions ()
returnValue	checkKKTconditions ()
returnValue	determineStepDirection (const real_t const delta_g, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yFX)
returnValue	hotstart_determineStepDirection (const int const FR_idx, const int const FX_idx, const real_t const delta_g, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yFX)
returnValue	hotstart_determineStepDirection (const int const FR_idx, const int const FX_idx, const real_t const delta_g, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yFX)
returnValue	hotstart_determineStepLength (const int const FR_idx, const int const FX_idx, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFR, const real_t const delta_yFX, int &BC_idx, SubjectToStatus &BC_status)
returnValue	hotstart_determineStepLength (const int const FR_idx, const int const FX_idx, const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_xFR, const real_t const delta_yFX, int &BC_idx, SubjectToStatus &BC_status)
returnValue	hotstart_performStep (const int const FR_idx, const int const FX_idx, const real_t const delta_g, 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_yFX, int BC_idx, SubjectToStatus BC_status)
returnValue	hotstart_performStep (const int const FR_idx, const int const FX_idx, const real_t const delta_g, 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_yFX, int BC_idx, SubjectToStatus BC_status)
returnValue	performDriftCorrection ()
returnValue	performStep (const real_t const delta_g, 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_yFX, int &BC_idx, SubjectToStatus &BC_status)
returnValue	printIteration (int iteration, int BC_idx, SubjectToStatus BC_status)
returnValue	removeBound (int number, BooleanType updateCholesky)
returnValue	setupAuxiliaryQP (const Bounds *const guessedBounds)
returnValue	setupAuxiliaryQPbounds (BooleanType useRelaxation)
returnValue	setupAuxiliaryQPgradient ()
returnValue	setupAuxiliaryQPsolution (const real_t const xOpt, const real_t const yOpt)
returnValue	setupAuxiliaryWorkingSet (const Bounds *const auxiliaryBounds, BooleanType setupAfresh)
BooleanType	shallRefactorise (const Bounds *const guessedBounds) const
returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, 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, 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, int &nWSR, real_t const cputime, int nWSRperformed=0)
Friends
class	SolutionAnalysis

Detailed Description

Implements the online active set strategy for box-constrained QPs.

Class for setting up and solving quadratic programs with (simple) bounds only. 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

Class for setting up and solving quadratic programs with bounds (= box constraints) only. 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 55 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES QProblemB::QProblemB ( )

Default constructor.

Definition at line 61 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

QProblemB::QProblemB ( int _nV )

Constructor which takes the QP dimension only.

Parameters:

_nV	Number of variables.

Definition at line 90 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

QProblemB::QProblemB ( const QProblemB & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 126 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

QProblemB::~QProblemB ( )

Destructor.

Definition at line 175 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

QProblemB::QProblemB ( )

Default constructor.

QProblemB::QProblemB ( int _nV )

Constructor which takes the QP dimension only.

Parameters:

_nV	Number of variables.

QProblemB::QProblemB ( const QProblemB & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

QProblemB::~QProblemB ( )

Destructor.

QProblemB::QProblemB ( )

Default constructor.

QProblemB::QProblemB	(	int	_nV,
		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.
_hessianType	Type of Hessian matrix.

Definition at line 95 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

QProblemB::QProblemB ( const QProblemB & rhs )

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

virtual QProblemB::~QProblemB ( ) [virtual]

Destructor.

Member Function Documentation

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

Adds a bound to active set (specialised version for the case where no constraints exist).

Returns:: SUCCESSFUL_RETURN
RET_ADDBOUND_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 in QProblem, and QProblem.

Definition at line 1226 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Adds a bound to active set (specialised version for the case where no constraints exist).

Returns:: SUCCESSFUL_RETURN
RET_ADDBOUND_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 in QProblem, and QProblem.

returnValue QProblemB::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky
	)		`[private]`

Adds a bound to active set (specialised version for the case where no constraints exist).

Returns:: SUCCESSFUL_RETURN
RET_ADDBOUND_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 in QProblem, and QProblem.

void QProblemB::applyGivens	(	real_t	c,
		real_t	s,
		real_t	xold,
		real_t	yold,
		real_t &	xnew,
		real_t &	ynew
	)		const `[inline, protected]`

Applies Givens matrix determined by c and s (cf. computeGivens).

