Implements the online active set strategy for QPs with general constraints. More...

#include <QProblem.hpp>

Inheritance diagram for QProblem:

Public Member Functions
returnValue	getA (real_t *const _A) const

returnValue	getA (int number, real_t *const row) const

returnValue	getA (real_t *const _A) const

returnValue	getA (int number, real_t *const row) const

returnValue	getConstraints (Constraints *const _constraints) const

returnValue	getConstraints (Constraints *const _constraints) const

returnValue	getConstraints (Constraints &_constraints) const

returnValue	getConstraints (Constraints &_constraints) const

returnValue	getDualSolution (real_t *const yOpt) const

returnValue	getDualSolution (real_t *const yOpt) const

virtual returnValue	getDualSolution (real_t *const yOpt) const

virtual returnValue	getDualSolution (real_t *const yOpt) const

returnValue	getFreeVariablesFlags (BooleanType *varIsFree)

returnValue	getLBA (real_t *const _lbA) const

returnValue	getLBA (int number, real_t &value) const

returnValue	getLBA (real_t *const _lbA) const

returnValue	getLBA (int number, real_t &value) const

int	getNAC ()

int	getNAC ()

int_t	getNAC () const

int	getNAC () const

int	getNC () const

int	getNC () const

int_t	getNC () const

int	getNC () const

int	getNEC () const

int	getNEC () const

int_t	getNEC () const

int	getNEC () const

int	getNIAC ()

int	getNIAC ()

int_t	getNIAC () const

int	getNIAC () const

int	getNZ ()

int	getNZ ()

virtual int_t	getNZ () const

virtual int	getNZ () const

returnValue	getUBA (real_t *const _ubA) const

returnValue	getUBA (int number, real_t &value) const

returnValue	getUBA (real_t *const _ubA) const

returnValue	getUBA (int number, real_t &value) const

virtual returnValue	getWorkingSet (real_t *workingSet)

virtual returnValue	getWorkingSetBounds (real_t *workingSetB)

virtual returnValue	getWorkingSetConstraints (real_t *workingSetC)

returnValue	hotstart (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_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, const real_t const lbA_new, const real_t const ubA_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, const real_t const lbA_new, const real_t const ubA_new, int_t &nWSR, real_t const cputime=0, const Bounds const guessedBounds=0, const Constraints const guessedConstraints=0)

returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int_t &nWSR, real_t const cputime=0, const Bounds const guessedBounds=0, const Constraints const guessedConstraints=0)

returnValue	hotstart (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime)

returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_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, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime, const Bounds const guessedBounds, const Constraints const guessedConstraints)

returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime, const Bounds const guessedBounds, const Constraints const guessedConstraints)

returnValue	init (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, 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 _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, const real_t const yOpt=0, real_t *const cputime=0)

returnValue	init (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime)

returnValue	init (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int_t &nWSR, real_t const cputime=0, const real_t const xOpt=0, const real_t const yOpt=0, const Bounds const guessedBounds=0, const Constraints const guessedConstraints=0, const real_t *const _R=0)

returnValue	init (const real_t const _H, const real_t const _R, 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, 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 _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime)

returnValue	init (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, int_t &nWSR, real_t const cputime=0, const real_t const xOpt=0, const real_t const yOpt=0, const Bounds const guessedBounds=0, const Constraints const guessedConstraints=0, const real_t *const _R=0)

returnValue	init (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime)

returnValue	init (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t const _ubA, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints)

returnValue	init (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int_t &nWSR, real_t const cputime=0, const real_t const xOpt=0, const real_t const yOpt=0, const Bounds const guessedBounds=0, const Constraints const guessedConstraints=0, const char *const R_file=0)

returnValue	init (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, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints)

returnValue	init (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, int &nWSR, real_t const cputime, const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints)

QProblem &	operator= (const QProblem &rhs)

QProblem &	operator= (const QProblem &rhs)

virtual QProblem &	operator= (const QProblem &rhs)

QProblem &	operator= (const QProblem &rhs)

virtual returnValue	printProperties ()

virtual returnValue	printProperties ()

	QProblem ()

	QProblem ()

	QProblem (int _nV, int _nC)

	QProblem (int _nV, int _nC)

	QProblem (const QProblem &rhs)

	QProblem ()

	QProblem ()

	QProblem (const QProblem &rhs)

	QProblem (int_t _nV, int_t _nC, HessianType _hessianType=HST_UNKNOWN)

	QProblem (int _nV, int _nC, HessianType _hessianType=HST_UNKNOWN)

	QProblem (const QProblem &rhs)

	QProblem (const QProblem &rhs)

returnValue	reset ()

returnValue	reset ()

virtual returnValue	reset ()

virtual returnValue	reset ()

returnValue	setConstraintProduct (ConstraintProduct *const _constraintProduct)

returnValue	setConstraintProduct (ConstraintProduct *const _constraintProduct)

returnValue	solveCurrentEQP (const int_t n_rhs, const real_t g_in, const real_t lb_in, const real_t ub_in, const real_t lbA_in, const real_t ubA_in, real_t x_out, real_t *y_out)

returnValue	solveCurrentEQP (const int n_rhs, const real_t g_in, const real_t lb_in, const real_t ub_in, const real_t lbA_in, const real_t ubA_in, real_t x_out, real_t *y_out)

returnValue	writeQpDataIntoMatFile (const char *const filename) const

returnValue	writeQpWorkspaceIntoMatFile (const char *const filename)

	~QProblem ()

	~QProblem ()

virtual	~QProblem ()

virtual	~QProblem ()

Public Member Functions inherited from QProblemB
returnValue	getBounds (Bounds *const _bounds) const

returnValue	getBounds (Bounds *const _bounds) const

returnValue	getBounds (Bounds &_bounds) const

returnValue	getBounds (Bounds &_bounds) const

uint_t	getCount () const

returnValue	getDualSolution (real_t *const yOpt) const

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

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_t	getNFR () const

int	getNFR () const

int	getNFV () const

int	getNFV () const

int_t	getNFV () const

int	getNFV () const

int	getNFX ()

int	getNFX ()

int_t	getNFX () const

int	getNFX () const

int	getNV () const

int	getNV () const

int_t	getNV () const

int	getNV () const

int	getNZ ()

int	getNZ ()

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

real_t	getObjVal () const

real_t	getObjVal (const real_t *const _x) const

Options	getOptions () 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

returnValue	getPrimalSolution (real_t *const xOpt) const

PrintLevel	getPrintLevel () const

PrintLevel	getPrintLevel () const

PrintLevel	getPrintLevel () const

PrintLevel	getPrintLevel () const

QProblemStatus	getStatus () 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_t &nWSR, real_t const cputime=0, const Bounds *const guessedBounds=0)

returnValue	hotstart (const char const g_file, const char const lb_file, const char const ub_file, int_t &nWSR, real_t const cputime=0, const Bounds *const guessedBounds=0)

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 (SymmetricMatrix _H, const real_t const _g, const real_t const _lb, const real_t const _ub, int_t &nWSR, real_t const cputime=0, const real_t const xOpt=0, const real_t const yOpt=0, const Bounds const guessedBounds=0, const real_t *const _R=0)

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 (const real_t const _H, const real_t const _g, const real_t const _lb, const real_t const _ub, int_t &nWSR, real_t const cputime=0, const real_t const xOpt=0, const real_t const yOpt=0, const Bounds const guessedBounds=0, const real_t *const _R=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, 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_t &nWSR, real_t const cputime=0, const real_t const xOpt=0, const real_t const yOpt=0, const Bounds const guessedBounds=0, const char *const R_file=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, 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	isInfeasible () const

BooleanType	isInitialised () const

BooleanType	isInitialised () const

BooleanType	isInitialised () const

BooleanType	isInitialised () const

BooleanType	isSolved () const

BooleanType	isSolved () const

BooleanType	isSolved () const

BooleanType	isSolved () const

BooleanType	isUnbounded () 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)

virtual QProblemB &	operator= (const QProblemB &rhs)

returnValue	printOptions () const

returnValue	printOptions () const

	QProblemB ()

	QProblemB ()

	QProblemB (int _nV)

	QProblemB (int _nV)

	QProblemB (const QProblemB &rhs)

	QProblemB (const QProblemB &rhs)

	QProblemB ()

	QProblemB ()

	QProblemB (int_t _nV, HessianType _hessianType=HST_UNKNOWN)

	QProblemB (int _nV, HessianType _hessianType=HST_UNKNOWN)

	QProblemB (const QProblemB &rhs)

	QProblemB (const QProblemB &rhs)

returnValue	reset ()

returnValue	reset ()

returnValue	resetCounter ()

returnValue	setHessianType (HessianType _hessianType)

returnValue	setHessianType (HessianType _hessianType)

returnValue	setHessianType (HessianType _hessianType)

returnValue	setHessianType (HessianType _hessianType)

returnValue	setOptions (const Options &_options)

returnValue	setOptions (const Options &_options)

returnValue	setPrintLevel (PrintLevel _printlevel)

returnValue	setPrintLevel (PrintLevel _printlevel)

returnValue	setPrintLevel (PrintLevel _printlevel)

returnValue	setPrintLevel (PrintLevel _printlevel)

BooleanType	usingRegularisation () const

BooleanType	usingRegularisation () const

	~QProblemB ()

	~QProblemB ()

virtual	~QProblemB ()

virtual	~QProblemB ()

Public Attributes
DenseMatrix *	A

DenseMatrix	AA

real_t	Ax_l [NCMAX]

real_t	Ax_u [NCMAX]

Bounds	bounds

ConstraintProduct	constraintProduct

unsigned int	count

real_t	delta_xFR_TMP [NVMAX]

real_t	delta_xFRy [NCMAX]

real_t	delta_xFRz [NVMAX]

real_t	delta_yAC_TMP [NCMAX]

Flipper	flipper

real_t	g [NVMAX]

DenseMatrix *	H

BooleanType	haveCholesky

HessianType	hessianType

DenseMatrix	HH

BooleanType	infeasible

real_t	lb [NVMAX]

Options	options

real_t	R [NVMAX *NVMAX]

real_t	ramp0

real_t	ramp1

int	rampOffset

real_t	regVal

QProblemStatus	status

TabularOutput	tabularOutput

real_t	tau

real_t	tempA [NVMAX]

real_t	tempB [NCMAX]

real_t	ub [NVMAX]

BooleanType	unbounded

real_t	x [NVMAX]

real_t	y [NVMAX+NCMAX]

real_t	ZFR_delta_xFRz [NVMAX]

Public Attributes inherited from QProblemB
unsigned int	count

real_t	delta_xFR_TMP [NVMAX]

