Interfaces matrix-vector operations tailored to general dense matrices. More...

#include <Matrices.hpp>

Inheritance diagram for DenseMatrix:

Public Member Functions
virtual returnValue	addToDiag (real_t alpha)

virtual returnValue	addToDiag (real_t alpha)

	DenseMatrix ()

	DenseMatrix (int m, int n, int lD, real_t *v)

	DenseMatrix ()

	DenseMatrix (int_t m, int_t n, int_t lD, real_t *v)

virtual real_t	diag (int i) const

virtual real_t	diag (int_t i) const

virtual Matrix *	duplicate () const

virtual Matrix *	duplicate () const

virtual void	free ()

virtual void	free ()

virtual real_t *	full () const

virtual returnValue	getCol (int cNum, const Indexlist const irows, real_t alpha, real_t col) const

virtual returnValue	getCol (int_t cNum, const Indexlist const irows, real_t alpha, real_t col) const

virtual real_t	getNorm (int_t type=2) const

virtual returnValue	getRow (int rNum, const Indexlist const icols, real_t alpha, real_t row) const

virtual returnValue	getRow (int_t rNum, const Indexlist const icols, real_t alpha, real_t row) const

virtual real_t	getRowNorm (int_t rNum, int_t type=2) const

virtual returnValue	getSparseSubmatrix (int_t irowsLength, const int_t const irowsNumber, int_t icolsLength, const int_t const icolsNumber, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t irn, int_t jcn, real_t *avals, BooleanType only_lower_triangular=BT_FALSE) const

virtual BooleanType	isDiag () const

virtual BooleanType	isDiag () const

virtual returnValue	print () const

virtual returnValue	print (const char *name=0) const

returnValue	times (int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t y, int yLD) const

virtual returnValue	times (const Indexlist const irows, const Indexlist const icols, int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t y, int yLD, BooleanType yCompr=BT_TRUE) const

virtual returnValue	times (int_t xN, real_t alpha, const real_t x, int_t xLD, real_t beta, real_t y, int_t yLD) const

virtual returnValue	times (const Indexlist const irows, const Indexlist const icols, int_t xN, real_t alpha, const real_t x, int_t xLD, real_t beta, real_t y, int_t yLD, BooleanType yCompr=BT_TRUE) const

returnValue	transTimes (int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t y, int yLD) const

virtual returnValue	transTimes (const Indexlist const irows, const Indexlist const icols, int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t y, int yLD) const

virtual returnValue	transTimes (int_t xN, real_t alpha, const real_t x, int_t xLD, real_t beta, real_t y, int_t yLD) const

virtual returnValue	transTimes (const Indexlist const irows, const Indexlist const icols, int_t xN, real_t alpha, const real_t x, int_t xLD, real_t beta, real_t y, int_t yLD) const

virtual returnValue	writeToFile (FILE output_file, const char prefix) const

virtual	~DenseMatrix ()

virtual	~DenseMatrix ()

Public Member Functions inherited from Matrix
void	doFreeMemory ()

void	doFreeMemory ()

void	doNotFreeMemory ()

void	doNotFreeMemory ()

virtual returnValue	getSparseSubmatrix (const Indexlist const irows, const Indexlist const icols, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t irn, int_t jcn, real_t *avals, BooleanType only_lower_triangular=BT_FALSE) const

virtual returnValue	getSparseSubmatrix (const Indexlist const irows, int_t idx_icol, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t irn, int_t jcn, real_t avals, BooleanType only_lower_triangular=BT_FALSE) const

virtual returnValue	getSparseSubmatrix (int_t idx_row, const Indexlist const icols, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t irn, int_t jcn, real_t avals, BooleanType only_lower_triangular=BT_FALSE) const

	Matrix ()

	Matrix ()

BooleanType	needToFreeMemory () const

BooleanType	needToFreeMemory () const

virtual	~Matrix ()

virtual	~Matrix ()

Public Attributes
real_t	val [NVCMAX *NVMAX]

Protected Attributes
int	leaDim

int_t	leaDim

int	nCols

int_t	nCols

int	nRows

int_t	nRows

real_t *	val

Protected Attributes inherited from Matrix
BooleanType	freeMemory

Detailed Description

Interfaces matrix-vector operations tailored to general dense matrices.