Returns:: SUCCESSFUL_RETURN

Parameters:

c	Cosine entry of Givens matrix.
s	Sine entry of Givens matrix.
xold	Matrix entry to be transformed corresponding to the normalised entry of the original matrix.
yold	Matrix entry to be transformed corresponding to the annihilated entry of the original matrix.
xnew	Output: Transformed matrix entry corresponding to the normalised entry of the original matrix.
ynew	Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.

void QProblemB::applyGivens	(	real_t	c,
		real_t	s,
		real_t	xold,
		real_t	yold,
		real_t &	xnew,
		real_t &	ynew
	)		const `[inline, protected]`

Applies Givens matrix determined by c and s (cf. computeGivens).

Returns:: SUCCESSFUL_RETURN

Parameters:

c	Cosine entry of Givens matrix.
s	Sine entry of Givens matrix.
xold	Matrix entry to be transformed corresponding to the normalised entry of the original matrix.
yold	Matrix entry to be transformed corresponding to the annihilated entry of the original matrix.
xnew	Output: Transformed matrix entry corresponding to the normalised entry of the original matrix.
ynew	Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.

void QProblemB::applyGivens	(	real_t	c,
		real_t	s,
		real_t	nu,
		real_t	xold,
		real_t	yold,
		real_t &	xnew,
		real_t &	ynew
	)		const `[inline, protected]`

Applies Givens matrix determined by c and s (cf. computeGivens).

Returns:: SUCCESSFUL_RETURN

Parameters:

c	Cosine entry of Givens matrix.
s	Sine entry of Givens matrix.
nu	Further factor: s/(1+c).
xold	Matrix entry to be transformed corresponding to the normalised entry of the original matrix.
yold	Matrix entry to be transformed corresponding to the annihilated entry of the original matrix.
xnew	Output: Transformed matrix entry corresponding to the normalised entry of the original matrix.
ynew	Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.

BooleanType QProblemB::areBoundsConsistent	(	const real_t *const	delta_lb,
		const real_t *const	delta_ub
	)		const `[protected]`

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

Returns:: BT_TRUE iff bounds remain consistent

Parameters:

delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.

Definition at line 1487 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

BooleanType QProblemB::areBoundsConsistent	(	const real_t *const	delta_lb,
		const real_t *const	delta_ub
	)		const `[protected]`

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

Returns:: BT_TRUE iff bounds remain consistent

Parameters:

delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.

returnValue QProblemB::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 in QProblem, and QProblem.

Definition at line 1356 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::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 in QProblem, and QProblem.

Definition at line 1368 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::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 in QProblem, and QProblem.

returnValue QProblemB::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 in QProblem, and QProblem.

returnValue QProblemB::backsolveR	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		const `[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

Definition at line 1653 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

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

Definition at line 1665 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::changeActiveSet	(	int	BC_idx,
		SubjectToStatus	BC_status
	)		`[private]`

Updates 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.

Definition at line 3270 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::checkForIdentityHessian ( ) [protected]

Checks if Hessian happens to be the identity matrix, and sets corresponding status flag (otherwise the flag remains unaltered!).

Returns:: SUCCESSFUL_RETURN

Definition at line 631 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::checkForIdentityHessian ( ) [protected]

Checks if Hessian happens to be the identity matrix, and sets corresponding status flag (otherwise the flag remains unaltered!).

Returns:: SUCCESSFUL_RETURN

returnValue QProblemB::checkKKTconditions ( ) [private]

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

Returns:: SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Reimplemented in QProblem, and QProblem.

Definition at line 2008 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::checkKKTconditions ( ) [private]

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

Returns:: SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Reimplemented in QProblem, and QProblem.

returnValue QProblemB::clear ( ) [protected]

Frees all allocated memory.

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem.

Definition at line 1152 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

void QProblemB::computeGivens	(	real_t	xold,
		real_t	yold,
		real_t &	xnew,
		real_t &	ynew,
		real_t &	c,
		real_t &	s
	)		const `[inline, protected]`

Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]

Returns:: SUCCESSFUL_RETURN

Parameters:

xold	Matrix entry to be normalised.
yold	Matrix entry to be annihilated.
xnew	Output: Normalised matrix entry.
ynew	Output: Annihilated matrix entry.
c	Output: Cosine entry of Givens matrix.
s	Output: Sine entry of Givens matrix.

void QProblemB::computeGivens	(	real_t	xold,
		real_t	yold,
		real_t &	xnew,
		real_t &	ynew,
		real_t &	c,
		real_t &	s
	)		const `[inline, protected]`

Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]

Returns:: SUCCESSFUL_RETURN

Parameters:

xold	Matrix entry to be normalised.
yold	Matrix entry to be annihilated.
xnew	Output: Normalised matrix entry.
ynew	Output: Annihilated matrix entry.
c	Output: Cosine entry of Givens matrix.
s	Output: Sine entry of Givens matrix.

void QProblemB::computeGivens	(	real_t	xold,
		real_t	yold,
		real_t &	xnew,
		real_t &	ynew,
		real_t &	c,
		real_t &	s
	)		const `[inline, protected]`

Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]

Returns:: SUCCESSFUL_RETURN

Parameters:

xold	Matrix entry to be normalised.
yold	Matrix entry to be annihilated.
xnew	Output: Normalised matrix entry.
ynew	Output: Annihilated matrix entry.
c	Output: Cosine entry of Givens matrix.
s	Output: Sine entry of Givens matrix.