DenseMatrix *	H

DenseMatrix	HH

int	rampOffset

Protected Member Functions
returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)

returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)

virtual returnValue	addBound (int_t number, SubjectToStatus B_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)

returnValue	addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)

returnValue	addBound_checkLI (int number)

returnValue	addBound_checkLI (int number)

virtual returnValue	addBound_checkLI (int_t number)

returnValue	addBound_checkLI (int number)

returnValue	addBound_ensureLI (int number, SubjectToStatus B_status)

returnValue	addBound_ensureLI (int number, SubjectToStatus B_status)

virtual returnValue	addBound_ensureLI (int_t number, SubjectToStatus B_status)

returnValue	addBound_ensureLI (int number, SubjectToStatus B_status)

returnValue	addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky)

returnValue	addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky)

virtual returnValue	addConstraint (int_t number, SubjectToStatus C_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)

returnValue	addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)

returnValue	addConstraint_checkLI (int number)

returnValue	addConstraint_checkLI (int number)

virtual returnValue	addConstraint_checkLI (int_t number)

returnValue	addConstraint_checkLI (int number)

returnValue	addConstraint_ensureLI (int number, SubjectToStatus C_status)

returnValue	addConstraint_ensureLI (int number, SubjectToStatus C_status)

virtual returnValue	addConstraint_ensureLI (int_t number, SubjectToStatus C_status)

returnValue	addConstraint_ensureLI (int number, SubjectToStatus C_status)

BooleanType	areBoundsConsistent (const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_lbA, const real_t const delta_ubA) const

BooleanType	areBoundsConsistent (const real_t const delta_lb, const real_t const delta_ub, const real_t const delta_lbA, const real_t const delta_ubA) const

returnValue	areBoundsConsistent (const real_t const lb, const real_t const ub, const real_t const lbA, const real_t const ubA) 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	backsolveT (const real_t const b, BooleanType transposed, real_t const a)

returnValue	backsolveT (const real_t const b, BooleanType transposed, real_t const a)

virtual returnValue	backsolveT (const real_t const b, BooleanType transposed, real_t const a) const

returnValue	backsolveT (const real_t const b, BooleanType transposed, real_t const a) const

returnValue	changeActiveSet (int_t BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)

returnValue	changeActiveSet (int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)

returnValue	checkKKTconditions ()

returnValue	checkKKTconditions ()

returnValue	clear ()

returnValue	clear ()

returnValue	computeInitialCholesky ()

virtual returnValue	computeProjectedCholesky ()

returnValue	copy (const QProblem &rhs)

returnValue	copy (const QProblem &rhs)

returnValue	determineDataShift (const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)

returnValue	determineDataShift (const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)

virtual returnValue	determineStepDirection (const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t *const delta_yFX)

returnValue	determineStepDirection (const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t *const delta_yFX)

returnValue	dropInfeasibles (int_t BC_number, SubjectToStatus BC_status, BooleanType BC_isBound, real_t xiB, real_t xiC)

returnValue	ensureNonzeroCurvature (BooleanType removeBoundNotConstraint, int_t remIdx, BooleanType &exchangeHappened, BooleanType &addBoundNotConstraint, int_t &addIdx, SubjectToStatus &addStatus)

returnValue	ensureNonzeroCurvature (BooleanType removeBoundNotConstraint, int remIdx, BooleanType &exchangeHappened, BooleanType &addBoundNotConstraint, int &addIdx, SubjectToStatus &addStatus)

real_t	getRelativeHomotopyLength (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t *const ubA_new)

returnValue	hotstart_determineDataShift (const int const FX_idx, const int const AC_idx, const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)

returnValue	hotstart_determineDataShift (const int const FX_idx, const int const AC_idx, const real_t const g_new, const real_t const lbA_new, const real_t const ubA_new, const real_t const lb_new, const real_t const ub_new, real_t const delta_g, real_t const delta_lbA, real_t const delta_ubA, real_t const delta_lb, real_t const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)

returnValue	hotstart_determineStepDirection (const int const FR_idx, const int const FX_idx, const int const AC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t const delta_yFX)

returnValue	hotstart_determineStepDirection (const int const FR_idx, const int const FX_idx, const int const AC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, const real_t const delta_lb, const real_t const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t const delta_xFX, real_t const delta_xFR, real_t const delta_yAC, real_t const delta_yFX)

returnValue	hotstart_determineStepLength (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_lbA, const real_t const delta_ubA, 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_yAC, const real_t const delta_yFX, real_t *const delta_Ax, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)

returnValue	hotstart_determineStepLength (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_lbA, const real_t const delta_ubA, 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_yAC, const real_t const delta_yFX, real_t *const delta_Ax, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)

returnValue	hotstart_performStep (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, 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_yAC, const real_t const delta_yFX, const real_t const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)

returnValue	hotstart_performStep (const int const FR_idx, const int const FX_idx, const int const AC_idx, const int const IAC_idx, const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, 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_yAC, const real_t const delta_yFX, const real_t const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)

returnValue	loadQPvectorsFromFile (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, real_t const g_new, real_t const lb_new, real_t const ub_new, real_t const lbA_new, real_t const ubA_new) const

returnValue	loadQPvectorsFromFile (const char const g_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char const ubA_file, real_t const g_new, real_t const lb_new, real_t const ub_new, real_t const lbA_new, real_t const ubA_new) const

returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const

returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const

returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const

returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, Bounds auxiliaryBounds, Constraints auxiliaryConstraints) const

virtual returnValue	performDriftCorrection ()

returnValue	performDriftCorrection ()

returnValue	performPlainRatioTest (int_t nIdx, const int_t const idxList, const real_t const num, const real_t *const den, real_t epsNum, real_t epsDen, real_t &t, int_t &BC_idx) const

returnValue	performPlainRatioTest (int nIdx, const int const idxList, const real_t const num, const real_t *const den, real_t epsNum, real_t epsDen, real_t &t, int &BC_idx) const

virtual returnValue	performRamping ()

virtual returnValue	performRamping ()

returnValue	performStep (const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, 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_yAC, const real_t *const delta_yFX, int_t &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)

returnValue	performStep (const real_t const delta_g, const real_t const delta_lbA, const real_t const delta_ubA, 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_yAC, const real_t *const delta_yFX, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)

returnValue	printIteration (int_t iter, int_t BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound, real_t homotopyLength, BooleanType isFirstCall=BT_TRUE)

returnValue	printIteration (int iteration, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)

real_t	relativeHomotopyLength (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t *const ubA_new)

returnValue	removeBound (int number, BooleanType updateCholesky)

returnValue	removeBound (int number, BooleanType updateCholesky)

virtual returnValue	removeBound (int_t number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)

returnValue	removeBound (int number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)

returnValue	removeConstraint (int number, BooleanType updateCholesky)

returnValue	removeConstraint (int number, BooleanType updateCholesky)

virtual returnValue	removeConstraint (int_t number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)

returnValue	removeConstraint (int number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)

returnValue	setA (const real_t *const A_new)

returnValue	setA (int number, const real_t *const value)

returnValue	setA (const real_t *const A_new)

returnValue	setA (int number, const real_t *const value)

returnValue	setA (Matrix *A_new)

returnValue	setA (const real_t *const A_new)

returnValue	setA (Matrix *A_new)

returnValue	setA (const real_t *const A_new)

returnValue	setLBA (const real_t *const lbA_new)

returnValue	setLBA (int number, real_t value)

returnValue	setLBA (const real_t *const lbA_new)

returnValue	setLBA (int number, real_t value)

returnValue	setLBA (const real_t *const lbA_new)

returnValue	setLBA (int_t number, real_t value)

returnValue	setLBA (const real_t *const lbA_new)

returnValue	setLBA (int number, real_t value)

returnValue	setUBA (const real_t *const ubA_new)

returnValue	setUBA (int number, real_t value)

returnValue	setUBA (const real_t *const ubA_new)

returnValue	setUBA (int number, real_t value)

returnValue	setUBA (const real_t *const ubA_new)

returnValue	setUBA (int_t number, real_t value)

returnValue	setUBA (const real_t *const ubA_new)

returnValue	setUBA (int number, real_t value)

virtual returnValue	setupAuxiliaryQP (const Bounds const guessedBounds, const Constraints const guessedConstraints)

virtual returnValue	setupAuxiliaryQP (const Bounds const guessedBounds, const Constraints const guessedConstraints)

returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)

returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)

returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)

returnValue	setupAuxiliaryQPbounds (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType useRelaxation)

returnValue	setupAuxiliaryQPgradient ()

returnValue	setupAuxiliaryQPgradient ()

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	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, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)

returnValue	setupAuxiliaryWorkingSet (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)

virtual returnValue	setupAuxiliaryWorkingSet (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)

returnValue	setupAuxiliaryWorkingSet (const Bounds const auxiliaryBounds, const Constraints const auxiliaryConstraints, BooleanType setupAfresh)

returnValue	setupCholeskyDecompositionProjected ()

returnValue	setupCholeskyDecompositionProjected ()

returnValue	setupCholeskyDecompositionProjected ()

virtual returnValue	setupInitialCholesky ()

returnValue	setupQPdata (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)

returnValue	setupQPdata (const real_t const _H, const real_t const _R, 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)

returnValue	setupQPdata (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t *const _ubA)

returnValue	setupQPdata (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)

returnValue	setupQPdata (SymmetricMatrix _H, const real_t const _g, Matrix _A, const real_t const _lb, const real_t const _ub, const real_t const _lbA, const real_t *const _ubA)

returnValue	setupQPdata (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)

returnValue	setupQPdataFromFile (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char *const ubA_file)

returnValue	setupQPdataFromFile (const char const H_file, const char const g_file, const char const A_file, const char const lb_file, const char const ub_file, const char const lbA_file, const char *const ubA_file)

returnValue	setupSubjectToType ()

returnValue	setupSubjectToType ()

virtual returnValue	setupSubjectToType ()

virtual returnValue	setupSubjectToType (const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new)

virtual returnValue	setupSubjectToType ()

virtual returnValue	setupSubjectToType (const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new)

returnValue	setupTQfactorisation ()

returnValue	setupTQfactorisation ()

virtual returnValue	setupTQfactorisation ()

returnValue	setupTQfactorisation ()

BooleanType	shallRefactorise (const Bounds const guessedBounds, const Constraints const guessedConstraints) const

