qpOASES_matlab_utils.cpp

Go to the documentation of this file.

/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include "mex.h"
#include "matrix.h"
#include "string.h"


/*
 *      g e t S t a t u s
 */
real_t getStatus( returnValue returnvalue )
{
        /* determine status from returnvalue */
        switch ( returnvalue )
        {
                case SUCCESSFUL_RETURN:
                        return 0.0;

                case RET_MAX_NWSR_REACHED:
                        return 1.0;

                case RET_INIT_FAILED_INFEASIBILITY:
                case RET_HOTSTART_STOPPED_INFEASIBILITY:
                        return -2.0;

                case RET_INIT_FAILED_UNBOUNDEDNESS:
                case RET_HOTSTART_STOPPED_UNBOUNDEDNESS:
                        return -3.0;

                default:
                        return -1.0;
        }
}


/*
 *      s m a r t D i m e n s i o n C h e c k
 */
returnValue smartDimensionCheck(        real_t** input, unsigned int m, unsigned int n, BooleanType emptyAllowed,
                                                                        const mxArray* prhs[], int idx
                                                                        )
{
        /* If index is negative, the input does not exist. */
        if ( idx < 0 )
        {
                *input = 0;
                return SUCCESSFUL_RETURN;
        }

        /* Otherwise the input has been passed by the user. */
        if ( mxIsEmpty( prhs[ idx ] ) )
        {
                /* input is empty */
                if ( emptyAllowed == BT_TRUE )
                {
                        *input = 0;
                        return SUCCESSFUL_RETURN;
                }
                else
                {
                        char msg[200];
                        snprintf(msg, 199, "ERROR (qpOASES): Empty argument %d not allowed!", idx+1);
                        mexErrMsgTxt( msg );
                        return RET_INVALID_ARGUMENTS;
                }
        }
        else
        {
                /* input is non-empty */
                if ( ( mxGetM( prhs[ idx ] ) == m ) && ( mxGetN( prhs[ idx ] ) == n ) )
                {
                        *input = (real_t*) mxGetPr( prhs[ idx ] );
                        return SUCCESSFUL_RETURN;
                }
                else
                {
                        char msg[200];
                        snprintf(msg, 199, "ERROR (qpOASES): Input dimension mismatch for argument %d ([%ld,%ld] ~= [%d,%d]).",
                                        idx+1, (long int)mxGetM(prhs[idx]), (long int)mxGetN(prhs[idx]), m, n);
                        mexErrMsgTxt( msg );
                        return RET_INVALID_ARGUMENTS;
                }
        }

        return SUCCESSFUL_RETURN;
}


/*
 *      c o n v e r t F o r t r a n T o C
 */
returnValue convertFortranToC( const real_t* const A_for, int nV, int nC, real_t* const A )
{
        int i,j;

        for ( i=0; i<nC; ++i )
                for ( j=0; j<nV; ++j )
                        A[i*nV + j] = A_for[j*nC + i];

        return SUCCESSFUL_RETURN;
}


/*
 *      h a s O p t i o n s V a l u e
 */
BooleanType hasOptionsValue( const mxArray* optionsPtr, const char* const optionString, double** optionValue )
{
        mxArray* optionName = mxGetField( optionsPtr,0,optionString );

    if( !mxIsEmpty(optionName) )
        {
                if ( ( mxGetM( optionName ) != 1 ) || ( mxGetN( optionName ) != 1 ) )
                        mexErrMsgTxt( "ERROR (qpOASES_options): Option has to be a numerical constant." );

                *optionValue = mxGetPr( optionName );
                return BT_TRUE;
        }

        return BT_FALSE;
}


/*
 *      s e t u p O p t i o n s
 */
returnValue setupOptions( Options* options, const mxArray* optionsPtr, int& nWSRin )
{
        double* optionValue;
        int optionValueInt;

        if ( hasOptionsValue( optionsPtr,"maxIter",&optionValue ) == BT_TRUE )
                if ( *optionValue > 0.0 )
                        nWSRin = (int)*optionValue;

        if ( hasOptionsValue( optionsPtr,"printLevel",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->printLevel = (qpOASES::PrintLevel)optionValueInt;
        }


        if ( hasOptionsValue( optionsPtr,"enableRamping",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableRamping = (qpOASES::BooleanType)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"enableFarBounds",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableFarBounds = (qpOASES::BooleanType)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"enableFlippingBounds",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableFlippingBounds = (qpOASES::BooleanType)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"enableRegularisation",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableRegularisation = (qpOASES::BooleanType)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"enableFullLITests",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableFullLITests = (qpOASES::BooleanType)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"enableNZCTests",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableNZCTests = (qpOASES::BooleanType)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"enableDriftCorrection",&optionValue ) == BT_TRUE )
                options->enableDriftCorrection = (int)*optionValue;

        if ( hasOptionsValue( optionsPtr,"enableCholeskyRefactorisation",&optionValue ) == BT_TRUE )
                options->enableCholeskyRefactorisation = (int)*optionValue;

        if ( hasOptionsValue( optionsPtr,"enableEqualities",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->enableEqualities = (qpOASES::BooleanType)optionValueInt;
        }