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

Copies all members from given rhs object.

Returns:: SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

Definition at line 1209 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::determineDataShift	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bB_isZero
	)		`[protected]`

Determines step direction of the shift of the QP data.

Returns:: SUCCESSFUL_RETURN

Parameters:

g_new	New gradient vector.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

Definition at line 1724 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::determineHessianType ( ) [protected]

If Hessian type has been set by the user, nothing is done. Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or HST_POSDEF (default), respectively.

Returns:: SUCCESSFUL_RETURN
RET_HESSIAN_INDEFINITE

Definition at line 1302 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::determineStepDirection	(	const real_t *const	delta_g,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yFX
	)		`[private]`

Determines step direction of the homotopy path.

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

delta_g	Step direction of gradient vector.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
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_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 2958 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::getBounds ( Bounds *const _bounds ) const [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

_bounds Output: Bounds object.

returnValue QProblemB::getBounds ( Bounds *const _bounds ) const [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

_bounds Output: Bounds object.

returnValue QProblemB::getBounds ( Bounds & _bounds ) const [inline]

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

Returns:: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP

Parameters:

_bounds Output: Bounds object.

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

Returns the dual solution vector.

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

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

Reimplemented in QProblem, QProblem, and QProblem.

Definition at line 563 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Returns the dual solution vector.

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

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

Reimplemented in QProblem, QProblem, and QProblem.

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

Returns the dual solution vector.

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

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

Reimplemented in QProblem, QProblem, and QProblem.

returnValue QProblemB::getG ( real_t *const _g ) const [inline]

Returns gradient vector of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_g	Array of appropriate dimension for copying gradient vector.

returnValue QProblemB::getG ( real_t *const _g ) const [inline]

Returns gradient vector of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_g	Array of appropriate dimension for copying gradient vector.

returnValue QProblemB::getH ( real_t *const _H ) const [inline]

Returns Hessian matrix of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_H	Array of appropriate dimension for copying Hessian matrix.

returnValue QProblemB::getH ( real_t *const _H ) const [inline]

Returns Hessian matrix of the QP (deep copy).

Returns:: SUCCESSFUL_RETURN

Parameters:

_H	Array of appropriate dimension for copying Hessian matrix.

HessianType QProblemB::getHessianType ( ) const [inline]

Returns Hessian type flag (type is not determined due to this call!).

Returns:: Hessian type.

HessianType QProblemB::getHessianType ( ) const [inline]

Returns Hessian type flag (type is not determined due to this call!).

Returns:: Hessian type.

HessianType QProblemB::getHessianType ( ) const [inline]

Returns Hessian type flag (type is not determined due to this call!).

Returns:: Hessian type.

returnValue QProblemB::getLB ( real_t *const _lb ) const [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

_lb	Array of appropriate dimension for copying lower bound vector.

returnValue QProblemB::getLB	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue QProblemB::getLB ( real_t *const _lb ) const [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

_lb	Array of appropriate dimension for copying lower bound vector.

returnValue QProblemB::getLB	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

int QProblemB::getNFR ( ) [inline]

Returns the number of free variables.

Returns:: Number of free variables.

int QProblemB::getNFR ( ) [inline]

Returns the number of free variables.

Returns:: Number of free variables.

int QProblemB::getNFR ( ) const [inline]

Returns the number of free variables.

Returns:: Number of free variables.

int QProblemB::getNFV ( ) const [inline]

Returns the number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

int QProblemB::getNFV ( ) const [inline]

Returns the number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

int QProblemB::getNFV ( ) const [inline]

Returns the number of implicitly fixed variables.

Returns:: Number of implicitly fixed variables.

int QProblemB::getNFX ( ) [inline]

Returns the number of fixed variables.

Returns:: Number of fixed variables.

int QProblemB::getNFX ( ) [inline]

Returns the number of fixed variables.

Returns:: Number of fixed variables.

int QProblemB::getNFX ( ) const [inline]

Returns the number of fixed variables.

Returns:: Number of fixed variables.

int QProblemB::getNV ( ) const [inline]

Returns the number of variables.

