#include <qpOASES_e/MessageHandling.h>

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Functions
returnValue	qpOASES_convertBooleanTypeToString (BooleanType value, char *const string)

returnValue	qpOASES_convertPrintLevelToString (PrintLevel value, char *const string)

returnValue	qpOASES_convertSubjectToStatusToString (SubjectToStatus value, char *const string)

static real_t	qpOASES_getAbs (real_t x)

real_t	qpOASES_getCPUtime ()

returnValue	qpOASES_getKktViolation (int nV, int nC, const real_t const H, const real_t const g, const real_t const A, const real_t const lb, const real_t const ub, const real_t const lbA, const real_t const ubA, const real_t const x, const real_t const y, real_t const _stat, real_t const feas, real_t const cmpl)

returnValue	qpOASES_getKktViolationSB (int nV, const real_t const H, const real_t const g, const real_t const lb, const real_t const ub, const real_t const x, const real_t const y, real_t const _stat, real_t const feas, real_t *const cmpl)

static real_t	qpOASES_getMax (real_t x, real_t y)

static int	qpOASES_getMaxI (int x, int y)

static real_t	qpOASES_getMin (real_t x, real_t y)

static int	qpOASES_getMinI (int x, int y)

real_t	qpOASES_getNorm (const real_t *const v, int n, int type)

static real_t	qpOASES_getSign (real_t arg)

int	qpOASES_getSimpleStatus (returnValue returnvalue, BooleanType doPrintStatus)

static real_t	qpOASES_getSqrt (real_t x)

static BooleanType	qpOASES_isEqual (real_t x, real_t y, real_t TOL)

static BooleanType	qpOASES_isZero (real_t x, real_t TOL)

returnValue	qpOASES_myPrintf (const char *s)

returnValue	qpOASES_normaliseConstraints (int nV, int nC, real_t A, real_t lbA, real_t *ubA, int type)

returnValue	qpOASES_printCopyrightNotice ()

returnValue	qpOASES_printI (const int *const _index, int n)

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

returnValue	qpOASES_printNI (const int const _index, int n, const char name)

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

returnValue	qpOASES_printNV (const real_t const v, int n, const char name)

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

returnValue	qpOASES_printPV (const real_t const v, int n, const int const V_idx)

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

returnValue	qpOASES_readFromFileI (int data, int n, const char datafilename)

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

returnValue	qpOASES_readFromFileV (real_t data, int n, const char datafilename)

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

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

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

returnValue	qpOASES_writeIntoMatFile (FILE const matFile, const real_t const data, int nRows, int nCols, const char *name)

returnValue	qpOASES_writeIntoMatFileI (FILE const matFile, const int const data, int nRows, int nCols, const char *name)

Detailed Description

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.1embedded

Date: 2007-2015

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

Definition in file Utils.h.

Function Documentation

returnValue qpOASES_convertBooleanTypeToString	(	BooleanType	value,
		char *const	string
	)

Writes a value of BooleanType into a string.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 782 of file Utils.c.

returnValue qpOASES_convertPrintLevelToString	(	PrintLevel	value,
		char *const	string
	)

Writes a value of PrintLevel into a string.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 840 of file Utils.c.

returnValue qpOASES_convertSubjectToStatusToString	(	SubjectToStatus	value,
		char *const	string
	)

Writes a value of SubjectToStatus into a string.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 798 of file Utils.c.

static real_t qpOASES_getAbs ( real_t x )

inlinestatic

Returns the absolute value of a real_t-valued argument.

Returns: Absolute value of a real_t-valued argument

Parameters

x	real_t-valued argument.

Definition at line 468 of file Utils.h.

real_t qpOASES_getCPUtime ( )

Returns the current system time.

Returns: current system time

Definition at line 606 of file Utils.c.

returnValue qpOASES_getKktViolation	(	int	nV,
		int	nC,
		const real_t *const	H,
		const real_t *const	g,
		const real_t *const	A,
		const real_t *const	lb,
		const real_t *const	ub,
		const real_t *const	lbA,
		const real_t *const	ubA,
		const real_t *const	x,
		const real_t *const	y,
		real_t *const	_stat,
		real_t *const	feas,
		real_t *const	cmpl
	)

Computes the maximum violation of the KKT optimality conditions of given iterate for given QP data.