Dense matrix class (row major format).

Author: Andreas Potschka, Christian Kirches, Hans Joachim Ferreau

Version: 3.0beta

Date: 2011

Dense matrix class (row major format).

Author: Andreas Potschka, Christian Kirches, Hans Joachim Ferreau

Version: 3.2

Date: 2011-2015

Dense matrix class (row major format).

Author: Andreas Potschka, Christian Kirches, Hans Joachim Ferreau

Version: 3.1embedded

Date: 2011-2015

Definition at line 273 of file qpOASES-3.0beta/include/qpOASES/Matrices.hpp.

Constructor & Destructor Documentation

DenseMatrix::DenseMatrix ( )

inline

Default constructor.

Definition at line 277 of file qpOASES-3.0beta/include/qpOASES/Matrices.hpp.

DenseMatrix::DenseMatrix	(	int	m,
		int	n,
		int	lD,
		real_t *	v
	)

inline

Constructor from vector of values. Caution: Data pointer must be valid throughout lifetime

Parameters

m	Number of rows.
n	Number of columns.
lD	Leading dimension.
v	Values.

Definition at line 282 of file qpOASES-3.0beta/include/qpOASES/Matrices.hpp.

DenseMatrix::~DenseMatrix ( )

virtual

Destructor.

Definition at line 51 of file qpOASES-3.0beta/src/Matrices.cpp.

DenseMatrix::DenseMatrix ( )

inline

Default constructor.

Definition at line 383 of file qpOASES-3.2.0/include/qpOASES/Matrices.hpp.

DenseMatrix::DenseMatrix	(	int_t	m,
		int_t	n,
		int_t	lD,
		real_t *	v
	)

inline

Constructor from vector of values. Caution: Data pointer must be valid throughout lifetime

Parameters

m	Number of rows.
n	Number of columns.
lD	Leading dimension.
v	Values.

Definition at line 388 of file qpOASES-3.2.0/include/qpOASES/Matrices.hpp.

virtual DenseMatrix::~DenseMatrix ( )

virtual

Destructor.

Member Function Documentation

returnValue DenseMatrix::addToDiag ( real_t alpha )

virtual

Adds given offset to diagonal of matrix.

Returns: SUCCESSFUL_RETURN
RET_NO_DIAGONAL_AVAILABLE

Parameters

alpha Diagonal offset.

Implements Matrix.

Definition at line 406 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual returnValue DenseMatrix::addToDiag ( real_t alpha )

virtual

Adds given offset to diagonal of matrix.

Returns: SUCCESSFUL_RETURN
RET_NO_DIAGONAL_AVAILABLE

Parameters

alpha Diagonal offset.

Implements Matrix.

real_t DenseMatrix::diag ( int i ) const

virtual

Returns i-th diagonal entry.

Returns: i-th diagonal entry

Parameters

i Index.

Implements Matrix.

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

virtual real_t DenseMatrix::diag ( int_t i ) const

virtual

Returns i-th diagonal entry.

Returns: i-th diagonal entry

Parameters

i Index.

Implements Matrix.

Matrix * DenseMatrix::duplicate ( ) const

virtual

Returns a deep-copy of the Matrix object.

Returns: Deep-copy of Matrix object

Implements Matrix.

Reimplemented in SymDenseMat, and SymDenseMat.

Definition at line 64 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual Matrix* DenseMatrix::duplicate ( ) const

virtual

Returns a deep-copy of the Matrix object.

Returns: Deep-copy of Matrix object

Implements Matrix.

Reimplemented in SymDenseMat, and SymDenseMat.

void DenseMatrix::free ( )

virtual

Frees all internal memory.

Implements Matrix.

Definition at line 57 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual void DenseMatrix::free ( )

virtual

Frees all internal memory.