Returns:: Number of variables.

int QProblemB::getNV ( ) const [inline]

Returns the number of variables.

Returns:: Number of variables.

int QProblemB::getNV ( ) const [inline]

Returns the number of variables.

Returns:: Number of variables.

int QProblemB::getNZ ( )

Returns the dimension of null space.

Returns:: Dimension of null space.

Reimplemented in QProblem, and QProblem.

Definition at line 482 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

int QProblemB::getNZ ( )

Returns the dimension of null space.

Returns:: Dimension of null space.

Reimplemented in QProblem, and QProblem.

int QProblemB::getNZ ( ) const [virtual]

Returns the dimension of null space.

Returns:: Dimension of null space.

Reimplemented in QProblem.

Definition at line 828 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

real_t QProblemB::getObjVal ( ) const

Returns the optimal objective function value.

Returns:: finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved

Definition at line 492 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

real_t QProblemB::getObjVal ( const real_t *const _x ) const

Returns the objective function value at an arbitrary point x.

Returns:: Objective function value at point x

Parameters:

_x	Point at which the objective function shall be evaluated.

Definition at line 516 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

real_t QProblemB::getObjVal ( ) const

Returns the optimal objective function value.

Returns:: finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved

real_t QProblemB::getObjVal ( const real_t *const _x ) const

Returns the objective function value at an arbitrary point x.

Returns:: Objective function value at point x

Parameters:

_x	Point at which the objective function shall be evaluated.

real_t QProblemB::getObjVal ( ) const

Returns the optimal objective function value.

Returns:: finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved

real_t QProblemB::getObjVal ( const real_t *const _x ) const

Returns the objective function value at an arbitrary point x.

Returns:: Objective function value at point x

Parameters:

_x	Point at which the objective function shall be evaluated.

Options QProblemB::getOptions ( ) const [inline]

Returns current options struct.

Returns:: Current options struct.

returnValue QProblemB::getPrimalSolution ( real_t *const xOpt ) const

Returns the primal solution vector.

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

xOpt	Output: Primal solution vector (if QP has been solved).

Definition at line 538 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::getPrimalSolution ( real_t *const xOpt ) const

Returns the primal solution vector.

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

xOpt	Output: Primal solution vector (if QP has been solved).

returnValue QProblemB::getPrimalSolution ( real_t *const xOpt ) const

Returns the primal solution vector.

Returns:: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

xOpt	Output: Primal solution vector (if QP has been solved).

PrintLevel QProblemB::getPrintLevel ( ) const [inline]

Returns the print level.

Returns:: Print level.

PrintLevel QProblemB::getPrintLevel ( ) const [inline]

Returns the print level.

Returns:: Print level.

PrintLevel QProblemB::getPrintLevel ( ) const [inline]

Returns the print level.

Returns:: Print level.

QProblemStatus QProblemB::getStatus ( ) const [inline]

Returns status of the solution process.

Returns:: Status of solution process.

QProblemStatus QProblemB::getStatus ( ) const [inline]

Returns status of the solution process.

Returns:: Status of solution process.

QProblemStatus QProblemB::getStatus ( ) const [inline]

Returns status of the solution process.

Returns:: Status of solution process.

returnValue QProblemB::getUB ( real_t *const _ub ) const [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

_ub	Array of appropriate dimension for copying upper bound vector.

returnValue QProblemB::getUB	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

returnValue QProblemB::getUB ( real_t *const _ub ) const [inline]

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

Returns:: SUCCESSFUL_RETURN

Parameters:

_ub	Array of appropriate dimension for copying upper bound vector.

returnValue QProblemB::getUB	(	int	number,
		real_t &	value
	)		const `[inline]`

Returns single entry of upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters:

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

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

Solves an initialised QProblemB 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.
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 285 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Solves an initialised QProblemB 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.
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 QProblemB::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		int &	nWSR,
		real_t *const	cputime
	)

Solves an initialised QProblemB 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.
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 QProblemB::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		int &	nWSR,
		real_t *const	cputime
	)

Solves an initialised QProblemB 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.
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).

Definition at line 655 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		int &	nWSR,
		real_t *const	cputime,
		const Bounds *const	guessedBounds
	)

Solves an initialised QProblemB 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.
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!

Definition at line 713 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		int &	nWSR,
		real_t *const	cputime,
		const Bounds *const	guessedBounds
	)

Solves an initialised QProblemB 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_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
RET_SETUP_AUXILIARYQP_FAILED

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.
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!