Parameters

nV	Number of variables.
nC	Number of constraints.
H	Hessian matrix (may be NULL if Hessian is zero or identity matrix).
g	Gradient vector.
A	Constraint matrix.
lb	Lower bound vector (on variables).
ub	Upper bound vector (on variables).
lbA	Lower constraints' bound vector.
ubA	Upper constraints' bound vector.
x	Primal trial vector.
y	Dual trial vector.
_stat	Output: maximum value of stationarity condition residual.
feas	Output: maximum value of primal feasibility violation.
cmpl	Output: maximum value of complementarity residual.

Definition at line 658 of file Utils.c.

returnValue qpOASES_getKktViolationSB	(	int	nV,
		const real_t *const	H,
		const real_t *const	g,
		const real_t *const	lb,
		const real_t *const	ub,
		const real_t *const	x,
		const real_t *const	y,
		real_t *const	_stat,
		real_t *const	feas,
		real_t *const	cmpl
	)

Computes the maximum violation of the KKT optimality conditions of given iterate for given QP data.

Parameters

nV	Number of variables.
H	Hessian matrix (may be NULL if Hessian is zero or identity matrix).
g	Gradient vector.
lb	Lower bound vector (on variables).
ub	Upper bound vector (on variables).
x	Primal trial vector.
y	Dual trial vector.
_stat	Output: maximum value of stationarity condition residual.
feas	Output: maximum value of primal feasibility violation.
cmpl	Output: maximum value of complementarity residual.

Definition at line 764 of file Utils.c.

static real_t qpOASES_getMax	(	real_t	x,
		real_t	y
	)

inlinestatic

Returns maximum of two reals.

Returns: Maximum of two reals

Parameters

x	First real number.
y	Second real number.

Definition at line 436 of file Utils.h.

static int qpOASES_getMaxI	(	int	x,
		int	y
	)

inlinestatic

Returns maximum of two integers.

Returns: Maximum of two integers

Parameters

x	First integer.
y	Second integer.

Definition at line 414 of file Utils.h.

static real_t qpOASES_getMin	(	real_t	x,
		real_t	y
	)

inlinestatic

Returns minimum of two reals.

Returns: Minimum of two reals

Parameters

x	First real number.
y	Second real number.

Definition at line 452 of file Utils.h.

static int qpOASES_getMinI	(	int	x,
		int	y
	)

inlinestatic

Returns minimum of two integers.

Returns: Minimum of two integers

Parameters

x	First integer.
y	Second integer.

Definition at line 425 of file Utils.h.

real_t qpOASES_getNorm	(	const real_t *const	v,
		int	n,
		int	type
	)

Returns the N-norm of a vector.

Returns: >= 0.0: successful

Parameters

v	Vector.
n	Vector's dimension.
type	Norm type, 1: one-norm, 2: Euclidean norm.

Definition at line 629 of file Utils.c.

static real_t qpOASES_getSign ( real_t arg )

inlinestatic

Returns sign of a real-valued argument.

Returns: 1.0: argument is non-negative
-1.0: argument is negative

Parameters

arg	real-valued argument whose sign is to be determined.

Definition at line 400 of file Utils.h.

int qpOASES_getSimpleStatus	(	returnValue	returnvalue,
		BooleanType	doPrintStatus
	)

Converts a returnValue from an QProblem(B) object into a more simple status flag.

Returns: 0: QP problem solved 1: QP could not be solved within given number of iterations -1: QP could not be solved due to an internal error -2: QP is infeasible (and thus could not be solved) -3: QP is unbounded (and thus could not be solved)

Parameters

returnvalue	ReturnValue to be analysed.
doPrintStatus	Flag indicating whether simple status shall be printed to screen.

Definition at line 882 of file Utils.c.

static real_t qpOASES_getSqrt ( real_t x )

inlinestatic

Returns the square-root of a real number.

Returns: Square-root of a real number

Parameters

x	Non-negative real number.

Definition at line 481 of file Utils.h.

static BooleanType qpOASES_isEqual	(	real_t	x,
		real_t	y,
		real_t	TOL
	)

inlinestatic

Tests whether two real-valued arguments are (numerically) equal.