        if ( hasOptionsValue( optionsPtr,"terminationTolerance",&optionValue ) == BT_TRUE )
                options->terminationTolerance = *optionValue;

        if ( hasOptionsValue( optionsPtr,"boundTolerance",&optionValue ) == BT_TRUE )
                options->boundTolerance = *optionValue;

        if ( hasOptionsValue( optionsPtr,"boundRelaxation",&optionValue ) == BT_TRUE )
                options->boundRelaxation = *optionValue;

        if ( hasOptionsValue( optionsPtr,"epsNum",&optionValue ) == BT_TRUE )
                options->epsNum = *optionValue;

        if ( hasOptionsValue( optionsPtr,"epsDen",&optionValue ) == BT_TRUE )
                options->epsDen = *optionValue;

        if ( hasOptionsValue( optionsPtr,"maxPrimalJump",&optionValue ) == BT_TRUE )
                options->maxPrimalJump = *optionValue;

        if ( hasOptionsValue( optionsPtr,"maxDualJump",&optionValue ) == BT_TRUE )
                options->maxDualJump = *optionValue;


        if ( hasOptionsValue( optionsPtr,"initialRamping",&optionValue ) == BT_TRUE )
                options->initialRamping = *optionValue;

        if ( hasOptionsValue( optionsPtr,"finalRamping",&optionValue ) == BT_TRUE )
                options->finalRamping = *optionValue;

        if ( hasOptionsValue( optionsPtr,"initialFarBounds",&optionValue ) == BT_TRUE )
                options->initialFarBounds = *optionValue;

        if ( hasOptionsValue( optionsPtr,"growFarBounds",&optionValue ) == BT_TRUE )
                options->growFarBounds = *optionValue;

        if ( hasOptionsValue( optionsPtr,"initialStatusBounds",&optionValue ) == BT_TRUE )
        {
                optionValueInt = (int)*optionValue;
                options->initialStatusBounds = (qpOASES::SubjectToStatus)optionValueInt;
        }

        if ( hasOptionsValue( optionsPtr,"epsFlipping",&optionValue ) == BT_TRUE )
                options->epsFlipping = *optionValue;

        if ( hasOptionsValue( optionsPtr,"numRegularisationSteps",&optionValue ) == BT_TRUE )
                options->numRegularisationSteps = (int)*optionValue;

        if ( hasOptionsValue( optionsPtr,"epsRegularisation",&optionValue ) == BT_TRUE )
                options->epsRegularisation = *optionValue;

        if ( hasOptionsValue( optionsPtr,"numRefinementSteps",&optionValue ) == BT_TRUE )
                options->numRefinementSteps = (int)*optionValue;

        if ( hasOptionsValue( optionsPtr,"epsIterRef",&optionValue ) == BT_TRUE )
                options->epsIterRef = *optionValue;

        if ( hasOptionsValue( optionsPtr,"epsLITests",&optionValue ) == BT_TRUE )
                options->epsLITests = *optionValue;

        if ( hasOptionsValue( optionsPtr,"epsNZCTests",&optionValue ) == BT_TRUE )
                options->epsNZCTests = *optionValue;

        return SUCCESSFUL_RETURN;
}



/*
 *      a l l o c a t e O u t p u t s
 */
void allocateOutputs(   int nlhs, mxArray* plhs[], int nV, int nC = 0, int nP = 1
                                                )
{
        /* Create output vectors and assign pointers to them. */
        plhs[0] = mxCreateDoubleMatrix( nV, nP, mxREAL );

        if ( nlhs >= 2 )
        {
                plhs[1] = mxCreateDoubleMatrix( 1, nP, mxREAL );

                if ( nlhs >= 3 )
                {
                        plhs[2] = mxCreateDoubleMatrix( 1, nP, mxREAL );

                        if ( nlhs >= 4 )
                        {
                                plhs[3] = mxCreateDoubleMatrix( 1, nP, mxREAL );

                                if ( nlhs == 5 )
                                {
                                        plhs[4] = mxCreateDoubleMatrix( nV+nC, nP, mxREAL );
                                }
                        }
                }
        }
}


/*
 *      o b t a i n O u t p u t s
 */
void obtainOutputs( int k, QProblemB* qp, returnValue returnvalue, int nWSRin,
                                        int nlhs, mxArray* plhs[], int nV, int nC = 0
                                        )
{
        /* Create output vectors and assign pointers to them. */
        double* x = mxGetPr( plhs[0] );
        qp->getPrimalSolution( &(x[k*nV]) );

        if ( nlhs >= 2 )
        {
                double* obj = mxGetPr( plhs[1] );
                obj[k] = qp->getObjVal( );

                if ( nlhs >= 3 )
                {
                        double* status = mxGetPr( plhs[2] );
                        status[k] = getStatus( returnvalue );

                        if ( nlhs >= 4 )
                        {
                                double* nWSRout = mxGetPr( plhs[3] );
                                nWSRout[k] = (real_t) nWSRin;

                                if ( nlhs == 5 )
                                {
                                        double* y = mxGetPr( plhs[4] );
                                        qp->getDualSolution( &(y[k*(nV+nC)]) );
                                }
                        }
                }
        }
}


/*
 *      end of file
 */