Definition at line 767 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::hotstart_determineDataShift	(	const int *const	FX_idx,
		const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		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.
g_new	New gradient vector.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

Definition at line 1427 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::hotstart_determineDataShift	(	const int *const	FX_idx,
		const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		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.
g_new	New gradient vector.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

returnValue QProblemB::hotstart_determineStepDirection	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yFX
	)		`[private]`

Determines step direction of the homotopy path.

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
delta_g	Step direction of gradient vector.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
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_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 1570 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::hotstart_determineStepDirection	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yFX
	)		`[private]`

Determines step direction of the homotopy path.

Returns:: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters:

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
delta_g	Step direction of gradient vector.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
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_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

returnValue QProblemB::hotstart_determineStepLength	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yFX,
		int &	BC_idx,
		SubjectToStatus &	BC_status
	)		`[private]`

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.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFR	Primal homotopy step direction of free variables.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.

Definition at line 1686 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::hotstart_determineStepLength	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_xFR,
		const real_t *const	delta_yFX,
		int &	BC_idx,
		SubjectToStatus &	BC_status
	)		`[private]`

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.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_xFR	Primal homotopy step direction of free variables.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.

returnValue QProblemB::hotstart_performStep	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const real_t *const	delta_g,
		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_yFX,
		int	BC_idx,
		SubjectToStatus	BC_status
	)		`[private]`

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.
delta_g	Step direction of gradient vector.
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_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.

Definition at line 1837 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::hotstart_performStep	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const real_t *const	delta_g,
		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_yFX,
		int	BC_idx,
		SubjectToStatus	BC_status
	)		`[private]`

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.
delta_g	Step direction of gradient vector.
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_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.

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

Initialises a QProblemB 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_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.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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 268 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Initialises a QProblemB 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_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.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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 QProblemB::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblemB 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_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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 228 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

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

Initialises a QProblemB 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_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.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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 298 of file external_packages/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::init	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblemB 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_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.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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 255 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblemB 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_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.
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.
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 282 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds
	)

Initialises a QProblemB 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_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS

Parameters:

_H	Hessian matrix.
_g	Gradient vector.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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. A NULL pointer can be passed.
yOpt	Optimal dual solution vector. A NULL pointer can be passed.
guessedBounds	Optimal working set for solution (xOpt,yOpt). A NULL pointer can be passed.

Definition at line 309 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::init	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds
	)

Initialises a QProblemB 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_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.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper 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. A NULL pointer can be passed.
yOpt	Optimal dual solution vector. A NULL pointer can be passed.
guessedBounds	Optimal working set for solution (xOpt,yOpt). A NULL pointer can be passed.

Definition at line 354 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds
	)

Initialises a QProblemB with given QP data to be read from files 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_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.
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.
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. A NULL pointer can be passed.
yOpt	Optimal dual solution vector. A NULL pointer can be passed.
guessedBounds	Optimal working set for solution (xOpt,yOpt). A NULL pointer can be passed.

Definition at line 399 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

BooleanType QProblemB::isBlocking	(	real_t	num,
		real_t	den,
		real_t	epsNum,
		real_t	epsDen,
		real_t &	t
	)		const `[inline, protected]`

Checks whether given ratio is blocking, i.e. limits the maximum step length along the homotopy path to a value lower than given one.

Returns:: SUCCESSFUL_RETURN

Parameters:

num	Numerator for performing the ratio test.
den	Denominator for performing the ratio test.
epsNum	Numerator tolerance.
epsDen	Denominator tolerance.
t	Input: Current maximum step length along the homotopy path, Output: Updated maximum possible step length along the homotopy path.

BooleanType QProblemB::isCPUtimeLimitExceeded	(	const real_t *const	cputime,
		real_t	starttime,
		int	nWSR
	)		const `[protected]`

Determines if next QP iteration can be performed within given CPU time limit.

Returns:: BT_TRUE: CPU time limit is exceeded, stop QP solution.
BT_FALSE: Sufficient CPU time for next QP iteration.

Parameters:

cputime	Maximum CPU time allowed for QP solution.
starttime	Start time of current QP solution.
nWSR	Number of working set recalculations performed so far.

Definition at line 2021 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

BooleanType QProblemB::isInfeasible ( ) const [inline]

Returns if the QP is infeasible.

Returns:: BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)

BooleanType QProblemB::isInfeasible ( ) const [inline]

Returns if the QP is infeasible.

Returns:: BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)

BooleanType QProblemB::isInfeasible ( ) const [inline]

Returns if the QP is infeasible.

Returns:: BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)

BooleanType QProblemB::isInitialised ( ) const [inline]

Returns if the QProblem object is initialised.