BooleanType	shallRefactorise (const Bounds const guessedBounds, const Constraints const guessedConstraints) const

returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, int &nWSR, real_t *const cputime)

returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, int &nWSR, real_t *const cputime)

returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, const real_t const _R, int_t &nWSR, real_t const cputime)

returnValue	solveInitialQP (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, const Constraints const guessedConstraints, 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, const real_t const lbA_new, const real_t const ubA_new, int_t &nWSR, real_t const cputime, int_t nWSRperformed=0, BooleanType isFirstCall=BT_TRUE)

returnValue	solveQP (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_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, const real_t const lbA_new, const real_t const ubA_new, int_t &nWSR, real_t const cputime, int_t nWSRperformed=0, BooleanType isFirstCall=BT_TRUE)

returnValue	solveRegularisedQP (const real_t const g_new, const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new, int &nWSR, real_t const cputime, int nWSRperformed=0)

virtual returnValue	updateActivitiesForHotstart (const real_t const lb_new, const real_t const ub_new, const real_t const lbA_new, const real_t const ubA_new)

returnValue	updateFarBounds (real_t curFarBound, int_t nRamp, const real_t const lb_new, real_t const lb_new_far, const real_t const ub_new, real_t const ub_new_far, const real_t const lbA_new, real_t const lbA_new_far, const real_t const ubA_new, real_t const ubA_new_far) const

Protected Member Functions inherited from QProblemB
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

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	areBoundsConsistent (const real_t const lb, const real_t const 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)

virtual returnValue	backsolveR (const real_t const b, BooleanType transposed, real_t const a) const

virtual returnValue	backsolveR (const real_t const b, BooleanType transposed, BooleanType removingBound, real_t const a) const

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 ()

returnValue	clear ()

virtual returnValue	computeCholesky ()

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

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	copy (const QProblemB &rhs)

SymSparseMat *	createDiagSparseMat (int_t n, real_t diagVal=1.0)

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	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	determineHessianType ()

real_t	getRelativeHomotopyLength (const real_t const g_new, const real_t const lb_new, const real_t *const ub_new)

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	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_t nWSR) 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	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

returnValue	obtainAuxiliaryWorkingSet (const real_t const xOpt, const real_t const yOpt, const Bounds const guessedBounds, Bounds auxiliaryBounds) const

returnValue	performRatioTest (int_t nIdx, const int_t 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_t &BC_idx) const

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 ()

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	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	setH (SymmetricMatrix *H_new)

returnValue	setH (const real_t *const H_new)

returnValue	setInfeasibilityFlag (returnValue returnvalue, BooleanType doThrowError=BT_FALSE)

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_t 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_t number, real_t value)

returnValue	setUB (const real_t *const ub_new)

returnValue	setUB (int number, real_t value)

virtual returnValue	setupAuxiliaryQP (const Bounds *const guessedBounds)

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	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	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 (const real_t const lb_new, const real_t const ub_new)

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)

returnValue	updateFarBounds (real_t curFarBound, int_t nRamp, const real_t const lb_new, real_t const lb_new_far, const real_t const ub_new, real_t const ub_new_far) const

Protected Attributes
real_t	A [NCMAX_ALLOC *NVMAX]

Matrix *	A

real_t	Ax [NCMAX_ALLOC]

real_t *	Ax

real_t *	Ax_l

real_t *	Ax_u

ConstraintProduct *	constraintProduct

Constraints	constraints

CyclingManager	cyclingManager

real_t *	delta_xFRy

real_t *	delta_xFRz

real_t *	delta_yAC_TMP

BooleanType	freeConstraintMatrix

int	idxAddB

int	idxAddC

int	idxRemB

int	idxRemC

real_t	lbA [NCMAX_ALLOC]

real_t *	lbA

real_t	Q [NVMAX *NVMAX]

real_t *	Q

int	sizeT

int_t	sizeT

real_t	T [NVMAX *NVMAX]

real_t *	T

real_t *	tempA

real_t *	tempB

real_t	ubA [NCMAX_ALLOC]

real_t *	ubA

real_t *	ZFR_delta_xFRz

Protected Attributes inherited from QProblemB
Bounds	bounds

int	count

uint_t	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

int_t	rampOffset

real_t	regVal

QProblemStatus	status

TabularOutput	tabularOutput

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

Friends
class	SolutionAnalysis

Detailed Description

Implements the online active set strategy for QPs with general constraints.

A class for setting up and solving quadratic programs. 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

A class for setting up and solving quadratic programs. 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

A class for setting up and solving quadratic programs. 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: 3.2

Date: 2007-2015

A class for setting up and solving quadratic programs. 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: 3.1embedded

Date: 2007-2015

Definition at line 53 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES QProblem::QProblem ( )

Default constructor.

Definition at line 62 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem	(	int	_nV,
		int	_nC
	)

Constructor which takes the QP dimensions only.

Parameters

_nV	Number of variables.
_nC	Number of constraints.

Definition at line 75 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

Definition at line 101 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::~QProblem ( )

Destructor.

Definition at line 144 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem ( )

Default constructor.

QProblem::QProblem	(	int	_nV,
		int	_nC
	)

Constructor which takes the QP dimensions only.

Parameters

_nV	Number of variables.
_nC	Number of constraints.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

QProblem::~QProblem ( )

Destructor.

QProblem::QProblem ( )

Default constructor.

QProblem::QProblem	(	int	_nV,
		int	_nC,
		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.
_nC	Number of constraints.
_hessianType	Type of Hessian matrix.

Definition at line 80 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

virtual QProblem::~QProblem ( )

virtual

Destructor.

QProblem::QProblem ( )

Default constructor.

QProblem::QProblem	(	int_t	_nV,
		int_t	_nC,
		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.
_nC	Number of constraints.
_hessianType	Type of Hessian matrix.

QProblem::QProblem ( const QProblem & rhs )

Copy constructor (deep copy).

Parameters

rhs	Rhs object.

virtual QProblem::~QProblem ( )

virtual

Destructor.

Member Function Documentation

returnValue QProblem::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky
	)

protected

Adds a bound to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_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.

Definition at line 1787 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky
	)

protected

Adds a bound to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_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.

virtual returnValue QProblem::addBound	(	int_t	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky,
		BooleanType	ensureLI = `BT_TRUE`
	)

protectedvirtual

Adds a bound to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_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.
ensureLI	Ensure linear independence by exchange rules by default.

Reimplemented in SQProblemSchur.

returnValue QProblem::addBound	(	int	number,
		SubjectToStatus	B_status,
		BooleanType	updateCholesky,
		BooleanType	ensureLI = `BT_TRUE`
	)

protected

Adds a bound to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_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.
ensureLI	Ensure linear independence by exchange rules by default.

Definition at line 3371 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::addBound_checkLI ( int number )

protected

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters

number Number of bound to be added to active set.

Definition at line 1953 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound_checkLI ( int number )

protected

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters

number Number of bound to be added to active set.

virtual returnValue QProblem::addBound_checkLI ( int_t number )

protectedvirtual

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters

number Number of bound to be added to active set.

Reimplemented in SQProblemSchur.

returnValue QProblem::addBound_checkLI ( int number )

protected

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT

Parameters

number Number of bound to be added to active set.

returnValue QProblem::addBound_ensureLI	(	int	number,
		SubjectToStatus	B_status
	)

protected

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of bound to be added to active set.
B_status	Status of new active bound.

Definition at line 1975 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound_ensureLI	(	int	number,
		SubjectToStatus	B_status
	)

protected

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of bound to be added to active set.
B_status	Status of new active bound.

virtual returnValue QProblem::addBound_ensureLI	(	int_t	number,
		SubjectToStatus	B_status
	)

protectedvirtual

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of bound to be added to active set.
B_status	Status of new active bound.

Reimplemented in SQProblemSchur.

returnValue QProblem::addBound_ensureLI	(	int	number,
		SubjectToStatus	B_status
	)

protected

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of bound to be added to active set.
B_status	Status of new active bound.

returnValue QProblem::addConstraint	(	int	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky
	)

protected

Adds a constraint to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Definition at line 1339 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint	(	int	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky
	)

protected

Adds a constraint to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

virtual returnValue QProblem::addConstraint	(	int_t	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky,
		BooleanType	ensureLI = `BT_TRUE`
	)

protectedvirtual

Adds a constraint to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
ensureLI	Ensure linear independence by exchange rules by default.

Reimplemented in SQProblemSchur.

returnValue QProblem::addConstraint	(	int	number,
		SubjectToStatus	C_status,
		BooleanType	updateCholesky,
		BooleanType	ensureLI = `BT_TRUE`
	)

protected

Adds a constraint to active set.

Returns: SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active constraint.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
ensureLI	Ensure linear independence by exchange rules by default.

Definition at line 2901 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::addConstraint_checkLI ( int number )

protected

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters

number Number of constraint to be added to active set.

Definition at line 1493 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint_checkLI ( int number )

protected

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters

number Number of constraint to be added to active set.

virtual returnValue QProblem::addConstraint_checkLI ( int_t number )

protectedvirtual

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters

number Number of constraint to be added to active set.

Reimplemented in SQProblemSchur.

returnValue QProblem::addConstraint_checkLI ( int number )

protected

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns: RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED

Parameters

number Number of constraint to be added to active set.

returnValue QProblem::addConstraint_ensureLI	(	int	number,
		SubjectToStatus	C_status
	)

protected

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

Definition at line 1527 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint_ensureLI	(	int	number,
		SubjectToStatus	C_status
	)

protected

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

virtual returnValue QProblem::addConstraint_ensureLI	(	int_t	number,
		SubjectToStatus	C_status
	)

protectedvirtual

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

Reimplemented in SQProblemSchur.

returnValue QProblem::addConstraint_ensureLI	(	int	number,
		SubjectToStatus	C_status
	)

protected

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns: SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET

Parameters

number	Number of constraint to be added to active set.
C_status	Status of new active bound.

returnValue QProblem::areBoundsConsistent	(	const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA
	)		const

protected

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

Returns: BT_TRUE iff (constraints") bounds remain consistent

Parameters

delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.

Definition at line 3496 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

BooleanType QProblem::areBoundsConsistent	(	const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA
	)		const

protected

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

Returns: BT_TRUE iff (constraints") bounds remain consistent

Parameters

delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.

returnValue QProblem::areBoundsConsistent	(	const real_t *const	lb,
		const real_t *const	ub,
		const real_t *const	lbA,
		const real_t *const	ubA
	)		const

protected

Decides if lower bounds are smaller than upper bounds

Returns: SUCCESSFUL_RETURN
RET_QP_INFEASIBLE

Parameters

lb	Vector of lower bounds
ub	Vector of upper bounds
lbA	Vector of lower constraints
ubA	Vector of upper constraints

returnValue QProblem::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

Definition at line 2514 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::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

Definition at line 2526 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::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

returnValue QProblem::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

returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)

protected

Solves the system Ta = b or T^Ta = b where T is a reverse 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 2586 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)

protected

Solves the system Ta = b or T^Ta = b where T is a reverse 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

virtual returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		const

protectedvirtual

Solves the system Ta = b or T^Ta = b where T is a reverse 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 SQProblemSchur.

returnValue QProblem::backsolveT	(	const real_t *const	b,
		BooleanType	transposed,
		real_t *const	a
	)		const

protected

Solves the system Ta = b or T^Ta = b where T is a reverse 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 4547 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::changeActiveSet	(	int_t	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)

protected

Updates the 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.
BC_isBound	Indicates if blocking constraint is a bound.

returnValue QProblem::changeActiveSet	(	int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)

protected

Updates the 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.
BC_isBound	Indicates if blocking constraint is a bound.