Returns: BT_TRUE: arguments differ not more than TOL
BT_FALSE: arguments differ more than TOL

Parameters

x	First real number.
y	Second real number.
TOL	Tolerance for comparison.

Definition at line 371 of file Utils.h.

static BooleanType qpOASES_isZero	(	real_t	x,
		real_t	TOL
	)

inlinestatic

Tests whether a real-valued argument is (numerically) zero.

Returns: BT_TRUE: argument differs from 0.0 not more than TOL
BT_FALSE: argument differs from 0.0 more than TOL

Parameters

x	Real number.
TOL	Tolerance for comparison.

Definition at line 386 of file Utils.h.

returnValue qpOASES_myPrintf ( const char * s )

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

Returns: SUCCESSFUL_RETURN

Parameters

s	String to be written.

Definition at line 269 of file Utils.c.

returnValue qpOASES_normaliseConstraints	(	int	nV,
		int	nC,
		real_t *	A,
		real_t *	lbA,
		real_t *	ubA,
		int	type
	)

Normalises QP constraints.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

nV	Number of variables.
nC	Number of constraints.
A	Input: Constraint matrix, Output: Normalised constraint matrix.
lbA	Input: Constraints' lower bound vector, Output: Normalised constraints' lower bound vector.
ubA	Input: Constraints' upper bound vector, Output: Normalised constraints' upper bound vector.
type	Norm type, 1: one-norm, 2: Euclidean norm.

returnValue qpOASES_printCopyrightNotice ( )

Prints qpOASES copyright notice.

Returns: SUCCESSFUL_RETURN

Definition at line 296 of file Utils.c.

returnValue qpOASES_printI	(	const int *const	_index,
		int	n
	)

Prints an index array.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 217 of file Utils.c.

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

Prints a matrix.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 147 of file Utils.c.

returnValue qpOASES_printNI	(	const int *const	_index,
		int	n,
		const char *	name
	)

Prints a named index array.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 244 of file Utils.c.

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

Prints a named matrix.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 192 of file Utils.c.

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

Prints a named vector.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 123 of file Utils.c.

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

Prints a permuted matrix.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 170 of file Utils.c.

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

Prints a permuted vector.

Returns: SUCCESSFUL_RETURN

Parameters

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

Definition at line 96 of file Utils.c.

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

Prints a vector.

Returns: SUCCESSFUL_RETURN

Parameters

v	Vector to be printed.
n	Length of vector.

Definition at line 70 of file Utils.c.

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

Reads an integer (column) vector from file.

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters

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

Definition at line 379 of file Utils.c.

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

Reads a real_t matrix from file.

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters

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

Definition at line 314 of file Utils.c.

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

Reads a real_t vector from file.

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters

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

Definition at line 367 of file Utils.c.

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

Writes an integer (column) vector into a file.

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

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

Definition at line 489 of file Utils.c.

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

Writes a real_t matrix into a file.

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

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

Definition at line 423 of file Utils.c.

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

Writes a real_t vector into a file.

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

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

Definition at line 478 of file Utils.c.

returnValue qpOASES_writeIntoMatFile	(	FILE *const	matFile,
		const real_t *const	data,
		int	nRows,
		int	nCols,
		const char *	name
	)

Writes a real_t matrix/vector into a Matlab binary file.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE

Parameters

matFile	Pointer to Matlab binary file.
data	Data to be written into file.
nRows	Row number of matrix.
nCols	Column number of matrix.
name	Matlab name of matrix/vector to be stored.

Definition at line 540 of file Utils.c.

returnValue qpOASES_writeIntoMatFileI	(	FILE *const	matFile,
		const int *const	data,
		int	nRows,
		int	nCols,
		const char *	name
	)

Writes in integer matrix/vector into a Matlab binary file.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE

Parameters

matFile	Pointer to Matlab binary file.
data	Data to be written into file.
nRows	Row number of matrix.
nCols	Column number of matrix.
name	Matlab name of matrix/vector to be stored.

Definition at line 587 of file Utils.c.

Functions

Detailed Description

Function Documentation