Returns:: BT_TRUE: QProblemB initialised
BT_FALSE: QProblemB not initialised

BooleanType QProblemB::isInitialised ( ) const [inline]

Returns if the QProblem object is initialised.

Returns:: BT_TRUE: QProblemB initialised
BT_FALSE: QProblemB not initialised

BooleanType QProblemB::isInitialised ( ) const [inline]

Returns if the QProblem object is initialised.

Returns:: BT_TRUE: QProblemB initialised
BT_FALSE: QProblemB not initialised

BooleanType QProblemB::isSolved ( ) const [inline]

Returns if the QP has been solved.

Returns:: BT_TRUE: QProblemB solved
BT_FALSE: QProblemB not solved

BooleanType QProblemB::isSolved ( ) const [inline]

Returns if the QP has been solved.

Returns:: BT_TRUE: QProblemB solved
BT_FALSE: QProblemB not solved

BooleanType QProblemB::isSolved ( ) const [inline]

Returns if the QP has been solved.

Returns:: BT_TRUE: QProblemB solved
BT_FALSE: QProblemB not solved

BooleanType QProblemB::isUnbounded ( ) const [inline]

Returns if the QP is unbounded.

Returns:: BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)

BooleanType QProblemB::isUnbounded ( ) const [inline]

Returns if the QP is unbounded.

Returns:: BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)

BooleanType QProblemB::isUnbounded ( ) const [inline]

Returns if the QP is unbounded.

Returns:: BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)

returnValue QProblemB::loadQPvectorsFromFile	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		real_t *const	g_new,
		real_t *const	lb_new,
		real_t *const	ub_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.
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

Definition at line 1945 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		Bounds *	auxiliaryBounds
	)		const `[protected]`

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications

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 for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

Definition at line 900 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		Bounds *	auxiliaryBounds
	)		const `[protected]`

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications

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 for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

returnValue QProblemB::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		Bounds *	auxiliaryBounds
	)		const `[protected]`

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications

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 for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

Definition at line 183 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

returnValue QProblemB::performDriftCorrection ( ) [private]

Drift correction at end of each active set iteration

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem.

Definition at line 3319 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

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

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

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem.

Definition at line 2168 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::performRatioTest	(	int	nIdx,
		const int *const	idxList,
		const SubjectTo *const	subjectTo,
		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.
subjectTo	Bound/Constraint object corresponding to 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 2081 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::performStep	(	const real_t *const	delta_g,
		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_yFX,
		int &	BC_idx,
		SubjectToStatus &	BC_status
	)		`[private]`

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

Returns:: SUCCESSFUL_RETURN
RET_QP_INFEASIBLE

Parameters:

delta_g	Step direction of gradient.
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_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.

Definition at line 3125 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::printIteration	(	int	iteration,
		int	BC_idx,
		SubjectToStatus	BC_status
	)		`[private]`

Prints concise information on the current iteration.

Returns:: SUCCESSFUL_RETURN

Parameters:

iteration	Number of current iteration.
BC_idx	Index of blocking bound.
BC_status	Status of blocking bound.

Definition at line 3588 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::printOptions ( ) const

Prints a list of all options and their current values.

Returns:: SUCCESSFUL_RETURN

Definition at line 1138 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::printProperties ( ) [virtual]

Prints concise list of properties of the current QP.

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem.

Definition at line 1013 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::regulariseHessian ( ) [protected]

Regularise Hessian matrix by adding a scaled identity matrix to it.

Returns:: SUCCESSFUL_RETURN
RET_HESSIAN_ALREADY_REGULARISED

Definition at line 2049 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

real_t QProblemB::relativeHomotopyLength	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_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.

Definition at line 2129 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

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

Removes a bounds from active set (specialised version for the case where no constraints exist).

Returns:: SUCCESSFUL_RETURN
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 in QProblem, and QProblem.

Definition at line 1287 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Removes a bounds from active set (specialised version for the case where no constraints exist).

Returns:: SUCCESSFUL_RETURN
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 in QProblem, and QProblem.

returnValue QProblemB::removeBound	(	int	number,
		BooleanType	updateCholesky
	)		`[private]`

Removes a bounds from active set (specialised version for the case where no constraints exist).

Returns:: SUCCESSFUL_RETURN
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 in QProblem, and QProblem.

returnValue QProblemB::reset ( )

Clears all data structures of QProblemB except for QP data.

Returns:: SUCCESSFUL_RETURN
RET_RESET_FAILED

0) Reset has Hessian flag.

Reimplemented in QProblem, QProblem, and QProblem.

Definition at line 238 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::reset ( )

Clears all data structures of QProblemB except for QP data.