Definition at line 5399 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::checkKKTconditions ( )

protected

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

Returns: SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Definition at line 3656 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::checkKKTconditions ( )

protected

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

Returns: SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

returnValue QProblem::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

returnValue QProblem::clear ( )

protected

Frees all allocated memory.

Returns: SUCCESSFUL_RETURN

Definition at line 1321 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::computeInitialCholesky ( )

protected

Computes initial Cholesky decomposition of the projected Hessian making use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().

Returns: SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED

Definition at line 466 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::computeProjectedCholesky ( )

protectedvirtual

Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z). 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

Reimplemented in SQProblemSchur.

Definition at line 2008 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::copy ( const QProblem & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

returnValue QProblem::copy ( const QProblem & rhs )

protected

Copies all members from given rhs object.

Returns: SUCCESSFUL_RETURN

Parameters

rhs	Rhs object.

Definition at line 1414 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::determineDataShift	(	const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		BooleanType &	Delta_bB_isZero
	)

protected

Determines step direction of the shift of the QP data.

Returns: SUCCESSFUL_RETURN

Parameters

g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

returnValue QProblem::determineDataShift	(	const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		BooleanType &	Delta_bB_isZero
	)

protected

Determines step direction of the shift of the QP data.

Returns: SUCCESSFUL_RETURN

Parameters

g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

Definition at line 4600 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

virtual returnValue QProblem::determineStepDirection	(	const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)

protectedvirtual

Determines step direction of the homotopy path.

Returns: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters

delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
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_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Reimplemented in SQProblemSchur.

returnValue QProblem::determineStepDirection	(	const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)

protected

Determines step direction of the homotopy path.

Returns: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters

delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
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_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 4666 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::dropInfeasibles	(	int_t	BC_number,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound,
		real_t *	xiB,
		real_t *	xiC
	)

protected

Drops the blocking bound/constraint that led to infeasibility, or finds another bound/constraint to drop according to drop priorities.

Returns: SUCCESSFUL_RETURN

Parameters

BC_number	Number of the bound or constraint to be added.
BC_status	New status of the bound or constraint to be added.
BC_isBound	Whether a bound or a constraint is to be added.
xiB	(not yet documented)
xiC	(not yet documented)

Definition at line 6234 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::ensureNonzeroCurvature	(	BooleanType	removeBoundNotConstraint,
		int_t	remIdx,
		BooleanType &	exchangeHappened,
		BooleanType &	addBoundNotConstraint,
		int_t &	addIdx,
		SubjectToStatus &	addStatus
	)

protected

Ensure non-zero curvature by primal jump.

Returns: SUCCESSFUL_RETURN
RET_HOTSTART_STOPPED_UNBOUNDEDNESS

Parameters

removeBoundNotConstraint	SubjectTo to be removed is a bound.
remIdx	Index of bound/constraint to be removed.
exchangeHappened	Output: Exchange was necessary to ensure.
addBoundNotConstraint	SubjectTo to be added is a bound.
addIdx	Index of bound/constraint to be added.
addStatus	Status of bound/constraint to be added.

returnValue QProblem::ensureNonzeroCurvature	(	BooleanType	removeBoundNotConstraint,
		int	remIdx,
		BooleanType &	exchangeHappened,
		BooleanType &	addBoundNotConstraint,
		int &	addIdx,
		SubjectToStatus &	addStatus
	)

protected

Ensure non-zero curvature by primal jump.

Returns: SUCCESSFUL_RETURN
RET_HOTSTART_STOPPED_UNBOUNDEDNESS

Parameters

removeBoundNotConstraint	SubjectTo to be removed is a bound.
remIdx	Index of bound/constraint to be removed.
exchangeHappened	Output: Exchange was necessary to ensure.
addBoundNotConstraint	SubjectTo to be added is a bound.
addIdx	Index of bound/constraint to be added.
addStatus	Status of bound/constraint to be added.

Definition at line 4306 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::getA ( real_t *const _A ) const

inline

Returns constraint matrix of the QP (deep copy).

Returns: SUCCESSFUL_RETURN

Parameters

_A	Array of appropriate dimension for copying constraint matrix.

returnValue QProblem::getA	(	int	number,
		real_t *const	row
	)		const

inline

Returns a single row of constraint matrix of the QP (deep copy).

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

number	Number of entry to be returned.
row	Array of appropriate dimension for copying (number)th constraint.

returnValue QProblem::getA ( real_t *const _A ) const

inline

Returns constraint matrix of the QP (deep copy).

Returns: SUCCESSFUL_RETURN

Parameters

_A	Array of appropriate dimension for copying constraint matrix.

returnValue QProblem::getA	(	int	number,
		real_t *const	row
	)		const

inline

Returns a single row of constraint matrix of the QP (deep copy).

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

number	Number of entry to be returned.
row	Array of appropriate dimension for copying (number)th constraint.

returnValue QProblem::getConstraints ( Constraints *const _constraints ) const

inline

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

Returns: SUCCESSFUL_RETURN

Parameters

_constraints Output: Constraints object.

returnValue QProblem::getConstraints ( Constraints *const _constraints ) const

inline

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

Returns: SUCCESSFUL_RETURN

Parameters

_constraints Output: Constraints object.

returnValue QProblem::getConstraints ( Constraints & _constraints ) const

inline

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

Returns: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP

Parameters

_constraints Output: Constraints object.

returnValue QProblem::getConstraints ( Constraints & _constraints ) const

inline

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

Returns: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP

Parameters

_constraints Output: Constraints object.

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

virtual

Returns the dual solution vector (deep copy).

Returns: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters

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

Reimplemented from QProblemB.

Definition at line 477 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

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

virtual

Returns the dual solution vector (deep copy).

Returns: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters

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

Reimplemented from QProblemB.

virtual returnValue QProblem::getDualSolution ( real_t *const yOpt ) const

virtual

Returns the dual solution vector (deep copy).

Returns: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters

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

Reimplemented from QProblemB.

virtual returnValue QProblem::getDualSolution ( real_t *const yOpt ) const

virtual

Returns the dual solution vector (deep copy).

Returns: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters

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

Reimplemented from QProblemB.

returnValue QProblem::getFreeVariablesFlags ( BooleanType * varIsFree )

Set the incoming array to true for each variable entry that is in the set of free variables

Definition at line 1044 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::getLBA ( real_t *const _lbA ) const

inline

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

Returns: SUCCESSFUL_RETURN

Parameters

_lbA	Array of appropriate dimension for copying lower constraints' bound vector.

returnValue QProblem::getLBA	(	int	number,
		real_t &	value
	)		const

inline

Returns single entry of lower constraints' bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

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

returnValue QProblem::getLBA ( real_t *const _lbA ) const

inline

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

Returns: SUCCESSFUL_RETURN

Parameters

_lbA	Array of appropriate dimension for copying lower constraints' bound vector.

returnValue QProblem::getLBA	(	int	number,
		real_t &	value
	)		const

inline

Returns single entry of lower constraints' bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

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

int QProblem::getNAC ( )

inline

Returns the number of active constraints.

Returns: Number of active constraints.

int QProblem::getNAC ( )

inline

Returns the number of active constraints.

Returns: Number of active constraints.

int_t QProblem::getNAC ( ) const

inline

Returns the number of active constraints.

Returns: Number of active constraints.

int QProblem::getNAC ( ) const

inline

Returns the number of active constraints.

Returns: Number of active constraints.

int QProblem::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int QProblem::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int_t QProblem::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int QProblem::getNC ( ) const

inline

Returns the number of constraints.

Returns: Number of constraints.

int QProblem::getNEC ( ) const

inline

Returns the number of (implicitly defined) equality constraints.

Returns: Number of (implicitly defined) equality constraints.

int QProblem::getNEC ( ) const

inline

Returns the number of (implicitly defined) equality constraints.

Returns: Number of (implicitly defined) equality constraints.

int_t QProblem::getNEC ( ) const

inline

Returns the number of (implicitly defined) equality constraints.

Returns: Number of (implicitly defined) equality constraints.

int QProblem::getNEC ( ) const

inline

Returns the number of (implicitly defined) equality constraints.

Returns: Number of (implicitly defined) equality constraints.

int QProblem::getNIAC ( )

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

int QProblem::getNIAC ( )

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

int_t QProblem::getNIAC ( ) const

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

int QProblem::getNIAC ( ) const

inline

Returns the number of inactive constraints.

Returns: Number of inactive constraints.

int QProblem::getNZ ( )

Returns the dimension of null space.

Returns: Dimension of null space.

Definition at line 467 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

int QProblem::getNZ ( )

Returns the dimension of null space.

Returns: Dimension of null space.

virtual int_t QProblem::getNZ ( ) const

virtual

Returns the dimension of null space.

Returns: Dimension of null space.

Reimplemented from QProblemB.

int_t QProblem::getNZ ( ) const

virtual

Returns the dimension of null space.

Returns: Dimension of null space.

Reimplemented from QProblemB.

Definition at line 1117 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

real_t QProblem::getRelativeHomotopyLength	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_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.
lbA_new	Final lower constraint bounds.
ubA_new	Final upper constraint bounds.

Definition at line 5342 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::getUBA ( real_t *const _ubA ) const

inline

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

Returns: SUCCESSFUL_RETURN

Parameters

_ubA	Array of appropriate dimension for copying upper constraints' bound vector.

returnValue QProblem::getUBA	(	int	number,
		real_t &	value
	)		const

inline

Returns single entry of upper constraints' bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

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

returnValue QProblem::getUBA ( real_t *const _ubA ) const

inline

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

Returns: SUCCESSFUL_RETURN

Parameters

_ubA	Array of appropriate dimension for copying upper constraints' bound vector.

returnValue QProblem::getUBA	(	int	number,
		real_t &	value
	)		const

inline

Returns single entry of upper constraints' bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

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

returnValue QProblem::getWorkingSet ( real_t * workingSet )

virtual

Writes a vector with the state of the working set

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

workingSet Output: array containing state of the working set.

Reimplemented from QProblemB.

Definition at line 780 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::getWorkingSetBounds ( real_t * workingSetB )

virtual

Writes a vector with the state of the working set of bounds

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

workingSetB Output: array containing state of the working set of bounds.