Implements Matrix.

real_t * DenseMatrix::full ( ) const

virtual

Allocates and creates dense matrix array in row major format.

Note: Calling function has to free allocated memory!

Returns: Pointer to matrix array.

Implements Matrix.

Definition at line 577 of file qpOASES-3.2.0/src/Matrices.cpp.

returnValue DenseMatrix::getCol	(	int	cNum,
		const Indexlist *const	irows,
		real_t	alpha,
		real_t *	col
	)		const

virtual

Retrieve indexed entries of matrix column multiplied by alpha.

Returns: SUCCESSFUL_RETURN

Parameters

cNum	Column number.
irows	Index list specifying rows.
alpha	Scalar factor.
col	Output column vector.

Implements Matrix.

Definition at line 134 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual returnValue DenseMatrix::getCol	(	int_t	cNum,
		const Indexlist *const	irows,
		real_t	alpha,
		real_t *	col
	)		const

virtual

Retrieve indexed entries of matrix column multiplied by alpha.

Returns: SUCCESSFUL_RETURN

Parameters

cNum	Column number.
irows	Index list specifying rows.
alpha	Scalar factor.
col	Output column vector.

Implements Matrix.

real_t DenseMatrix::getNorm ( int_t type = 2 ) const

virtual

Get the N-norm of the matrix

Returns: N-norm of the matrix

Parameters

type	Norm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

Definition at line 154 of file qpOASES-3.2.0/src/Matrices.cpp.

returnValue DenseMatrix::getRow	(	int	rNum,
		const Indexlist *const	icols,
		real_t	alpha,
		real_t *	row
	)		const

virtual

Retrieve indexed entries of matrix row multiplied by alpha.

Returns: SUCCESSFUL_RETURN

Parameters

rNum	Row number.
icols	Index list specifying columns.
alpha	Scalar factor.
row	Output row vector.

Implements Matrix.

Definition at line 104 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual returnValue DenseMatrix::getRow	(	int_t	rNum,
		const Indexlist *const	icols,
		real_t	alpha,
		real_t *	row
	)		const

virtual

Retrieve indexed entries of matrix row multiplied by alpha.

Returns: SUCCESSFUL_RETURN

Parameters

rNum	Row number.
icols	Index list specifying columns.
alpha	Scalar factor.
row	Output row vector.

Implements Matrix.

real_t DenseMatrix::getRowNorm	(	int_t	rNum,
		int_t	type = `2`
	)		const

virtual

Get the N-norm of a row

Returns: N-norm of row rNum

Parameters

rNum	Row number.
type	Norm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

Definition at line 161 of file qpOASES-3.2.0/src/Matrices.cpp.

returnValue DenseMatrix::getSparseSubmatrix	(	int_t	irowsLength,
		const int_t *const	irowsNumber,
		int_t	icolsLength,
		const int_t *const	icolsNumber,
		int_t	rowoffset,
		int_t	coloffset,
		int_t &	numNonzeros,
		int_t *	irn,
		int_t *	jcn,
		real_t *	avals,
		BooleanType	only_lower_triangular = `BT_FALSE`
	)		const

virtual

Retrieve entries of submatrix in Harwell-Boeing sparse format. If irn, jcn, and avals are null, this only counts the number of nonzeros. Otherwise, numNonzeros containts the size of irn, jcn, and avals on entry, and the written number of entries on return.

Returns: SUCCESSFUL_RETURN

Parameters

irowsLength	Number of rows.
irowsNumber	Array with row numbers.
icolsLength	Number of columns.
icolsNumber	Array with column numbers.
rowoffset	Offset for row entries.
coloffset	Offset for row entries.
numNonzeros	Number of nonzeros in submatrix.
irn	Row position of entries (as position in irows) plus rowoffset.
jcn	Column position of entries (as position in irows) plus coloffset.
avals	Numerical values of the entries.
only_lower_triangular	if true, only the lower triangular portion is returned. This can only be true for symmetric matrices and if irows==jcols.

Implements Matrix.

Definition at line 214 of file qpOASES-3.2.0/src/Matrices.cpp.

BooleanType DenseMatrix::isDiag ( ) const

virtual

Checks whether matrix is square and diagonal.

Returns: BT_TRUE iff matrix is square and diagonal;
BT_FALSE otherwise.

Implements Matrix.

Definition at line 89 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual BooleanType DenseMatrix::isDiag ( ) const

virtual

Checks whether matrix is square and diagonal.

Returns: BT_TRUE iff matrix is square and diagonal;
BT_FALSE otherwise.

Implements Matrix.

returnValue DenseMatrix::print ( ) const

virtual

Prints matrix to screen.

Returns: SUCCESSFUL_RETURN

Implements Matrix.

Definition at line 416 of file qpOASES-3.0beta/src/Matrices.cpp.

returnValue DenseMatrix::print ( const char * name = 0 ) const

virtual

Prints matrix to screen.

Returns: SUCCESSFUL_RETURN

Parameters

name	Name of matrix.

Implements Matrix.

Definition at line 585 of file qpOASES-3.2.0/src/Matrices.cpp.

returnValue DenseMatrix::times	(	int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const

virtual

Evaluate Y=alpha*A*X + beta*Y.

Returns: SUCCESSFUL_RETURN.

Parameters

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

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

returnValue DenseMatrix::times	(	const Indexlist *const	irows,
		const Indexlist *const	icols,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD,
		BooleanType	yCompr = `BT_TRUE`
	)		const

virtual

Evaluate matrix vector product with submatrix given by Indexlist.

Returns: SUCCESSFUL_RETURN

Parameters

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.
yCompr	Compressed storage for y.

Implements Matrix.

Definition at line 167 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual returnValue DenseMatrix::times	(	int_t	xN,
		real_t	alpha,
		const real_t *	x,
		int_t	xLD,
		real_t	beta,
		real_t *	y,
		int_t	yLD
	)		const

virtual

Evaluate Y=alpha*A*X + beta*Y.

Returns: SUCCESSFUL_RETURN.

Parameters

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

virtual returnValue DenseMatrix::times	(	const Indexlist *const	irows,
		const Indexlist *const	icols,
		int_t	xN,
		real_t	alpha,
		const real_t *	x,
		int_t	xLD,
		real_t	beta,
		real_t *	y,
		int_t	yLD,
		BooleanType	yCompr = `BT_TRUE`
	)		const

virtual

Evaluate matrix vector product with submatrix given by Indexlist.

Returns: SUCCESSFUL_RETURN

Parameters

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.
yCompr	Compressed storage for y.

Implements Matrix.

returnValue DenseMatrix::transTimes	(	int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const

virtual

Evaluate Y=alpha*A'*X + beta*Y.

Returns: SUCCESSFUL_RETURN.

Parameters

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

Definition at line 159 of file qpOASES-3.0beta/src/Matrices.cpp.

returnValue DenseMatrix::transTimes	(	const Indexlist *const	irows,
		const Indexlist *const	icols,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const

virtual

Evaluate matrix transpose vector product.

Returns: SUCCESSFUL_RETURN

Parameters

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

Definition at line 351 of file qpOASES-3.0beta/src/Matrices.cpp.

virtual returnValue DenseMatrix::transTimes	(	int_t	xN,
		real_t	alpha,
		const real_t *	x,
		int_t	xLD,
		real_t	beta,
		real_t *	y,
		int_t	yLD
	)		const

virtual

Evaluate Y=alpha*A'*X + beta*Y.

Returns: SUCCESSFUL_RETURN.

Parameters

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

virtual returnValue DenseMatrix::transTimes	(	const Indexlist *const	irows,
		const Indexlist *const	icols,
		int_t	xN,
		real_t	alpha,
		const real_t *	x,
		int_t	xLD,
		real_t	beta,
		real_t *	y,
		int_t	yLD
	)		const

virtual

Evaluate matrix transpose vector product.

Returns: SUCCESSFUL_RETURN

Parameters

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.