Returns:: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented in QProblem, QProblem, and QProblem.

virtual returnValue QProblemB::reset ( ) [virtual]

Clears all data structures of QProblemB except for QP data.

Returns:: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented in QProblem, QProblem, and QProblem.

returnValue QProblemB::setG ( const real_t *const g_new ) [inline, protected]

Changes gradient vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

g_new New gradient vector (with correct dimension!).

returnValue QProblemB::setG ( const real_t *const g_new ) [inline, protected]

Changes gradient vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

g_new New gradient vector (with correct dimension!).

returnValue QProblemB::setG ( const real_t *const g_new ) [inline, protected]

Changes gradient vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

g_new New gradient vector (with correct dimension!).

returnValue QProblemB::setH ( const real_t *const H_new ) [inline, protected]

Sets Hessian matrix of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

H_new New Hessian matrix (with correct dimension!).

returnValue QProblemB::setH ( const real_t *const H_new ) [inline, protected]

Sets Hessian matrix of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

H_new New Hessian matrix (with correct dimension!).

returnValue QProblemB::setH ( SymmetricMatrix * H_new ) [inline, protected]

Sets Hessian matrix of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

H_new New Hessian matrix.

returnValue QProblemB::setH ( const real_t *const H_new ) [inline, protected]

Sets dense Hessian matrix of the QP. If a null pointer is passed and a) hessianType is HST_IDENTITY, nothing is done, b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.

Returns:: SUCCESSFUL_RETURN

Parameters:

H_new New dense Hessian matrix (with correct dimension!).

returnValue QProblemB::setHessianType ( HessianType _hessianType ) [inline]

Changes the print level.

Returns:: SUCCESSFUL_RETURN

Parameters:

_hessianType New Hessian type.

returnValue QProblemB::setHessianType ( HessianType _hessianType ) [inline]

Changes the print level.

Returns:: SUCCESSFUL_RETURN

Parameters:

_hessianType New Hessian type.

returnValue QProblemB::setHessianType ( HessianType _hessianType ) [inline]

Changes the print level.

Returns:: SUCCESSFUL_RETURN

Parameters:

_hessianType New Hessian type.

returnValue QProblemB::setInfeasibilityFlag ( returnValue returnvalue ) [protected]

Sets internal infeasibility flag and throws given error in case the far bound strategy is not enabled (as QP might actually not be infeasible in this case).

Returns:: RET_HOTSTART_STOPPED_INFEASIBILITY
RET_ENSURELI_FAILED_CYCLING
RET_ENSURELI_FAILED_NOINDEX

Definition at line 2006 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::setLB ( const real_t *const lb_new ) [inline, protected]

Changes lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

lb_new New lower bound vector (with correct dimension!).

returnValue QProblemB::setLB	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of lower 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 bound vector.

returnValue QProblemB::setLB ( const real_t *const lb_new ) [inline, protected]

Changes lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

lb_new New lower bound vector (with correct dimension!).

returnValue QProblemB::setLB	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of lower 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 bound vector.

returnValue QProblemB::setLB ( const real_t *const lb_new ) [inline, protected]

Changes lower bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

lb_new New lower bound vector (with correct dimension!).

returnValue QProblemB::setLB	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of lower 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 bound vector.

returnValue QProblemB::setOptions ( const Options & _options ) [inline]

Overrides current options with given ones.

Returns:: SUCCESSFUL_RETURN

Parameters:

_options New options.

returnValue QProblemB::setPrintLevel ( PrintLevel _printlevel )

Changes the print level.

Returns:: SUCCESSFUL_RETURN

Parameters:

_printlevel New print level.

Definition at line 588 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::setPrintLevel ( PrintLevel _printlevel )

Changes the print level.

Returns:: SUCCESSFUL_RETURN

Parameters:

_printlevel New print level.

returnValue QProblemB::setPrintLevel ( PrintLevel _printlevel )

Changes the print level.

Returns:: SUCCESSFUL_RETURN

Parameters:

_printlevel New print level.

returnValue QProblemB::setUB ( const real_t *const ub_new ) [inline, protected]

Changes upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

ub_new New upper bound vector (with correct dimension!).

returnValue QProblemB::setUB	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of upper 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 bound vector.

returnValue QProblemB::setUB ( const real_t *const ub_new ) [inline, protected]

Changes upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN

Parameters:

ub_new New upper bound vector (with correct dimension!).

returnValue QProblemB::setUB	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of upper 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 bound vector.

returnValue QProblemB::setUB ( const real_t *const ub_new ) [inline, protected]

Changes upper bound vector of the QP.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

ub_new New upper bound vector (with correct dimension!).

returnValue QProblemB::setUB	(	int	number,
		real_t	value
	)		`[inline, protected]`

Changes single entry of upper 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 bound vector.

returnValue QProblemB::setupAuxiliaryQP ( const Bounds *const guessedBounds ) [private]

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

Returns:: SUCCESSFUL_RETURN
RET_SETUP_AUXILIARYQP_FAILED

Parameters:

guessedBounds Initial guess for working set of bounds.