Reimplemented from QProblemB.

Definition at line 800 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::getWorkingSetConstraints ( real_t * workingSetC )

virtual

Writes a vector with the state of the working set of constraints

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

workingSetC Output: array containing state of the working set of constraints.

Reimplemented from QProblemB.

Definition at line 809 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

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

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 255 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

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

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 QProblem::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int_t &	nWSR,
		real_t *const	cputime = `0`,
		const Bounds *const	guessedBounds = `0`,
		const Constraints *const	guessedConstraints = `0`
	)

Solves an initialised QP sequence using the online active set strategy. By default, QP solution is started from previous solution. If a guess for the working set is provided, an initialised homotopy is performed.

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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 spent for QP solution (or to perform nWSR iterations).
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt). (If a null pointer is passed, the previous working set of bounds is kept!)
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). (If a null pointer is passed, the previous working set of constraints is kept!)

returnValue QProblem::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int_t &	nWSR,
		real_t *const	cputime = `0`,
		const Bounds *const	guessedBounds = `0`,
		const Constraints *const	guessedConstraints = `0`
	)

Solves an initialised QP sequence using the online active set strategy, where QP data is read from files. By default, QP solution is started from previous solution. If a guess for the working set is provided, an initialised homotopy is performed.

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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' 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 spent for QP solution (or to perform nWSR iterations).
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt). (If a null pointer is passed, the previous working set of bounds is kept!)
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). (If a null pointer is passed, the previous working set of constraints is kept!)

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

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 QProblem::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime
	)

Solves QProblem using 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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' 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 809 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Solves an initialised QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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!
guessedConstraints	Initial guess for working set of constraints. A null pointer corresponds to an empty working set!

Definition at line 883 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Solves an initialised QProblem 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_SETUP_AUXILIARYQP_FAILED
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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' 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!
guessedConstraints	Initial guess for working set of constraints. A null pointer corresponds to an empty working set!

Definition at line 968 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart_determineDataShift	(	const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		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.
AC_idx	Index array of active constraints.
g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

Definition at line 2639 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineDataShift	(	const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	g_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		real_t *const	delta_g,
		real_t *const	delta_lbA,
		real_t *const	delta_ubA,
		real_t *const	delta_lb,
		real_t *const	delta_ub,
		BooleanType &	Delta_bC_isZero,
		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.
AC_idx	Index array of active constraints.
g_new	New gradient vector.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.
lb_new	New lower bounds.
ub_new	New upper bounds.
delta_g	Output: Step direction of gradient vector.
delta_lbA	Output: Step direction of lower constraints' bounds.
delta_ubA	Output: Step direction of upper constraints' bounds.
delta_lb	Output: Step direction of lower bounds.
delta_ub	Output: Step direction of upper bounds.
Delta_bC_isZero	Output: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZero	Output: Indicates if active bounds are to be shifted.

returnValue QProblem::hotstart_determineStepDirection	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)

protected

Determines step direction of the homotopy path.

Returns: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
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_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 2697 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineStepDirection	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		const real_t *const	delta_lb,
		const real_t *const	delta_ub,
		BooleanType	Delta_bC_isZero,
		BooleanType	Delta_bB_isZero,
		real_t *const	delta_xFX,
		real_t *const	delta_xFR,
		real_t *const	delta_yAC,
		real_t *const	delta_yFX
	)

protected

Determines step direction of the homotopy path.

Returns: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters

FR_idx	Index array of free variables.
FX_idx	Index array of fixed variables.
AC_idx	Index array of active constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
delta_lb	Step direction of lower bounds.
delta_ub	Step direction of upper bounds.
Delta_bC_isZero	Indicates if active constraints' bounds are to be shifted.
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_yAC	Output: Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Output: Dual homotopy step direction of fixed variables' multiplier.

returnValue QProblem::hotstart_determineStepLength	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		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_yAC,
		const real_t *const	delta_yFX,
		real_t *const	delta_Ax,
		int &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)

protected

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.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
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_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Output: Step in vector Ax.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

Definition at line 3052 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineStepLength	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		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_yAC,
		const real_t *const	delta_yFX,
		real_t *const	delta_Ax,
		int &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)

protected

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.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
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_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Output: Step in vector Ax.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

returnValue QProblem::hotstart_performStep	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		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_yAC,
		const real_t *const	delta_yFX,
		const real_t *const	delta_Ax,
		int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)

protected

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.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
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_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Step in vector Ax.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

Definition at line 3318 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_performStep	(	const int *const	FR_idx,
		const int *const	FX_idx,
		const int *const	AC_idx,
		const int *const	IAC_idx,
		const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		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_yAC,
		const real_t *const	delta_yFX,
		const real_t *const	delta_Ax,
		int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)

protected

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.
AC_idx	Index array of active constraints.
IAC_idx	Index array of inactive constraints.
delta_g	Step direction of gradient vector.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
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_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
delta_Ax	Step in vector Ax.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

returnValue QProblem::init	(	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,
		int &	nWSR,
		const real_t *const	yOpt = `0`,
		real_t *const	cputime = `0`
	)

Initialises a QProblem 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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 237 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::init	(	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,
		int &	nWSR,
		const real_t *const	yOpt = `0`,
		real_t *const	cputime = `0`
	)

Initialises a QProblem 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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 QProblem::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblem 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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 230 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int_t &	nWSR,
		real_t *const	cputime = `0`,
		const real_t *const	xOpt = `0`,
		const real_t *const	yOpt = `0`,
		const Bounds *const	guessedBounds = `0`,
		const Constraints *const	guessedConstraints = `0`,
		const real_t *const	_R = `0`
	)

Initialises a QP problem with given QP data and tries to solve it using at most nWSR iterations. Depending on the parameter constellation it:

0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds),
xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping",
0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0,
0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC,
xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0,
xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC,
xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)

Note: This function internally calls solveInitialQP for initialisation!

\return SUCCESSFUL_RETURN \n
            RET_INIT_FAILED \n
            RET_INIT_FAILED_CHOLESKY \n
            RET_INIT_FAILED_TQ \n
            RET_INIT_FAILED_HOTSTART \n
            RET_INIT_FAILED_INFEASIBILITY \n
            RET_INIT_FAILED_UNBOUNDEDNESS \n
            RET_MAX_NWSR_REACHED \n
            RET_INVALID_ARGUMENTS

Parameters

_H	Hessian matrix (a shallow copy is made).
_g	Gradient vector.
_A	Constraint matrix (a shallow copy is made).
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 spent for QP initialisation (if pointer passed).
xOpt	Optimal primal solution vector. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt). (If a null pointer is passed, all bounds are assumed inactive!)
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). (If a null pointer is passed, all constraints are assumed inactive!)
_R	Pre-computed (upper triangular) Cholesky factor of Hessian matrix. The Cholesky factor must be stored in a real_t array of size nV*nV in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! (If a null pointer is passed, Cholesky decomposition is computed internally!)

Definition at line 244 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::init	(	const real_t *const	_H,
		const real_t *const	_R,
		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,
		int &	nWSR,
		const real_t *const	yOpt = `0`,
		real_t *const	cputime = `0`
	)

Initialises a QProblem 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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 251 of file external_packages/qpoases/SRC/QProblem.cpp.

returnValue QProblem::init	(	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,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblem 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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 258 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	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,
		int_t &	nWSR,
		real_t *const	cputime = `0`,
		const real_t *const	xOpt = `0`,
		const real_t *const	yOpt = `0`,
		const Bounds *const	guessedBounds = `0`,
		const Constraints *const	guessedConstraints = `0`,
		const real_t *const	_R = `0`
	)

Initialises a QP problem with given QP data and tries to solve it using at most nWSR iterations. Depending on the parameter constellation it:

0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds),
xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping",
0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0,
0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC,
xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0,
xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC,
xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)

Note: This function internally calls solveInitialQP for initialisation!

\return SUCCESSFUL_RETURN \n
            RET_INIT_FAILED \n
            RET_INIT_FAILED_CHOLESKY \n
            RET_INIT_FAILED_TQ \n
            RET_INIT_FAILED_HOTSTART \n
            RET_INIT_FAILED_INFEASIBILITY \n
            RET_INIT_FAILED_UNBOUNDEDNESS \n
            RET_MAX_NWSR_REACHED \n
            RET_INVALID_ARGUMENTS

Parameters

_H	Hessian matrix (a shallow copy is made). If Hessian matrix is trivial, a NULL pointer can be passed.
_g	Gradient vector.
_A	Constraint matrix (a shallow copy is made).
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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 spent for QP initialisation (if pointer passed).
xOpt	Optimal primal solution vector. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt). (If a null pointer is passed, all bounds are assumed inactive!)
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). (If a null pointer is passed, all constraints are assumed inactive!)
_R	Pre-computed (upper triangular) Cholesky factor of Hessian matrix. The Cholesky factor must be stored in a real_t array of size nV*nV in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! (If a null pointer is passed, Cholesky decomposition is computed internally!)

Definition at line 302 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime
	)

Initialises a QProblem 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_TQ
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.
A_file	Name of file where constraint matrix 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.
lbA_file	Name of file where lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bound vector. If no upper constraints' 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 286 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Initialises a QProblem with given QP data and solves it depending on the parameter constellation:

0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).

Definition at line 314 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int_t &	nWSR,
		real_t *const	cputime = `0`,
		const real_t *const	xOpt = `0`,
		const real_t *const	yOpt = `0`,
		const Bounds *const	guessedBounds = `0`,
		const Constraints *const	guessedConstraints = `0`,
		const char *const	R_file = `0`
	)

Initialises a QP problem with given data to be read from files and solves it using at most nWSR iterations. Depending on the parameter constellation it:

0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds),
xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping",
0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0,
0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC,
xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0,
xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC,
xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)

Note: This function internally calls solveInitialQP for initialisation!

\return SUCCESSFUL_RETURN \n
            RET_INIT_FAILED \n
            RET_INIT_FAILED_CHOLESKY \n
            RET_INIT_FAILED_TQ \n
            RET_INIT_FAILED_HOTSTART \n
            RET_INIT_FAILED_INFEASIBILITY \n
            RET_INIT_FAILED_UNBOUNDEDNESS \n
            RET_MAX_NWSR_REACHED \n
            RET_UNABLE_TO_READ_FILE \n
            RET_INVALID_ARGUMENTS

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.
A_file	Name of file where constraint matrix 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.
lbA_file	Name of file where lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bound vector. If no upper constraints' 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 spent for QP initialisation (if pointer passed).
xOpt	Optimal primal solution vector. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt). (If a null pointer is passed, all bounds are assumed inactive!)
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt). (If a null pointer is passed, all constraints are assumed inactive!)
R_file	Name of the file where a pre-computed (upper triangular) Cholesky factor of the Hessian matrix is stored. (If a null pointer is passed, Cholesky decomposition is computed internally!)