Definition at line 2896 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::setupAuxiliaryQPbounds ( BooleanType useRelaxation ) [protected]

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

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN BUG

Parameters:

useRelaxation Flag indicating if inactive bounds shall be relaxed.

Definition at line 1161 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::setupAuxiliaryQPbounds ( BooleanType useRelaxation ) [protected]

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

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN BUG

Parameters:

useRelaxation Flag indicating if inactive bounds shall be relaxed.

returnValue QProblemB::setupAuxiliaryQPbounds ( BooleanType useRelaxation ) [private]

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

Returns:: SUCCESSFUL_RETURN
RET_UNKNOWN_BUG

Parameters:

useRelaxation Flag indicating if inactive bounds shall be relaxed.

returnValue QProblemB::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 have already been initialised!).

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem, QProblem, and QProblem.

Definition at line 1137 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::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 have already been initialised!).

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem, QProblem, and QProblem.

returnValue QProblemB::setupAuxiliaryQPgradient ( ) [private]

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 have already been initialised!).

Returns:: SUCCESSFUL_RETURN

Reimplemented in QProblem, QProblem, and QProblem.

returnValue QProblemB::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 in QProblem, QProblem, and QProblem.

Definition at line 1096 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::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 in QProblem, QProblem, and QProblem.

returnValue QProblemB::setupAuxiliaryQPsolution	(	const real_t *const	xOpt,
		const real_t *const	yOpt
	)		`[private]`

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 in QProblem, QProblem, and QProblem.

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

Setups bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)

Returns:: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG

Parameters:

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

Definition at line 1029 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

Setups bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)

Returns:: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG

Parameters:

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

returnValue QProblemB::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		BooleanType	setupAfresh
	)		`[private]`

Setups bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)

Returns:: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG

Parameters:

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

returnValue QProblemB::setupCholeskyDecomposition ( ) [protected]

Computes the Cholesky decomposition R of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix!

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 723 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::setupCholeskyDecomposition ( ) [protected]

Computes the Cholesky decomposition R of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix!

Returns:: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

returnValue QProblemB::setupCholeskyDecomposition ( ) [protected]

Computes the Cholesky decomposition of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix! 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 QProblemB::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub
	)		`[protected]`

Setups internal QP data.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

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

Definition at line 1505 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_R,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub
	)		`[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.
_lb	Lower bounds (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bounds (on variables). If no upper bounds exist, a NULL pointer can be passed.

Definition at line 1548 of file external_packages/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::setupQPdata	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub
	)		`[protected]`

Setups internal QP data.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

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

Definition at line 1787 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_g,
		const real_t *const	_lb,
		const real_t *const	_ub
	)		`[protected]`

Setups 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_NO_HESSIAN_SPECIFIED

Parameters:

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

returnValue QProblemB::setupQPdataFromFile	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_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_NO_HESSIAN_SPECIFIED

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.
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.

Definition at line 1873 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::setupSubjectToType ( ) [protected]

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

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented in QProblem, QProblem, and QProblem.

Definition at line 664 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

returnValue QProblemB::setupSubjectToType ( ) [protected]

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

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented in QProblem, QProblem, and QProblem.

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

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

Returns:: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented in QProblem, QProblem, and QProblem.

returnValue QProblemB::setupSubjectToType	(	const real_t *const	lb_new,
		const real_t *const	ub_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.

Definition at line 1365 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

BooleanType QProblemB::shallRefactorise ( const Bounds *const guessedBounds ) const [private]

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.

Definition at line 3369 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

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

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

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
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 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 791 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.

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

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

Returns:: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
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 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 QProblemB::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		int &	nWSR,
		real_t *const	cputime
	)		`[private]`

Solves a QProblemB whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding optimal working set 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_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 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 QProblemB::solveQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		int &	nWSR,
		real_t *const	cputime,
		int	nWSRperformed = `0`
	)		`[private]`

Solves an initialised QProblemB 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.
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 2352 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.

returnValue QProblemB::solveRegularisedQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		int &	nWSR,
		real_t *const	cputime,
		int	nWSRperformed = `0`
	)		`[private]`

Solves an initialised QProblemB 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.
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.