Definition at line 360 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::init	(	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,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Initialises a QProblem with given QP data and solves it depending on the parameter constellation:

0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
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_TQ
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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' 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. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).

Definition at line 368 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		int &	nWSR,
		real_t *const	cputime,
		const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

Initialises a QProblem with given QP data to be read from files and solves it depending on the parameter constellation:
Note: This function internally calls solveInitialQP for initialisation!

0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!)
Returns
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
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.
A_file	Name of file where constraint matrix 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.
lbA_file	Name of file where lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bound vector. If no upper constraints' 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. (If a null pointer is passed, the old primal solution is kept!)
yOpt	Optimal dual solution vector. (If a null pointer is passed, the old dual solution is kept!)
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).

Definition at line 422 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::loadQPvectorsFromFile	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		real_t *const	g_new,
		real_t *const	lb_new,
		real_t *const	ub_new,
		real_t *const	lbA_new,
		real_t *const	ubA_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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' 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
lbA_new	Output: Lower constraints' bounds of neighbouring QP to be solved
ubA_new	Output: Upper constraints' bounds of neighbouring QP to be solved

returnValue QProblem::loadQPvectorsFromFile	(	const char *const	g_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file,
		real_t *const	g_new,
		real_t *const	lb_new,
		real_t *const	ub_new,
		real_t *const	lbA_new,
		real_t *const	ubA_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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' 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
lbA_new	Output: Lower constraints' bounds of neighbouring QP to be solved
ubA_new	Output: Upper constraints' bounds of neighbouring QP to be solved

Definition at line 5981 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const

protected

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

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 of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

Definition at line 857 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const

protected

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

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 of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const

protected

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

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 of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

returnValue QProblem::obtainAuxiliaryWorkingSet	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		Bounds *	auxiliaryBounds,
		Constraints *	auxiliaryConstraints
	)		const

protected

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

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 of bounds for solution (xOpt,yOpt).
guessedConstraints	Guessed working set for solution (xOpt,yOpt).
auxiliaryBounds	Input: Allocated bound object. Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraints	Input: Allocated bound object. Ouput: Working set for auxiliary QP.

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

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

Definition at line 152 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

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

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

virtual QProblem& QProblem::operator= ( const QProblem & rhs )

virtual

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

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

Assignment operator (deep copy).

Parameters

rhs	Rhs object.

virtual returnValue QProblem::performDriftCorrection ( )

protectedvirtual

Drift correction at end of each active set iteration

Returns: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

returnValue QProblem::performDriftCorrection ( )

protectedvirtual

Drift correction at end of each active set iteration

Returns: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 5575 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performPlainRatioTest	(	int_t	nIdx,
		const int_t *const	idxList,
		const real_t *const	num,
		const real_t *const	den,
		real_t	epsNum,
		real_t	epsDen,
		real_t &	t,
		int_t &	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.
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.

returnValue QProblem::performPlainRatioTest	(	int	nIdx,
		const int *const	idxList,
		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.
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 4284 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

virtual returnValue QProblem::performRamping ( )

protectedvirtual

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

Returns: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

returnValue QProblem::performRamping ( )

protectedvirtual

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

Returns: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 5517 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performStep	(	const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		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_yAC,
		const real_t *const	delta_yFX,
		int_t &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_ERROR_IN_CONSTRAINTPRODUCT
RET_QP_INFEASIBLE

Parameters

delta_g	Step direction of gradient.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
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_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

returnValue QProblem::performStep	(	const real_t *const	delta_g,
		const real_t *const	delta_lbA,
		const real_t *const	delta_ubA,
		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_yAC,
		const real_t *const	delta_yFX,
		int &	BC_idx,
		SubjectToStatus &	BC_status,
		BooleanType &	BC_isBound
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_ERROR_IN_CONSTRAINTPRODUCT
RET_QP_INFEASIBLE

Parameters

delta_g	Step direction of gradient.
delta_lbA	Step direction of lower constraints' bounds.
delta_ubA	Step direction of upper constraints' bounds.
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_yAC	Dual homotopy step direction of active constraints' multiplier.
delta_yFX	Dual homotopy step direction of fixed variables' multiplier.
BC_idx	Output: Index of blocking constraint.
BC_status	Output: Status of blocking constraint.
BC_isBound	Output: Indicates if blocking constraint is a bound.

Definition at line 4997 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::printIteration	(	int_t	iter,
		int_t	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound,
		real_t	homotopyLength,
		BooleanType	isFirstCall = `BT_TRUE`
	)

protected

Prints concise information on the current iteration.

Returns: SUCCESSFUL_RETURN

Parameters

iter	Number of current iteration.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.
homotopyLength	Current homotopy distance.
isFirstCall	Indicating whether this is the first call for current QP.

Definition at line 5981 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::printIteration	(	int	iteration,
		int	BC_idx,
		SubjectToStatus	BC_status,
		BooleanType	BC_isBound
	)

protected

Prints concise information on the current iteration.

Returns: SUCCESSFUL_RETURN

Parameters

iteration	Number of current iteration.
BC_idx	Index of blocking constraint.
BC_status	Status of blocking constraint.
BC_isBound	Indicates if blocking constraint is a bound.

Definition at line 6039 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

virtual returnValue QProblem::printProperties ( )

virtual

Prints concise list of properties of the current QP.

Returns: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

returnValue QProblem::printProperties ( )

virtual

Prints concise list of properties of the current QP.

Returns: SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1164 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

real_t QProblem::relativeHomotopyLength	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_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.
lbA_new	Final lower constraint bounds.
ubA_new	Final upper constraint bounds.

Definition at line 5485 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::removeBound	(	int	number,
		BooleanType	updateCholesky
	)

protected

Removes a bounds from active set.

Returns: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
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.

Definition at line 2351 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::removeBound	(	int	number,
		BooleanType	updateCholesky
	)

protected

Removes a bounds from active set.

Returns: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
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.

virtual returnValue QProblem::removeBound	(	int_t	number,
		BooleanType	updateCholesky,
		BooleanType	allowFlipping = `BT_FALSE`,
		BooleanType	ensureNZC = `BT_FALSE`
	)

protectedvirtual

Removes a bounds from active set.

Returns: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
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.
allowFlipping	Flag indicating if flipping bounds are allowed.
ensureNZC	Flag indicating if non-zero curvature is ensured by exchange rules.

Reimplemented in SQProblemSchur.

returnValue QProblem::removeBound	(	int	number,
		BooleanType	updateCholesky,
		BooleanType	allowFlipping = `BT_FALSE`,
		BooleanType	ensureNZC = `BT_FALSE`
	)

protected

Removes a bounds from active set.

Returns: SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
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.
allowFlipping	Flag indicating if flipping bounds are allowed.
ensureNZC	Flag indicating if non-zero curvature is ensured by exchange rules.

Definition at line 4058 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::removeConstraint	(	int	number,
		BooleanType	updateCholesky
	)

protected

Removes a constraint from active set.

Returns: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

Definition at line 2201 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::removeConstraint	(	int	number,
		BooleanType	updateCholesky
	)

protected

Removes a constraint from active set.

Returns: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.

virtual returnValue QProblem::removeConstraint	(	int_t	number,
		BooleanType	updateCholesky,
		BooleanType	allowFlipping = `BT_FALSE`,
		BooleanType	ensureNZC = `BT_FALSE`
	)

protectedvirtual

Removes a constraint from active set.

Returns: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
allowFlipping	Flag indicating if flipping bounds are allowed.
ensureNZC	Flag indicating if non-zero curvature is ensured by exchange rules.

Reimplemented in SQProblemSchur.

returnValue QProblem::removeConstraint	(	int	number,
		BooleanType	updateCholesky,
		BooleanType	allowFlipping = `BT_FALSE`,
		BooleanType	ensureNZC = `BT_FALSE`
	)

protected

Removes a constraint from active set.

Returns: SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD

Parameters

number	Number of constraint to be removed from active set.
updateCholesky	Flag indicating if Cholesky decomposition shall be updated.
allowFlipping	Flag indicating if flipping bounds are allowed.
ensureNZC	Flag indicating if non-zero curvature is ensured by exchange rules.

Definition at line 3829 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::reset ( )

virtual

Clears all data structures of QProblemB except for QP data.

Returns: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

Reimplemented in SQProblemSchur.

Definition at line 203 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::reset ( )

virtual

Clears all data structures of QProblemB except for QP data.

Returns: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

Reimplemented in SQProblemSchur.

virtual returnValue QProblem::reset ( )

virtual

Clears all data structures of QProblemB except for QP data.

Returns: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

Reimplemented in SQProblemSchur.

virtual returnValue QProblem::reset ( )

virtual

Clears all data structures of QProblemB except for QP data.

Returns: SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

Reimplemented in SQProblemSchur.

returnValue QProblem::setA ( const real_t *const A_new )

inlineprotected

Sets constraint matrix of the QP.
(Remark: Also internal vector Ax is recomputed!)

Returns: SUCCESSFUL_RETURN

Parameters

A_new New constraint matrix (with correct dimension!).

returnValue QProblem::setA	(	int	number,
		const real_t *const	value
	)

inlineprotected

Changes single row of constraint matrix of the QP.
(Remark: Also correponding component of internal vector Ax is recomputed!)

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

number	Number of row to be changed.
value	New (number)th constraint (with correct dimension!).

returnValue QProblem::setA ( const real_t *const A_new )

inlineprotected

Sets constraint matrix of the QP.
(Remark: Also internal vector Ax is recomputed!)

Returns: SUCCESSFUL_RETURN

Parameters

A_new New constraint matrix (with correct dimension!).

returnValue QProblem::setA	(	int	number,
		const real_t *const	value
	)

inlineprotected

Changes single row of constraint matrix of the QP.
(Remark: Also correponding component of internal vector Ax is recomputed!)

Returns: SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS

Parameters

number	Number of row to be changed.
value	New (number)th constraint (with correct dimension!).

returnValue QProblem::setA ( Matrix * A_new )

inlineprotected

Sets constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

A_new New constraint matrix (a shallow copy is made).

returnValue QProblem::setA ( const real_t *const A_new )

inlineprotected

Sets dense constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

A_new New dense constraint matrix (with correct dimension!), a shallow copy is made.

returnValue QProblem::setA ( Matrix * A_new )

inlineprotected

Sets constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

A_new New constraint matrix.

returnValue QProblem::setA ( const real_t *const A_new )

inlineprotected

Sets dense constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

A_new New dense constraint matrix (with correct dimension!).

returnValue QProblem::setConstraintProduct ( ConstraintProduct *const _constraintProduct )

Defines user-defined routine for calculating the constraint product A*x

Returns: SUCCESSFUL_RETURN

returnValue QProblem::setConstraintProduct ( ConstraintProduct *const _constraintProduct )

Defines user-defined routine for calculating the constraint product A*x

Returns: SUCCESSFUL_RETURN

Definition at line 1153 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setLBA ( const real_t *const lbA_new )

inlineprotected

Sets constraints' lower bound vector of the QP.

Returns: SUCCESSFUL_RETURN

Parameters

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int	number,
		real_t	value
	)

inlineprotected

Changes single entry of lower constraints' 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 constraints' bound vector (with correct dimension!).

returnValue QProblem::setLBA ( const real_t *const lbA_new )

inlineprotected

Sets constraints' lower bound vector of the QP.

Returns: SUCCESSFUL_RETURN

Parameters

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int	number,
		real_t	value
	)

inlineprotected

Changes single entry of lower constraints' 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 constraints' bound vector (with correct dimension!).

returnValue QProblem::setLBA ( const real_t *const lbA_new )

inlineprotected

Sets constraints' lower bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP

Parameters

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int_t	number,
		real_t	value
	)

inlineprotected

Changes single entry of lower constraints' bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP
RET_INDEX_OUT_OF_BOUNDS

Parameters

number	Number of entry to be changed.
value	New value for entry of lower constraints' bound vector (with correct dimension!).

returnValue QProblem::setLBA ( const real_t *const lbA_new )

inlineprotected

Sets constraints' lower bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

lbA_new New constraints' lower bound vector (with correct dimension!).

returnValue QProblem::setLBA	(	int	number,
		real_t	value
	)

inlineprotected

Changes single entry of lower constraints' 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 constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new )

inlineprotected

Sets constraints' upper bound vector of the QP.

Returns: SUCCESSFUL_RETURN

Parameters

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int	number,
		real_t	value
	)

inlineprotected

Changes single entry of upper constraints' 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 constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new )

inlineprotected

Sets constraints' upper bound vector of the QP.

Returns: SUCCESSFUL_RETURN

Parameters

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int	number,
		real_t	value
	)

inlineprotected

Changes single entry of upper constraints' 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 constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new )

inlineprotected

Sets constraints' upper bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP

Parameters

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int_t	number,
		real_t	value
	)

inlineprotected

Changes single entry of upper constraints' bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP
RET_INDEX_OUT_OF_BOUNDS

Parameters

number	Number of entry to be changed.
value	New value for entry of upper constraints' bound vector (with correct dimension!).

returnValue QProblem::setUBA ( const real_t *const ubA_new )

inlineprotected

Sets constraints' upper bound vector of the QP.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

ubA_new New constraints' upper bound vector (with correct dimension!).

returnValue QProblem::setUBA	(	int	number,
		real_t	value
	)

inlineprotected

Changes single entry of upper constraints' 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 constraints' bound vector (with correct dimension!).

virtual returnValue QProblem::setupAuxiliaryQP	(	const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

protectedvirtual

Parameters

guessedBounds	Initial guess for working set of bounds.
guessedConstraints	Initial guess for working set of constraints.

returnValue QProblem::setupAuxiliaryQP	(	const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)

protectedvirtual

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 and constraints.

Returns: SUCCESSFUL_RETURN
RET_SETUP_AUXILIARYQP_FAILED
RET_INVALID_ARGUMENTS

Parameters

guessedBounds	Initial guess for working set of bounds.
guessedConstraints	Initial guess for working set of constraints.

Definition at line 5669 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_UNKNOWN BUG

Parameters

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

Definition at line 1198 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_UNKNOWN BUG

Parameters

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_UNKNOWN_BUG

Parameters

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

returnValue QProblem::setupAuxiliaryQPbounds	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	useRelaxation
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_UNKNOWN_BUG

Parameters

auxiliaryBounds	Working set of bounds for auxiliary QP.
auxiliaryConstraints	Working set of constraints for auxiliary QP.
useRelaxation	Flag indicating if inactive (constraints') bounds shall be relaxed.

returnValue QProblem::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, CONSTRAINTS have already been initialised!).

Returns: SUCCESSFUL_RETURN

Definition at line 1169 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::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, CONSTRAINTS have already been initialised!).

Returns: SUCCESSFUL_RETURN

returnValue QProblem::setupAuxiliaryQPgradient ( )

protected

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

Returns: SUCCESSFUL_RETURN

returnValue QProblem::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, CONSTRAINTS have already been initialised!).

Returns: SUCCESSFUL_RETURN

returnValue QProblem::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.

Definition at line 1116 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::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.

returnValue QProblem::setupAuxiliaryQPsolution	(	const real_t *const	xOpt,
		const real_t *const	yOpt
	)

protected

Sets up 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.

returnValue QProblem::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.

returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)

protected

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG

Parameters

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

Definition at line 1000 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)

protected

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG

Parameters

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

virtual returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)

protectedvirtual

Sets up bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG

Parameters

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

Reimplemented in SQProblemSchur.

returnValue QProblem::setupAuxiliaryWorkingSet	(	const Bounds *const	auxiliaryBounds,
		const Constraints *const	auxiliaryConstraints,
		BooleanType	setupAfresh
	)

protected

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns: SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG

Parameters

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

returnValue QProblem::setupCholeskyDecompositionProjected ( )

protected

Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 578 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupCholeskyDecompositionProjected ( )

protected

Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

returnValue QProblem::setupCholeskyDecompositionProjected ( )

protected

Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z). 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 QProblem::setupInitialCholesky ( )

protectedvirtual

Computes initial Cholesky decomposition of the projected Hessian making use of the function computeCholesky() or computeProjectedCholesky().

Returns: SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED

Reimplemented from QProblemB.

Definition at line 2107 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::setupQPdata	(	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
	)

protected

Setups internal QP data.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

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

Definition at line 3520 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupQPdata	(	const real_t *const	_H,
		const real_t *const	_R,
		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
	)

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.
_A	Constraint matrix.
_lb	Lower bound vector (on variables). If no lower bounds exist, a NULL pointer can be passed.
_ub	Upper bound vector (on variables). If no upper bounds exist, a NULL pointer can be passed.
_lbA	Lower constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubA	Upper constraints' bound vector. If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 3607 of file external_packages/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupQPdata	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA
	)

protected

Sets up internal QP data.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG

Parameters

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

returnValue QProblem::setupQPdata	(	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
	)

protected

Sets up dense 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_UNKNONW_BUG

Parameters

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

returnValue QProblem::setupQPdata	(	SymmetricMatrix *	_H,
		const real_t *const	_g,
		Matrix *	_A,
		const real_t *const	_lb,
		const real_t *const	_ub,
		const real_t *const	_lbA,
		const real_t *const	_ubA
	)

protected

Setups internal QP data.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG

Parameters

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

Definition at line 5806 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupQPdata	(	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
	)

protected

Setups dense 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_UNKNONW_BUG

Parameters

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

returnValue QProblem::setupQPdataFromFile	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_file
	)

protected

Sets up 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_UNKNONW_BUG

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.
A_file	Name of file where constraint matrix, 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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' bounds exist, a NULL pointer can be passed.

returnValue QProblem::setupQPdataFromFile	(	const char *const	H_file,
		const char *const	g_file,
		const char *const	A_file,
		const char *const	lb_file,
		const char *const	ub_file,
		const char *const	lbA_file,
		const char *const	ubA_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_UNKNONW_BUG

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.
A_file	Name of file where constraint matrix, 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.
lbA_file	Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_file	Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. If no upper constraints' bounds exist, a NULL pointer can be passed.

Definition at line 5912 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupSubjectToType ( )

protectedvirtual

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

Returns: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

Definition at line 507 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupSubjectToType ( )

protectedvirtual

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

Returns: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

virtual returnValue QProblem::setupSubjectToType ( )

protectedvirtual

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

Returns: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

virtual returnValue QProblem::setupSubjectToType	(	const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new
	)

protectedvirtual

Parameters

lb_new	New lower bounds.
ub_new	New upper bounds.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.

virtual returnValue QProblem::setupSubjectToType ( )

protectedvirtual

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

Returns: SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

returnValue QProblem::setupSubjectToType	(	const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new
	)

protectedvirtual

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.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.

Definition at line 2127 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupTQfactorisation ( )

protected

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 680 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupTQfactorisation ( )

protected

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

virtual returnValue QProblem::setupTQfactorisation ( )

protectedvirtual

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Reimplemented in SQProblemSchur.

returnValue QProblem::setupTQfactorisation ( )

protected

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns: SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

BooleanType QProblem::shallRefactorise	(	const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)		const

protected

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 of bounds.
guessedConstraints	Guessed new working set of constraints.

BooleanType QProblem::shallRefactorise	(	const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints
	)		const

protected

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 of bounds.
guessedConstraints	Guessed new working set of constraints.

Definition at line 5767 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveCurrentEQP	(	const int_t	n_rhs,
		const real_t *	g_in,
		const real_t *	lb_in,
		const real_t *	ub_in,
		const real_t *	lbA_in,
		const real_t *	ubA_in,
		real_t *	x_out,
		real_t *	y_out
	)

Solves an equality-constrained QP problem resulting from the current working set.

Returns: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY
RET_INVALID_ARGUMENTS

Parameters

n_rhs	Number of consecutive right hand sides
g_in	Gradient of neighbouring QP to be solved.
lb_in	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_in	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_in	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_in	Upper constraints' bounds of neighbouring QP to be solved.
x_out	Output: Primal solution
y_out	Output: Dual solution

returnValue QProblem::solveCurrentEQP	(	const int	n_rhs,
		const real_t *	g_in,
		const real_t *	lb_in,
		const real_t *	ub_in,
		const real_t *	lbA_in,
		const real_t *	ubA_in,
		real_t *	x_out,
		real_t *	y_out
	)

Solves using the current working set

Returns: SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY

Parameters

n_rhs	Number of consecutive right hand sides
g_in	Gradient of neighbouring QP to be solved.
lb_in	Lower bounds of neighbouring QP to be solved. If no lower bounds exist, a NULL pointer can be passed.
ub_in	Upper bounds of neighbouring QP to be solved. If no upper bounds exist, a NULL pointer can be passed.
lbA_in	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_in	Upper constraints' bounds of neighbouring QP to be solved.
x_out	Primal solution
y_out	Dual solution

Definition at line 1045 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		int &	nWSR,
		real_t *const	cputime
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
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 of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraints	Optimal working set of constraints 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 713 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		int &	nWSR,
		real_t *const	cputime
	)

protected

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

Returns: SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
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 of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraints	Optimal working set of constraints 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 QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		const real_t *const	_R,
		int_t &	nWSR,
		real_t *const	cputime
	)

protected

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints 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_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED

Parameters

xOpt	Optimal primal solution vector.
yOpt	Optimal dual solution vector.
guessedBounds	Optimal working set of bounds for solution (xOpt,yOpt).
guessedConstraints	Optimal working set of constraints for solution (xOpt,yOpt).
_R	Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
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 spent for QP solution (or to perform nWSR iterations).

Definition at line 1279 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::solveInitialQP	(	const real_t *const	xOpt,
		const real_t *const	yOpt,
		const Bounds *const	guessedBounds,
		const Constraints *const	guessedConstraints,
		int &	nWSR,
		real_t *const	cputime
	)

protected

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints 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_TQ
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 of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraints	Optimal working set of constraints 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 QProblem::solveQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int_t &	nWSR,
		real_t *const	cputime,
		int_t	nWSRperformed = `0`,
		BooleanType	isFirstCall = `BT_TRUE`
	)

protected

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 spent 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.
isFirstCall	Indicating whether this is the first call for current QP.

Definition at line 1455 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::solveQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime,
		int	nWSRperformed = `0`
	)

protected

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 1694 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveRegularisedQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int_t &	nWSR,
		real_t *const	cputime,
		int_t	nWSRperformed = `0`,
		BooleanType	isFirstCall = `BT_TRUE`
	)

protected

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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 spent 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.
isFirstCall	Indicating whether this is the first call for current QP.

Definition at line 1731 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::solveRegularisedQP	(	const real_t *const	g_new,
		const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new,
		int &	nWSR,
		real_t *const	cputime,
		int	nWSRperformed = `0`
	)

protected

Solves QProblem 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.
lbA_new	Lower constraints' bounds of neighbouring QP to be solved. If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_new	Upper constraints' bounds of neighbouring QP to be solved. If no upper constraints' 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.

Definition at line 2014 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::updateActivitiesForHotstart	(	const real_t *const	lb_new,
		const real_t *const	ub_new,
		const real_t *const	lbA_new,
		const real_t *const	ubA_new
	)

protectedvirtual

Update activities in a hot start if some of the bounds have become infinity or if variables have become fixed.

Parameters

lb_new	New lower bounds.
ub_new	New upper bounds.
lbA_new	New lower constraints' bounds.
ubA_new	New upper constraints' bounds.

Definition at line 1839 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::updateFarBounds	(	real_t	curFarBound,
		int_t	nRamp,
		const real_t *const	lb_new,
		real_t *const	lb_new_far,
		const real_t *const	ub_new,
		real_t *const	ub_new_far,
		const real_t *const	lbA_new,
		real_t *const	lbA_new_far,
		const real_t *const	ubA_new,
		real_t *const	ubA_new_far
	)		const

protected

...

Parameters

curFarBound	...
nRamp	...
lb_new	...
lb_new_far	...
ub_new	...
ub_new_far	...
lbA_new	...
lbA_new_far	...
ubA_new	...
ubA_new_far	...

Definition at line 5468 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::writeQpDataIntoMatFile ( const char *const filename ) const

...

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

filename Mat file name.

Definition at line 6333 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

returnValue QProblem::writeQpWorkspaceIntoMatFile ( const char *const filename )

...

Returns: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

filename Mat file name.

Definition at line 6377 of file external_packages/qpOASES-3.2.0/src/QProblem.cpp.

Friends And Related Function Documentation

SolutionAnalysis

friend

Definition at line 56 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

Member Data Documentation

DenseMatrix* QProblem::A

Constraint matrix pointer.

Definition at line 103 of file QProblem.h.

Matrix * QProblem::A

protected

Constraint matrix.

Definition at line 610 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

Matrix* QProblem::A

protected

Constraint matrix.

Definition at line 1066 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

DenseMatrix QProblem::AA

Constraint matrix.

Definition at line 104 of file QProblem.h.

real_t QProblem::Ax

protected

Stores the current product A*x (for increased efficiency only).

Stores the current A*x
(for increased efficiency only).

Definition at line 620 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::Ax

protected

Stores the current A*x
(for increased efficiency only).

Definition at line 1077 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::Ax_l[NCMAX]

Stores the current distance to lower constraints' bounds A*x-lbA
(for increased efficiency only).

Definition at line 117 of file QProblem.h.

real_t * QProblem::Ax_l

protected

Stores the current distance to lower constraints' bounds A*x-lbA
(for increased efficiency only).

Definition at line 1079 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::Ax_u[NCMAX]

Stores the current distance to lower constraints' bounds ubA-A*x
(for increased efficiency only).

Definition at line 119 of file QProblem.h.

real_t * QProblem::Ax_u

protected

Stores the current distance to lower constraints' bounds ubA-A*x
(for increased efficiency only).

Definition at line 1081 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Bounds QProblem::bounds

Data structure for problem's bounds.

Definition at line 72 of file QProblem.h.

ConstraintProduct QProblem::constraintProduct

Pointer to user-defined constraint product function.

Definition at line 122 of file QProblem.h.

ConstraintProduct * QProblem::constraintProduct

protected

Pointer to user-defined constraint product function.

Definition at line 1084 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Constraints QProblem::constraints

protected

Data structure for problem's constraints.

Definition at line 614 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

unsigned int QProblem::count

Counts the number of hotstart function calls (internal usage only!).

Definition at line 90 of file QProblem.h.

CyclingManager QProblem::cyclingManager

protected

Data structure for storing (possible) cycling information (NOT YET IMPLEMENTED!).

Definition at line 622 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t QProblem::delta_xFR_TMP[NVMAX]

Temporary for determineStepDirection

Definition at line 92 of file QProblem.h.

real_t QProblem::delta_xFRy[NCMAX]

Temporary for determineStepDirection.

Definition at line 127 of file QProblem.h.

real_t * QProblem::delta_xFRy

protected

Temporary for determineStepDirection.

Definition at line 1089 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::delta_xFRz[NVMAX]

Temporary for determineStepDirection.

Definition at line 128 of file QProblem.h.

real_t * QProblem::delta_xFRz

protected

Temporary for determineStepDirection.

Definition at line 1090 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::delta_yAC_TMP[NCMAX]

Temporary for determineStepDirection.

Definition at line 129 of file QProblem.h.

real_t * QProblem::delta_yAC_TMP

protected

Temporary for determineStepDirection.

Definition at line 1091 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Flipper QProblem::flipper

Struct for making a temporary copy of the matrix factorisations.

Definition at line 101 of file QProblem.h.

BooleanType QProblem::freeConstraintMatrix

protected

Flag indicating whether the constraint matrix needs to be de-allocated.

Definition at line 1065 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::g[NVMAX]

Gradient.

Definition at line 68 of file QProblem.h.

DenseMatrix* QProblem::H

Hessian matrix pointer.

Definition at line 65 of file QProblem.h.

BooleanType QProblem::haveCholesky

Flag indicating whether Cholesky decomposition has already been setup.

Definition at line 75 of file QProblem.h.

HessianType QProblem::hessianType

Type of Hessian matrix.

Definition at line 87 of file QProblem.h.

DenseMatrix QProblem::HH

Hessian matrix.

Definition at line 66 of file QProblem.h.

int QProblem::idxAddB

protected

Auxiliary variable for debug output.

Definition at line 1093 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxAddC

protected

Auxiliary variable for debug output.

Definition at line 1095 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxRemB

protected

Auxiliary variable for debug output.

Definition at line 1094 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxRemC

protected

Auxiliary variable for debug output.

Definition at line 1096 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

BooleanType QProblem::infeasible

QP infeasible?

Definition at line 84 of file QProblem.h.

real_t QProblem::lb[NVMAX]

Lower bound vector (on variables).

Definition at line 69 of file QProblem.h.

real_t QProblem::lbA

protected

Lower constraints' bound vector.

Definition at line 611 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::lbA

protected

Lower constraints' bound vector.

Definition at line 1068 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Options QProblem::options

Struct containing all user-defined options for solving QPs.

Definition at line 98 of file QProblem.h.

real_t QProblem::Q

protected

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 617 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::Q

protected

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 1074 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::R[NVMAX *NVMAX]

Cholesky factor of H (i.e. H = R^T*R).

Definition at line 74 of file QProblem.h.

real_t QProblem::ramp0

Start value for Ramping Strategy.

Definition at line 94 of file QProblem.h.

real_t QProblem::ramp1

Final value for Ramping Strategy.

Definition at line 95 of file QProblem.h.

int QProblem::rampOffset

Offset index for Ramping.

Definition at line 96 of file QProblem.h.

real_t QProblem::regVal

Holds the offset used to regularise Hessian matrix (zero by default).

Definition at line 88 of file QProblem.h.

int QProblem::sizeT

protected

Matrix T is stored in a (sizeT x sizeT) array.

Definition at line 618 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

int_t QProblem::sizeT

protected

Matrix T is stored in a (sizeT x sizeT) array.

Definition at line 1050 of file external_packages/qpOASES-3.2.0/include/qpOASES/QProblem.hpp.

QProblemStatus QProblem::status

Current status of the solution process.

Definition at line 82 of file QProblem.h.

real_t QProblem::T

protected

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 616 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::T

protected

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 1073 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

TabularOutput QProblem::tabularOutput

Struct storing information for tabular output (printLevel == PL_TABULAR).

Definition at line 99 of file QProblem.h.

real_t QProblem::tau

Last homotopy step length.

Definition at line 80 of file QProblem.h.

real_t QProblem::tempA[NVMAX]

Temporary for determineStepDirection.

Definition at line 124 of file QProblem.h.

real_t * QProblem::tempA

protected

Temporary for determineStepDirection.

Definition at line 1086 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::tempB[NCMAX]

Temporary for determineStepDirection.

Definition at line 125 of file QProblem.h.

real_t * QProblem::tempB

protected

Temporary for determineStepDirection.

Definition at line 1087 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::ub[NVMAX]

Upper bound vector (on variables).

Definition at line 70 of file QProblem.h.

real_t QProblem::ubA

protected

Upper constraints' bound vector.

Definition at line 612 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::ubA

protected

Upper constraints' bound vector.

Definition at line 1069 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

BooleanType QProblem::unbounded

QP unbounded?

Definition at line 85 of file QProblem.h.

real_t QProblem::x[NVMAX]

Primal solution vector.

Definition at line 77 of file QProblem.h.

real_t QProblem::y[NVMAX+NCMAX]

Dual solution vector.

Definition at line 78 of file QProblem.h.

real_t QProblem::ZFR_delta_xFRz[NVMAX]

Temporary for determineStepDirection.

Definition at line 126 of file QProblem.h.

real_t * QProblem::ZFR_delta_xFRz

protected

Temporary for determineStepDirection.

Definition at line 1088 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation