Implements the online active set strategy for box-constrained QPs. More...
#include <QProblemB.hpp>
Public Member Functions | |
| 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 |
| virtual returnValue | getDualSolution (real_t *const yOpt) const |
| virtual returnValue | getDualSolution (real_t *const yOpt) const |
| returnValue | getG (real_t *const _g) const |
| returnValue | getG (real_t *const _g) const |
| returnValue | getH (real_t *const _H) const |
| returnValue | getH (real_t *const _H) const |
| HessianType | getHessianType () const |
| HessianType | getHessianType () const |
| HessianType | getHessianType () const |
| 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 () |
| virtual int_t | getNZ () const |
| virtual int | getNZ () const |
| real_t | getObjVal () const |
| real_t | getObjVal (const real_t *const _x) const |
| real_t | getObjVal () const |
| real_t | getObjVal (const real_t *const _x) const |
| real_t | getObjVal () const |
| real_t | getObjVal (const real_t *const _x) const |
| 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 |
| 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, 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 |
| virtual returnValue | printProperties () |
| virtual returnValue | printProperties () |
| 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 () |
| virtual returnValue | reset () |
| virtual 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 | |
| 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) |
| 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 |
| virtual returnValue | performRamping () |
| virtual returnValue | performRamping () |
| 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 () |
| virtual returnValue | setupInitialCholesky () |
| 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 () |
| virtual returnValue | setupSubjectToType (const real_t *const lb_new, const real_t *const ub_new) |
| virtual returnValue | setupSubjectToType () |
| virtual returnValue | setupSubjectToType (const real_t *const lb_new, const real_t *const ub_new) |
| returnValue | solveInitialQP (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, int &nWSR, real_t *const cputime) |
| returnValue | solveInitialQP (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, int &nWSR, real_t *const cputime) |
| 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 | |
| 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 |
Private Member Functions | |
| returnValue | addBound (int_t number, SubjectToStatus B_status, BooleanType updateCholesky) |
| returnValue | addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky) |
| returnValue | changeActiveSet (int_t BC_idx, SubjectToStatus BC_status) |
| returnValue | changeActiveSet (int BC_idx, SubjectToStatus BC_status) |
| returnValue | checkKKTconditions () |
| returnValue | checkKKTconditions () |
| returnValue | determineStepDirection (const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yFX) |
| returnValue | determineStepDirection (const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yFX) |
| returnValue | hotstart_determineStepDirection (const int *const FR_idx, const int *const FX_idx, const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yFX) |
| returnValue | hotstart_determineStepDirection (const int *const FR_idx, const int *const FX_idx, const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yFX) |
| returnValue | hotstart_determineStepLength (const int *const FR_idx, const int *const FX_idx, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFR, const real_t *const delta_yFX, int &BC_idx, SubjectToStatus &BC_status) |
| returnValue | hotstart_determineStepLength (const int *const FR_idx, const int *const FX_idx, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFR, const real_t *const delta_yFX, int &BC_idx, SubjectToStatus &BC_status) |
| returnValue | hotstart_performStep (const int *const FR_idx, const int *const FX_idx, const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yFX, int BC_idx, SubjectToStatus BC_status) |
| returnValue | hotstart_performStep (const int *const FR_idx, const int *const FX_idx, const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yFX, int BC_idx, SubjectToStatus BC_status) |
| virtual returnValue | performDriftCorrection () |
| returnValue | performDriftCorrection () |
| returnValue | performStep (const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yFX, int_t &BC_idx, SubjectToStatus &BC_status) |
| returnValue | performStep (const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yFX, int &BC_idx, SubjectToStatus &BC_status) |
| returnValue | printIteration (int_t iter, int_t BC_idx, SubjectToStatus BC_status, real_t homotopyLength, BooleanType isFirstCall=BT_TRUE) |
| returnValue | printIteration (int iteration, int BC_idx, SubjectToStatus BC_status) |
| returnValue | removeBound (int_t number, BooleanType updateCholesky) |
| returnValue | removeBound (int number, BooleanType updateCholesky) |
| 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) |
| BooleanType | shallRefactorise (const Bounds *const guessedBounds) const |
| BooleanType | shallRefactorise (const Bounds *const guessedBounds) const |
| returnValue | solveInitialQP (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, 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, int &nWSR, real_t *const cputime) |
| returnValue | solveQP (const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, int_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, int &nWSR, real_t *const cputime, int nWSRperformed=0) |
| returnValue | solveRegularisedQP (const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, int_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, int &nWSR, real_t *const cputime, int nWSRperformed=0) |
Friends | |
| class | SolutionAnalysis |
Detailed Description
Implements the online active set strategy for box-constrained QPs.
Class for setting up and solving quadratic programs with (simple) bounds only. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.
- Version
- 1.3embedded
- Date
- 2007-2008
Class for setting up and solving quadratic programs with bounds (= box constraints) only. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.
- Version
- 3.0beta
- Date
- 2007-2011
Class for setting up and solving quadratic programs with bounds (= box constraints) only. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.
- Version
- 3.2
- Date
- 2007-2015
Class for setting up and solving quadratic programs with bounds (= box constraints) only. The main feature is the possibility to use the newly developed online active set strategy for parametric quadratic programming.
- Version
- 3.1embedded
- Date
- 2007-2015
Definition at line 55 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
Constructor & Destructor Documentation
| BEGIN_NAMESPACE_QPOASES QProblemB::QProblemB | ( | ) |
Default constructor.
Definition at line 61 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| QProblemB::QProblemB | ( | int | _nV | ) |
Constructor which takes the QP dimension only.
- Parameters
-
_nV Number of variables.
Definition at line 90 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| QProblemB::QProblemB | ( | const QProblemB & | rhs | ) |
Copy constructor (deep copy).
- Parameters
-
rhs Rhs object.
Definition at line 126 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| QProblemB::~QProblemB | ( | ) |
Destructor.
Definition at line 175 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| QProblemB::QProblemB | ( | ) |
Default constructor.
| QProblemB::QProblemB | ( | int | _nV | ) |
Constructor which takes the QP dimension only.
- Parameters
-
_nV Number of variables.
| QProblemB::QProblemB | ( | const QProblemB & | rhs | ) |
Copy constructor (deep copy).
- Parameters
-
rhs Rhs object.
| QProblemB::~QProblemB | ( | ) |
Destructor.
| QProblemB::QProblemB | ( | ) |
Default constructor.
| QProblemB::QProblemB | ( | int | _nV, |
| HessianType | _hessianType = HST_UNKNOWN |
||
| ) |
Constructor which takes the QP dimension and Hessian type information. If the Hessian is the zero (i.e. HST_ZERO) or the identity matrix (i.e. HST_IDENTITY), respectively, no memory is allocated for it and a NULL pointer can be passed for it to the init() functions.
- Parameters
-
_nV Number of variables. _hessianType Type of Hessian matrix.
Definition at line 95 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| QProblemB::QProblemB | ( | const QProblemB & | rhs | ) |
Copy constructor (deep copy).
- Parameters
-
rhs Rhs object.
|
virtual |
Destructor.
| QProblemB::QProblemB | ( | ) |
Default constructor.
| QProblemB::QProblemB | ( | int_t | _nV, |
| HessianType | _hessianType = HST_UNKNOWN |
||
| ) |
Constructor which takes the QP dimension and Hessian type information. If the Hessian is the zero (i.e. HST_ZERO) or the identity matrix (i.e. HST_IDENTITY), respectively, no memory is allocated for it and a NULL pointer can be passed for it to the init() functions.
- Parameters
-
_nV Number of variables. _hessianType Type of Hessian matrix.
| QProblemB::QProblemB | ( | const QProblemB & | rhs | ) |
Copy constructor (deep copy).
- Parameters
-
rhs Rhs object.
|
virtual |
Destructor.
Member Function Documentation
|
protected |
Adds a bound to active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
- Parameters
-
number Number of bound to be added to active set. B_status Status of new active bound. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
Definition at line 1226 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Adds a bound to active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
- Parameters
-
number Number of bound to be added to active set. B_status Status of new active bound. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
|
private |
Adds a bound to active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
- Parameters
-
number Number of bound to be added to active set. B_status Status of new active bound. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
|
private |
Adds a bound to active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
- Parameters
-
number Number of bound to be added to active set. B_status Status of new active bound. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
|
inlineprotected |
Applies Givens matrix determined by c and s (cf. computeGivens).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
c Cosine entry of Givens matrix. s Sine entry of Givens matrix. xold Matrix entry to be transformed corresponding to the normalised entry of the original matrix. yold Matrix entry to be transformed corresponding to the annihilated entry of the original matrix. xnew Output: Transformed matrix entry corresponding to the normalised entry of the original matrix. ynew Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.
|
inlineprotected |
Applies Givens matrix determined by c and s (cf. computeGivens).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
c Cosine entry of Givens matrix. s Sine entry of Givens matrix. xold Matrix entry to be transformed corresponding to the normalised entry of the original matrix. yold Matrix entry to be transformed corresponding to the annihilated entry of the original matrix. xnew Output: Transformed matrix entry corresponding to the normalised entry of the original matrix. ynew Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.
|
inlineprotected |
Applies Givens matrix determined by c and s (cf. computeGivens).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
c Cosine entry of Givens matrix. s Sine entry of Givens matrix. nu Further factor: s/(1+c). xold Matrix entry to be transformed corresponding to the normalised entry of the original matrix. yold Matrix entry to be transformed corresponding to the annihilated entry of the original matrix. xnew Output: Transformed matrix entry corresponding to the normalised entry of the original matrix. ynew Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.
|
inlineprotected |
Applies Givens matrix determined by c and s (cf. computeGivens).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
c Cosine entry of Givens matrix. s Sine entry of Givens matrix. nu Further factor: s/(1+c). xold Matrix entry to be transformed corresponding to the normalised entry of the original matrix. yold Matrix entry to be transformed corresponding to the annihilated entry of the original matrix. xnew Output: Transformed matrix entry corresponding to the normalised entry of the original matrix. ynew Output: Transformed matrix entry corresponding to the annihilated entry of the original matrix.
|
protected |
Checks if lower/upper bounds remain consistent (i.e. if lb <= ub) during the current step.
- Returns
- BT_TRUE iff bounds remain consistent
- Parameters
-
delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds.
Definition at line 1487 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Checks if lower/upper bounds remain consistent (i.e. if lb <= ub) during the current step.
- Returns
- BT_TRUE iff bounds remain consistent
- Parameters
-
delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds.
|
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
|
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 1356 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
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 1368 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
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
|
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
|
protectedvirtual |
Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- Returns
- SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
- Parameters
-
b Right hand side vector. transposed Indicates if the transposed system shall be solved. a Output: Solution vector
Reimplemented in SQProblemSchur.
|
protectedvirtual |
Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
Special variant for the case that this function is called from within "removeBound()".
- Returns
- SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
- Parameters
-
b Right hand side vector. transposed Indicates if the transposed system shall be solved. removingBound Indicates if function is called from "removeBound()". a Output: Solution vector
Reimplemented in SQProblemSchur.
|
protected |
Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- Returns
- SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
- Parameters
-
b Right hand side vector. transposed Indicates if the transposed system shall be solved. a Output: Solution vector
Definition at line 1653 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
Special variant for the case that this function is called from within "removeBound()".
- Returns
- SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
- Parameters
-
b Right hand side vector. transposed Indicates if the transposed system shall be solved. removingBound Indicates if function is called from "removeBound()". a Output: Solution vector
Definition at line 1665 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
private |
Updates active set.
- Returns
- SUCCESSFUL_RETURN
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
- Parameters
-
BC_idx Index of blocking constraint. BC_status Status of blocking constraint.
|
private |
Updates active set.
- Returns
- SUCCESSFUL_RETURN
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
- Parameters
-
BC_idx Index of blocking constraint. BC_status Status of blocking constraint.
Definition at line 3270 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Checks if Hessian happens to be the identity matrix, and sets corresponding status flag (otherwise the flag remains unaltered!).
- Returns
- SUCCESSFUL_RETURN
Definition at line 631 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Checks if Hessian happens to be the identity matrix, and sets corresponding status flag (otherwise the flag remains unaltered!).
- Returns
- SUCCESSFUL_RETURN
|
private |
Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblemB object.
- Returns
- SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
Definition at line 2008 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
private |
Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblemB object.
- Returns
- SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
|
protected |
Frees all allocated memory.
- Returns
- SUCCESSFUL_RETURN
|
protected |
Frees all allocated memory.
- Returns
- SUCCESSFUL_RETURN
Definition at line 1152 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protectedvirtual |
Computes the Cholesky decomposition of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix! Note: If Hessian turns out not to be positive definite, the Hessian type is set to HST_SEMIDEF accordingly.
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED
Definition at line 1360 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
inlineprotected |
Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- Returns
- SUCCESSFUL_RETURN
|
inlineprotected |
Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- Returns
- SUCCESSFUL_RETURN
|
inlineprotected |
Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- Returns
- SUCCESSFUL_RETURN
|
inlineprotected |
Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- Returns
- SUCCESSFUL_RETURN
|
protected |
Copies all members from given rhs object.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
rhs Rhs object.
|
protected |
Copies all members from given rhs object.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
rhs Rhs object.
Definition at line 1209 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Creates a sparse diagonal (square-)matrix which is a given multiple of the identity matrix.
- Returns
- Diagonal matrix
- Parameters
-
n Row/column dimension of matrix to be created. diagVal Value of all diagonal entries.
Definition at line 2032 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
protected |
Determines step direction of the shift of the QP data.
- Returns
- SUCCESSFUL_RETURN
|
protected |
Determines step direction of the shift of the QP data.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
g_new New gradient vector. lb_new New lower bounds. ub_new New upper bounds. delta_g Output: Step direction of gradient vector. delta_lb Output: Step direction of lower bounds. delta_ub Output: Step direction of upper bounds. Delta_bB_isZero Output: Indicates if active bounds are to be shifted.
Definition at line 1724 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
If Hessian type has been set by the user, nothing is done. Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or HST_POSDEF (default), respectively.
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_INDEFINITE
|
protected |
If Hessian type has been set by the user, nothing is done. Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or HST_POSDEF (default), respectively.
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_INDEFINITE
Definition at line 1302 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
private |
Determines step direction of the homotopy path.
- Returns
- SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY
- Parameters
-
delta_g Step direction of gradient vector. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. Delta_bB_isZero Indicates if active bounds are to be shifted. delta_xFX Output: Primal homotopy step direction of fixed variables. delta_xFR Output: Primal homotopy step direction of free variables. delta_yFX Output: Dual homotopy step direction of fixed variables' multiplier.
|
private |
Determines step direction of the homotopy path.
- Returns
- SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY
- Parameters
-
delta_g Step direction of gradient vector. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. Delta_bB_isZero Indicates if active bounds are to be shifted. delta_xFX Output: Primal homotopy step direction of fixed variables. delta_xFR Output: Primal homotopy step direction of free variables. delta_yFX Output: Dual homotopy step direction of fixed variables' multiplier.
Definition at line 2958 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
inline |
|
inline |
|
inline |
|
inline |
|
inline |
Returns the current number of QP problems solved.
- Returns
- Number of QP problems solved.
| returnValue QProblemB::getDualSolution | ( | real_t *const | yOpt | ) | const |
Returns the dual solution vector.
- Returns
- SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
- Parameters
-
yOpt Output: Dual solution vector (if QP has been solved).
Definition at line 563 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::getDualSolution | ( | real_t *const | yOpt | ) | const |
Returns the dual solution vector.
- Returns
- SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
- Parameters
-
yOpt Output: Dual solution vector (if QP has been solved).
|
virtual |
|
virtual |
|
inline |
Returns gradient vector of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_g Array of appropriate dimension for copying gradient vector.
|
inline |
Returns gradient vector of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_g Array of appropriate dimension for copying gradient vector.
|
inline |
Returns Hessian matrix of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_H Array of appropriate dimension for copying Hessian matrix.
|
inline |
Returns Hessian matrix of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_H Array of appropriate dimension for copying Hessian matrix.
|
inline |
Returns Hessian type flag (type is not determined due to this call!).
- Returns
- Hessian type.
|
inline |
Returns Hessian type flag (type is not determined due to this call!).
- Returns
- Hessian type.
|
inline |
Returns Hessian type flag (type is not determined due to this call!).
- Returns
- Hessian type.
|
inline |
Returns Hessian type flag (type is not determined due to this call!).
- Returns
- Hessian type.
|
inline |
Returns lower bound vector of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_lb Array of appropriate dimension for copying lower bound vector.
|
inline |
Returns single entry of lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be returned. value Output: lb[number].
|
inline |
Returns lower bound vector of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_lb Array of appropriate dimension for copying lower bound vector.
|
inline |
Returns single entry of lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be returned. value Output: lb[number].
|
inline |
Returns the number of free variables.
- Returns
- Number of free variables.
|
inline |
Returns the number of free variables.
- Returns
- Number of free variables.
|
inline |
Returns the number of free variables.
- Returns
- Number of free variables.
|
inline |
Returns the number of free variables.
- Returns
- Number of free variables.
|
inline |
Returns the number of implicitly fixed variables.
- Returns
- Number of implicitly fixed variables.
|
inline |
Returns the number of implicitly fixed variables.
- Returns
- Number of implicitly fixed variables.
|
inline |
Returns the number of implicitly fixed variables.
- Returns
- Number of implicitly fixed variables.
|
inline |
Returns the number of implicitly fixed variables.
- Returns
- Number of implicitly fixed variables.
|
inline |
Returns the number of fixed variables.
- Returns
- Number of fixed variables.
|
inline |
Returns the number of fixed variables.
- Returns
- Number of fixed variables.
|
inline |
Returns the number of fixed variables.
- Returns
- Number of fixed variables.
|
inline |
Returns the number of fixed variables.
- Returns
- Number of fixed variables.
|
inline |
Returns the number of variables.
- Returns
- Number of variables.
|
inline |
Returns the number of variables.
- Returns
- Number of variables.
|
inline |
Returns the number of variables.
- Returns
- Number of variables.
|
inline |
Returns the number of variables.
- Returns
- Number of variables.
| int QProblemB::getNZ | ( | ) |
Returns the dimension of null space.
- Returns
- Dimension of null space.
Definition at line 482 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| int QProblemB::getNZ | ( | ) |
Returns the dimension of null space.
- Returns
- Dimension of null space.
|
virtual |
|
virtual |
Returns the dimension of null space.
- Returns
- Dimension of null space.
Reimplemented in QProblem, and QProblem.
Definition at line 828 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| real_t QProblemB::getObjVal | ( | ) | const |
Returns the optimal objective function value.
- Returns
- finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved
Definition at line 492 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
Returns the objective function value at an arbitrary point x.
- Returns
- Objective function value at point x
- Parameters
-
_x Point at which the objective function shall be evaluated.
Definition at line 516 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| real_t QProblemB::getObjVal | ( | ) | const |
Returns the optimal objective function value.
- Returns
- finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved
Returns the objective function value at an arbitrary point x.
- Returns
- Objective function value at point x
- Parameters
-
_x Point at which the objective function shall be evaluated.
| real_t QProblemB::getObjVal | ( | ) | const |
Returns the optimal objective function value.
- Returns
- finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved
Returns the objective function value at an arbitrary point x.
- Returns
- Objective function value at point x
- Parameters
-
_x Point at which the objective function shall be evaluated.
| real_t QProblemB::getObjVal | ( | ) | const |
Returns the optimal objective function value.
- Returns
- finite value: Optimal objective function value (QP was solved)
+infinity: QP was not yet solved
Returns the objective function value at an arbitrary point x.
- Returns
- Objective function value at point x
- Parameters
-
_x Point at which the objective function shall be evaluated.
|
inline |
Returns current options struct.
- Returns
- Current options struct.
|
inline |
Returns current options struct.
- Returns
- Current options struct.
| returnValue QProblemB::getPrimalSolution | ( | real_t *const | xOpt | ) | const |
Returns the primal solution vector.
- Returns
- SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
- Parameters
-
xOpt Output: Primal solution vector (if QP has been solved).
Definition at line 538 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::getPrimalSolution | ( | real_t *const | xOpt | ) | const |
Returns the primal solution vector.
- Returns
- SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
- Parameters
-
xOpt Output: Primal solution vector (if QP has been solved).
| returnValue QProblemB::getPrimalSolution | ( | real_t *const | xOpt | ) | const |
Returns the primal solution vector.
- Returns
- SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
- Parameters
-
xOpt Output: Primal solution vector (if QP has been solved).
| returnValue QProblemB::getPrimalSolution | ( | real_t *const | xOpt | ) | const |
Returns the primal solution vector.
- Returns
- SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
- Parameters
-
xOpt Output: Primal solution vector (if QP has been solved).
|
inline |
Returns the print level.
- Returns
- Print level.
|
inline |
Returns the print level.
- Returns
- Print level.
|
inline |
Returns the print level.
- Returns
- Print level.
|
inline |
Returns the print level.
- Returns
- Print level.
|
protected |
Compute relative length of homotopy in data space for termination criterion.
- Returns
- Relative length in data space.
- Parameters
-
g_new Final gradient. lb_new Final lower variable bounds. ub_new Final upper variable bounds.
Definition at line 2107 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
inline |
Returns status of the solution process.
- Returns
- Status of solution process.
|
inline |
Returns status of the solution process.
- Returns
- Status of solution process.
|
inline |
Returns status of the solution process.
- Returns
- Status of solution process.
|
inline |
Returns status of the solution process.
- Returns
- Status of solution process.
|
inline |
Returns upper bound vector of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_ub Array of appropriate dimension for copying upper bound vector.
|
inline |
Returns single entry of upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be returned. value Output: ub[number].
|
inline |
Returns upper bound vector of the QP (deep copy).
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_ub Array of appropriate dimension for copying upper bound vector.
|
inline |
Returns single entry of upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be returned. value Output: ub[number].
|
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 in QProblem.
Definition at line 638 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
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 in QProblem.
Definition at line 647 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
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 in QProblem.
Definition at line 672 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
| returnValue QProblemB::hotstart | ( | const real_t *const | g_new, |
| const real_t *const | lb_new, | ||
| const real_t *const | ub_new, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Solves an initialised QProblemB using online active set strategy.
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Output: CPU time required to solve QP (or to perform nWSR iterations).
Definition at line 285 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::hotstart | ( | const real_t *const | g_new, |
| const real_t *const | lb_new, | ||
| const real_t *const | ub_new, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Solves an initialised QProblemB using online active set strategy.
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Output: CPU time required to solve QP (or to perform nWSR iterations).
| returnValue QProblemB::hotstart | ( | const real_t *const | g_new, |
| const real_t *const | lb_new, | ||
| const real_t *const | ub_new, | ||
| int_t & | nWSR, | ||
| real_t *const | cputime = 0, |
||
| const Bounds *const | guessedBounds = 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
RET_SETUP_AUXILIARYQP_FAILED
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time 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 is kept!)
| returnValue QProblemB::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 |
||
| ) |
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_SETUP_AUXILIARYQP_FAILED
RET_INVALID_ARGUMENTS
- Parameters
-
g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time 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 is kept!)
| returnValue QProblemB::hotstart | ( | const real_t *const | g_new, |
| const real_t *const | lb_new, | ||
| const real_t *const | ub_new, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Solves an initialised QProblemB using online active set strategy. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
| returnValue QProblemB::hotstart | ( | const char *const | g_file, |
| const char *const | lb_file, | ||
| const char *const | ub_file, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Solves an initialised QProblemB online active set strategy reading QP data from files. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
- Parameters
-
g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
Definition at line 655 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::hotstart | ( | const real_t *const | g_new, |
| const real_t *const | lb_new, | ||
| const real_t *const | ub_new, | ||
| int & | nWSR, | ||
| real_t *const | cputime, | ||
| const Bounds *const | guessedBounds | ||
| ) |
Solves an initialised QProblemB using online active set strategy (using an initialised homotopy). Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_SETUP_AUXILIARYQP_FAILED
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).guessedBounds Initial guess for working set of bounds. A null pointer corresponds to an empty working set!
Definition at line 713 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::hotstart | ( | const char *const | g_file, |
| const char *const | lb_file, | ||
| const char *const | ub_file, | ||
| int & | nWSR, | ||
| real_t *const | cputime, | ||
| const Bounds *const | guessedBounds | ||
| ) |
Solves an initialised QProblemB using online active set strategy (using an initialised homotopy) reading QP data from files. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
RET_SETUP_AUXILIARYQP_FAILED
- Parameters
-
g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).guessedBounds Initial guess for working set of bounds. A null pointer corresponds to an empty working set!
Definition at line 767 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Determines step direction of the shift of the QP data.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
FX_idx Index array of fixed variables. g_new New gradient vector. lb_new New lower bounds. ub_new New upper bounds. delta_g Output: Step direction of gradient vector. delta_lb Output: Step direction of lower bounds. delta_ub Output: Step direction of upper bounds. Delta_bB_isZero Output: Indicates if active bounds are to be shifted.
Definition at line 1427 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Determines step direction of the shift of the QP data.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
FX_idx Index array of fixed variables. g_new New gradient vector. lb_new New lower bounds. ub_new New upper bounds. delta_g Output: Step direction of gradient vector. delta_lb Output: Step direction of lower bounds. delta_ub Output: Step direction of upper bounds. Delta_bB_isZero Output: Indicates if active bounds are to be shifted.
|
private |
Determines step direction of the homotopy path.
- Returns
- SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY
- Parameters
-
FR_idx Index array of free variables. FX_idx Index array of fixed variables. delta_g Step direction of gradient vector. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. Delta_bB_isZero Indicates if active bounds are to be shifted. delta_xFX Output: Primal homotopy step direction of fixed variables. delta_xFR Output: Primal homotopy step direction of free variables. delta_yFX Output: Dual homotopy step direction of fixed variables' multiplier.
Definition at line 1570 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
private |
Determines step direction of the homotopy path.
- Returns
- SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_CHOLESKY
- Parameters
-
FR_idx Index array of free variables. FX_idx Index array of fixed variables. delta_g Step direction of gradient vector. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. Delta_bB_isZero Indicates if active bounds are to be shifted. delta_xFX Output: Primal homotopy step direction of fixed variables. delta_xFR Output: Primal homotopy step direction of free variables. delta_yFX Output: Dual homotopy step direction of fixed variables' multiplier.
|
private |
Determines the maximum possible step length along the homotopy path.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
FR_idx Index array of free variables. FX_idx Index array of fixed variables. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. delta_xFR Primal homotopy step direction of free variables. delta_yFX Dual homotopy step direction of fixed variables' multiplier. BC_idx Output: Index of blocking constraint. BC_status Output: Status of blocking constraint.
Definition at line 1686 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
private |
Determines the maximum possible step length along the homotopy path.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
FR_idx Index array of free variables. FX_idx Index array of fixed variables. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. delta_xFR Primal homotopy step direction of free variables. delta_yFX Dual homotopy step direction of fixed variables' multiplier. BC_idx Output: Index of blocking constraint. BC_status Output: Status of blocking constraint.
|
private |
Performs a step along the homotopy path (and updates active set).
- Returns
- SUCCESSFUL_RETURN
RET_OPTIMAL_SOLUTION_FOUND
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
RET_QP_INFEASIBLE
- Parameters
-
FR_idx Index array of free variables. FX_idx Index array of fixed variables. delta_g Step direction of gradient vector. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. delta_xFX Primal homotopy step direction of fixed variables. delta_xFR Primal homotopy step direction of free variables. delta_yFX Dual homotopy step direction of fixed variables' multiplier. BC_idx Index of blocking constraint. BC_status Status of blocking constraint.
Definition at line 1837 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
private |
Performs a step along the homotopy path (and updates active set).
- Returns
- SUCCESSFUL_RETURN
RET_OPTIMAL_SOLUTION_FOUND
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
RET_QP_INFEASIBLE
- Parameters
-
FR_idx Index array of free variables. FX_idx Index array of fixed variables. delta_g Step direction of gradient vector. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. delta_xFX Primal homotopy step direction of fixed variables. delta_xFR Primal homotopy step direction of free variables. delta_yFX Dual homotopy step direction of fixed variables' multiplier. BC_idx Index of blocking constraint. BC_status Status of blocking constraint.
| returnValue QProblemB::init | ( | const real_t *const | _H, |
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| const real_t *const | yOpt = 0, |
||
| real_t *const | cputime = 0 |
||
| ) |
Initialises a QProblemB with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.yOpt Initial guess for dual solution vector. cputime Output: CPU time required to initialise QP.
Definition at line 268 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::init | ( | const real_t *const | _H, |
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| const real_t *const | yOpt = 0, |
||
| real_t *const | cputime = 0 |
||
| ) |
Initialises a QProblemB with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.yOpt Initial guess for dual solution vector. cputime Output: CPU time required to initialise QP.
| returnValue QProblemB::init | ( | SymmetricMatrix * | _H, |
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Initialises a QProblemB with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.
Definition at line 228 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | 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 |
||
| ) |
Initialises a simply bounded 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 empty (or all implicit equality bounds),
- xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping",
- 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0,
- 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB,
- xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0,
- xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB,
- xOpt, yOpt, gB: starts with xOpt, yOpt and gB (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_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. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spent for QP initialisation (if pointer passed).xOpt Optimal primal solution vector. A NULL pointer can be passed.
(If a null pointer is passed, the old primal solution is kept!)yOpt Optimal dual solution vector. A NULL pointer can be passed.
(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!)_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 247 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | const real_t *const | _H, |
| const real_t *const | _R, | ||
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| const real_t *const | yOpt = 0, |
||
| real_t *const | cputime = 0 |
||
| ) |
Initialises a QProblemB with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
- Parameters
-
_H Hessian matrix. _R Cholesky factorization of the Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.yOpt Initial guess for dual solution vector. cputime Output: CPU time required to initialise QP.
Definition at line 298 of file external_packages/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::init | ( | const real_t *const | _H, |
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Initialises a QProblemB with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix.
If Hessian matrix is trivial, a NULL pointer can be passed._g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.
Definition at line 255 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | const char *const | H_file, |
| const char *const | g_file, | ||
| const char *const | lb_file, | ||
| const char *const | ub_file, | ||
| int & | nWSR, | ||
| real_t *const | cputime | ||
| ) |
Initialises a QProblemB with given QP data to be read from files and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_UNABLE_TO_READ_FILE
- Parameters
-
H_file Name of file where Hessian matrix is stored.
If Hessian matrix is trivial, a NULL pointer can be passed.g_file Name of file where gradient vector is stored. lb_file Name of file where lower bound vector.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bound vector.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.
Definition at line 282 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | 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 |
||
| ) |
Initialises a simply bounded 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 empty (or all implicit equality bounds),
- xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping",
- 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0,
- 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB,
- xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0,
- xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB,
- xOpt, yOpt, gB: starts with xOpt, yOpt and gB (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_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. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spent for QP initialisation (if pointer passed).xOpt Optimal primal solution vector. A NULL pointer can be passed.
(If a null pointer is passed, the old primal solution is kept!)yOpt Optimal dual solution vector. A NULL pointer can be passed.
(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!)_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 296 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | SymmetricMatrix * | _H, |
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| real_t *const | cputime, | ||
| const real_t *const | xOpt, | ||
| const real_t *const | yOpt, | ||
| const Bounds *const | guessedBounds | ||
| ) |
Initialises a QProblemB with given QP data and solves it depending on the parameter constellation:
- 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_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.xOpt Optimal primal solution vector. A NULL pointer can be passed. yOpt Optimal dual solution vector. A NULL pointer can be passed. guessedBounds Optimal working set for solution (xOpt,yOpt). A NULL pointer can be passed.
Definition at line 309 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | const 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 |
||
| ) |
Initialises a simply bounded QP problem with given QP 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 empty (or all implicit equality bounds),
- xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping",
- 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0,
- 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB,
- xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0,
- xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB,
- xOpt, yOpt, gB: starts with xOpt, yOpt and gB (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_HOTSTART \n
RET_INIT_FAILED_INFEASIBILITY \n
RET_INIT_FAILED_UNBOUNDEDNESS \n
RET_MAX_NWSR_REACHED \n
RET_UNABLE_TO_READ_FILE - Parameters
-
H_file Name of file where Hessian matrix is stored.
If Hessian matrix is trivial, a NULL pointer can be passed.g_file Name of file where gradient vector is stored. lb_file Name of file where lower bound vector.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bound vector.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spent for QP initialisation (if pointer passed).xOpt Optimal primal solution vector. A NULL pointer can be passed.
(If a null pointer is passed, the old primal solution is kept!)yOpt Optimal dual solution vector. A NULL pointer can be passed.
(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!)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 345 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | const real_t *const | _H, |
| const real_t *const | _g, | ||
| const real_t *const | _lb, | ||
| const real_t *const | _ub, | ||
| int & | nWSR, | ||
| real_t *const | cputime, | ||
| const real_t *const | xOpt, | ||
| const real_t *const | yOpt, | ||
| const Bounds *const | guessedBounds | ||
| ) |
Initialises a QProblemB with given QP data and solves it depending on the parameter constellation:
- 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_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix.
If Hessian matrix is trivial, a NULL pointer can be passed._g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.xOpt Optimal primal solution vector. A NULL pointer can be passed. yOpt Optimal dual solution vector. A NULL pointer can be passed. guessedBounds Optimal working set for solution (xOpt,yOpt). A NULL pointer can be passed.
Definition at line 354 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::init | ( | const char *const | H_file, |
| const char *const | g_file, | ||
| const char *const | lb_file, | ||
| const char *const | ub_file, | ||
| int & | nWSR, | ||
| real_t *const | cputime, | ||
| const real_t *const | xOpt, | ||
| const real_t *const | yOpt, | ||
| const Bounds *const | guessedBounds | ||
| ) |
Initialises a QProblemB with given QP data to be read from files and solves it depending on the parameter constellation:
- 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_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_UNABLE_TO_READ_FILE
- Parameters
-
H_file Name of file where Hessian matrix is stored.
If Hessian matrix is trivial, a NULL pointer can be passed.g_file Name of file where gradient vector is stored. lb_file Name of file where lower bound vector.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bound vector.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations when using initial homotopy.
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.xOpt Optimal primal solution vector. A NULL pointer can be passed. yOpt Optimal dual solution vector. A NULL pointer can be passed. guessedBounds Optimal working set for solution (xOpt,yOpt). A NULL pointer can be passed.
Definition at line 399 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
inlineprotected |
Checks whether given ratio is blocking, i.e. limits the maximum step length along the homotopy path to a value lower than given one.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
num Numerator for performing the ratio test. den Denominator for performing the ratio test. epsNum Numerator tolerance. epsDen Denominator tolerance. t Input: Current maximum step length along the homotopy path, Output: Updated maximum possible step length along the homotopy path.
|
inlineprotected |
Checks whether given ratio is blocking, i.e. limits the maximum step length along the homotopy path to a value lower than given one.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
num Numerator for performing the ratio test. den Denominator for performing the ratio test. epsNum Numerator tolerance. epsDen Denominator tolerance. t Input: Current maximum step length along the homotopy path, Output: Updated maximum possible step length along the homotopy path.
|
protected |
Determines if next QP iteration can be performed within given CPU time limit.
- Returns
- BT_TRUE: CPU time limit is exceeded, stop QP solution.
BT_FALSE: Sufficient CPU time for next QP iteration.
- Parameters
-
cputime Maximum CPU time allowed for QP solution. starttime Start time of current QP solution. nWSR Number of working set recalculations performed so far.
|
protected |
Determines if next QP iteration can be performed within given CPU time limit.
- Returns
- BT_TRUE: CPU time limit is exceeded, stop QP solution.
BT_FALSE: Sufficient CPU time for next QP iteration.
- Parameters
-
cputime Maximum CPU time allowed for QP solution. starttime Start time of current QP solution. nWSR Number of working set recalculations performed so far.
Definition at line 2021 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
inline |
Returns if the QP is infeasible.
- Returns
- BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)
|
inline |
Returns if the QP is infeasible.
- Returns
- BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)
|
inline |
Returns if the QP is infeasible.
- Returns
- BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)
|
inline |
Returns if the QP is infeasible.
- Returns
- BT_TRUE: QP infeasible
BT_FALSE: QP feasible (or not known to be infeasible!)
|
inline |
|
inline |
|
inline |
|
inline |
|
inline |
|
inline |
|
inline |
|
inline |
|
inline |
Returns if the QP is unbounded.
- Returns
- BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)
|
inline |
Returns if the QP is unbounded.
- Returns
- BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)
|
inline |
Returns if the QP is unbounded.
- Returns
- BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)
|
inline |
Returns if the QP is unbounded.
- Returns
- BT_TRUE: QP unbounded
BT_FALSE: QP unbounded (or not known to be unbounded!)
|
protected |
Loads new QP vectors from files (internal members are not affected!).
- Returns
- SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
- Parameters
-
g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.g_new Output: Gradient of neighbouring QP to be solved. lb_new Output: Lower bounds of neighbouring QP to be solved ub_new Output: Upper bounds of neighbouring QP to be solved
|
protected |
Loads new QP vectors from files (internal members are not affected!).
- Returns
- SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
- Parameters
-
g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.g_new Output: Gradient of neighbouring QP to be solved. lb_new Output: Lower bounds of neighbouring QP to be solved ub_new Output: Upper bounds of neighbouring QP to be solved
Definition at line 1945 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications
- Returns
- SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
- Parameters
-
xOpt Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero. yOpt Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero. guessedBounds Guessed working set for solution (xOpt,yOpt). auxiliaryBounds Input: Allocated bound object.
Ouput: Working set for auxiliary QP.
Definition at line 900 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications
- Returns
- SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
- Parameters
-
xOpt Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero. yOpt Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero. guessedBounds Guessed working set for solution (xOpt,yOpt). auxiliaryBounds Input: Allocated bound object.
Ouput: Working set for auxiliary QP.
|
protected |
Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications
- Returns
- SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
- Parameters
-
xOpt Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero. yOpt Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero. guessedBounds Guessed working set for solution (xOpt,yOpt). auxiliaryBounds Input: Allocated bound object.
Output: Working set for auxiliary QP.
|
protected |
Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications
- Returns
- SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
- Parameters
-
xOpt Optimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero. yOpt Optimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero. guessedBounds Guessed working set for solution (xOpt,yOpt). auxiliaryBounds Input: Allocated bound object.
Ouput: Working set for auxiliary QP.
Assignment operator (deep copy).
- Parameters
-
rhs Rhs object.
Definition at line 183 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
Assignment operator (deep copy).
- Parameters
-
rhs Rhs object.
Assignment operator (deep copy).
- Parameters
-
rhs Rhs object.
Assignment operator (deep copy).
- Parameters
-
rhs Rhs object.
|
privatevirtual |
|
private |
Drift correction at end of each active set iteration
- Returns
- SUCCESSFUL_RETURN
Definition at line 3319 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protectedvirtual |
|
protectedvirtual |
Ramping Strategy to avoid ties. Modifies homotopy start without changing current active set.
- Returns
- SUCCESSFUL_RETURN
Reimplemented in QProblem, and QProblem.
Definition at line 2168 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Performs robustified ratio test yield the maximum possible step length along the homotopy path.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
nIdx Number of ratios to be checked. idxList Array containing the indices of all ratios to be checked. subjectTo Bound/Constraint object corresponding to ratios to be checked. num Array containing all numerators for performing the ratio test. den Array containing all denominators for performing the ratio test. epsNum Numerator tolerance. epsDen Denominator tolerance. t Output: Maximum possible step length along the homotopy path. BC_idx Output: Index of blocking constraint.
|
protected |
Performs robustified ratio test yield the maximum possible step length along the homotopy path.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
nIdx Number of ratios to be checked. idxList Array containing the indices of all ratios to be checked. subjectTo Bound/Constraint object corresponding to ratios to be checked. num Array containing all numerators for performing the ratio test. den Array containing all denominators for performing the ratio test. epsNum Numerator tolerance. epsDen Denominator tolerance. t Output: Maximum possible step length along the homotopy path. BC_idx Output: Index of blocking constraint.
Definition at line 2081 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
private |
Determines the maximum possible step length along the homotopy path and performs this step (without changing working set).
- Returns
- SUCCESSFUL_RETURN
RET_QP_INFEASIBLE
- Parameters
-
delta_g Step direction of gradient. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. delta_xFX Primal homotopy step direction of fixed variables. delta_xFR Primal homotopy step direction of free variables. delta_yFX Dual homotopy step direction of fixed variables' multiplier. BC_idx Output: Index of blocking constraint. BC_status Output: Status of blocking constraint.
|
private |
Determines the maximum possible step length along the homotopy path and performs this step (without changing working set).
- Returns
- SUCCESSFUL_RETURN
RET_QP_INFEASIBLE
- Parameters
-
delta_g Step direction of gradient. delta_lb Step direction of lower bounds. delta_ub Step direction of upper bounds. delta_xFX Primal homotopy step direction of fixed variables. delta_xFR Primal homotopy step direction of free variables. delta_yFX Dual homotopy step direction of fixed variables' multiplier. BC_idx Output: Index of blocking constraint. BC_status Output: Status of blocking constraint.
Definition at line 3125 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
private |
Prints concise information on the current iteration.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
iter Number of current iteration. BC_idx Index of blocking bound. BC_status Status of blocking bound. homotopyLength Current homotopy distance. isFirstCall Indicating whether this is the first call for current QP.
Definition at line 3685 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
private |
Prints concise information on the current iteration.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
iteration Number of current iteration. BC_idx Index of blocking bound. BC_status Status of blocking bound.
Definition at line 3588 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
| returnValue QProblemB::printOptions | ( | ) | const |
Prints a list of all options and their current values.
- Returns
- SUCCESSFUL_RETURN
| returnValue QProblemB::printOptions | ( | ) | const |
Prints a list of all options and their current values.
- Returns
- SUCCESSFUL_RETURN
Definition at line 1138 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
virtual |
|
virtual |
Prints concise list of properties of the current QP.
- Returns
- SUCCESSFUL_RETURN
Reimplemented in QProblem, and QProblem.
Definition at line 1013 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Regularise Hessian matrix by adding a scaled identity matrix to it.
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_ALREADY_REGULARISED
|
protected |
Regularise Hessian matrix by adding a scaled identity matrix to it.
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_ALREADY_REGULARISED
Definition at line 2049 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Compute relative length of homotopy in data space for termination criterion.
- Returns
- Relative length in data space.
- Parameters
-
g_new Final gradient. lb_new Final lower variable bounds. ub_new Final upper variable bounds.
Definition at line 2129 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Removes a bounds from active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
- Parameters
-
number Number of bound to be removed from active set. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
Definition at line 1287 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Removes a bounds from active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
- Parameters
-
number Number of bound to be removed from active set. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
|
private |
Removes a bounds from active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
- Parameters
-
number Number of bound to be removed from active set. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
|
private |
Removes a bounds from active set (specialised version for the case where no constraints exist).
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
- Parameters
-
number Number of bound to be removed from active set. updateCholesky Flag indicating if Cholesky decomposition shall be updated.
| returnValue QProblemB::reset | ( | ) |
Clears all data structures of QProblemB except for QP data.
- Returns
- SUCCESSFUL_RETURN
RET_RESET_FAILED
0) Reset has Hessian flag.
Definition at line 238 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::reset | ( | ) |
Clears all data structures of QProblemB except for QP data.
- Returns
- SUCCESSFUL_RETURN
RET_RESET_FAILED
|
virtual |
|
virtual |
|
inline |
Resets QP problem counter (to zero).
- Returns
- SUCCESSFUL_RETURN.
|
inlineprotected |
Changes gradient vector of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
g_new New gradient vector (with correct dimension!).
|
inlineprotected |
Changes gradient vector of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
g_new New gradient vector (with correct dimension!).
|
inlineprotected |
Changes gradient vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
g_new New gradient vector (with correct dimension!).
|
inlineprotected |
Changes gradient vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
g_new New gradient vector (with correct dimension!).
|
inlineprotected |
Sets Hessian matrix of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
H_new New Hessian matrix (with correct dimension!).
|
inlineprotected |
Sets Hessian matrix of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
H_new New Hessian matrix (with correct dimension!).
|
inlineprotected |
Sets Hessian matrix of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
H_new New Hessian matrix (a shallow copy is made).
|
inlineprotected |
Sets dense Hessian matrix of the QP. If a null pointer is passed and a) hessianType is HST_IDENTITY, nothing is done, b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
H_new New dense Hessian matrix (with correct dimension!), a shallow copy is made.
|
inlineprotected |
Sets Hessian matrix of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
H_new New Hessian matrix.
|
inlineprotected |
Sets dense Hessian matrix of the QP. If a null pointer is passed and a) hessianType is HST_IDENTITY, nothing is done, b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
H_new New dense Hessian matrix (with correct dimension!).
|
inline |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_hessianType New Hessian type.
|
inline |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_hessianType New Hessian type.
|
inline |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_hessianType New Hessian type.
|
inline |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_hessianType New Hessian type.
|
protected |
Sets internal infeasibility flag and throws given error in case the far bound strategy is not enabled (as QP might actually not be infeasible in this case).
- Returns
- RET_HOTSTART_STOPPED_INFEASIBILITY
RET_ENSURELI_FAILED_CYCLING
RET_ENSURELI_FAILED_NOINDEX
- Parameters
-
returnvalue Returnvalue to be tunneled. doThrowError Flag forcing to throw an error.
Definition at line 1932 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
protected |
Sets internal infeasibility flag and throws given error in case the far bound strategy is not enabled (as QP might actually not be infeasible in this case).
- Returns
- RET_HOTSTART_STOPPED_INFEASIBILITY
RET_ENSURELI_FAILED_CYCLING
RET_ENSURELI_FAILED_NOINDEX
Definition at line 2006 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
inlineprotected |
Changes lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
lb_new New lower bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be changed. value New value for entry of lower bound vector.
|
inlineprotected |
Changes lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
lb_new New lower bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be changed. value New value for entry of lower bound vector.
|
inlineprotected |
Changes lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP
- Parameters
-
lb_new New lower bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of lower 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 bound vector.
|
inlineprotected |
Changes lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
lb_new New lower bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of lower bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be changed. value New value for entry of lower bound vector.
|
inline |
Overrides current options with given ones.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_options New options.
|
inline |
Overrides current options with given ones.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_options New options.
| returnValue QProblemB::setPrintLevel | ( | PrintLevel | _printlevel | ) |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_printlevel New print level.
Definition at line 588 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
| returnValue QProblemB::setPrintLevel | ( | PrintLevel | _printlevel | ) |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_printlevel New print level.
| returnValue QProblemB::setPrintLevel | ( | PrintLevel | _printlevel | ) |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_printlevel New print level.
| returnValue QProblemB::setPrintLevel | ( | PrintLevel | _printlevel | ) |
Changes the print level.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
_printlevel New print level.
|
inlineprotected |
Changes upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
ub_new New upper bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be changed. value New value for entry of upper bound vector.
|
inlineprotected |
Changes upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
ub_new New upper bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be changed. value New value for entry of upper bound vector.
|
inlineprotected |
Changes upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP
- Parameters
-
ub_new New upper bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of upper 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 bound vector.
|
inlineprotected |
Changes upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
ub_new New upper bound vector (with correct dimension!).
|
inlineprotected |
Changes single entry of upper bound vector of the QP.
- Returns
- SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
- Parameters
-
number Number of entry to be changed. value New value for entry of upper bound vector.
|
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
- Returns
- SUCCESSFUL_RETURN
RET_SETUP_AUXILIARYQP_FAILED
- Parameters
-
guessedBounds Initial guess for working set of bounds.
|
private |
Updates QP vectors, working sets and internal data structures in order to start from an optimal solution corresponding to initial guesses of the working set for bounds
- Returns
- SUCCESSFUL_RETURN
RET_SETUP_AUXILIARYQP_FAILED
- Parameters
-
guessedBounds Initial guess for working set of bounds.
Definition at line 2896 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Setups bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
RET_UNKNOWN BUG
- Parameters
-
useRelaxation Flag indicating if inactive bounds shall be relaxed.
Definition at line 1161 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Setups bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
RET_UNKNOWN BUG
- Parameters
-
useRelaxation Flag indicating if inactive bounds shall be relaxed.
|
private |
Sets up bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
RET_UNKNOWN_BUG
- Parameters
-
useRelaxation Flag indicating if inactive bounds shall be relaxed.
|
private |
Setups bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
RET_UNKNOWN_BUG
- Parameters
-
useRelaxation Flag indicating if inactive bounds shall be relaxed.
|
protected |
Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
Definition at line 1137 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
|
private |
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 have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
|
private |
Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS have already been initialised!).
- Returns
- SUCCESSFUL_RETURN
|
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 1096 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
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.
|
private |
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.
|
private |
Setups the optimal primal/dual solution of the auxiliary initial QP.
- Returns
- SUCCESSFUL_RETURN
- Parameters
-
xOpt Optimal primal solution vector. If a NULL pointer is passed, all entries are set to zero. yOpt Optimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.
|
protected |
Setups bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)
- Returns
- SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG
- Parameters
-
auxiliaryBounds Working set for auxiliary QP. setupAfresh Flag indicating if given working set shall be setup afresh or by updating the current one.
Definition at line 1029 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Setups bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)
- Returns
- SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG
- Parameters
-
auxiliaryBounds Working set for auxiliary QP. setupAfresh Flag indicating if given working set shall be setup afresh or by updating the current one.
|
private |
Sets up bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)
- Returns
- SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG
- Parameters
-
auxiliaryBounds Working set for auxiliary QP. setupAfresh Flag indicating if given working set shall be setup afresh or by updating the current one.
|
private |
Setups bound data structure according to auxiliaryBounds. (If the working set shall be setup afresh, make sure that bounds data structure has been resetted!)
- Returns
- SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG
- Parameters
-
auxiliaryBounds Working set for auxiliary QP. setupAfresh Flag indicating if given working set shall be setup afresh or by updating the current one.
|
protected |
Computes the Cholesky decomposition R of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix!
- Returns
- SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED
Definition at line 723 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Computes the Cholesky decomposition R of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix!
- Returns
- SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED
|
protected |
Computes the Cholesky decomposition of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple projection matrix! Note: If Hessian turns out not to be positive definite, the Hessian type is set to HST_SEMIDEF accordingly.
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED
|
protectedvirtual |
Computes initial Cholesky decomposition of the (simply projected) Hessian making use of the function computeCholesky().
- Returns
- SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED
Reimplemented in QProblem.
Definition at line 1441 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
protected |
Setups internal QP data.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.
Definition at line 1505 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
|
protected |
Setups internal QP data.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix. _R Cholesky factorization of the Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.
Definition at line 1548 of file external_packages/qpoases/SRC/QProblemB.cpp.
|
protected |
Sets up internal QP data.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.
|
protected |
Sets up internal QP data. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_NO_HESSIAN_SPECIFIED
- Parameters
-
_H Hessian matrix.
If Hessian matrix is trivial,a NULL pointer can be passed._g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.
|
protected |
Setups internal QP data.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
- Parameters
-
_H Hessian matrix. _g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.
Definition at line 1787 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Setups internal QP data. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.
- Returns
- SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_NO_HESSIAN_SPECIFIED
- Parameters
-
_H Hessian matrix.
If Hessian matrix is trivial,a NULL pointer can be passed._g Gradient vector. _lb Lower bounds (on variables).
If no lower bounds exist, a NULL pointer can be passed._ub Upper bounds (on variables).
If no upper bounds exist, a NULL pointer can be passed.
|
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_NO_HESSIAN_SPECIFIED
- Parameters
-
H_file Name of file where Hessian matrix, of neighbouring QP to be solved, is stored.
If Hessian matrix is trivial,a NULL pointer can be passed.g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.
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protected |
Setups internal QP data by loading it from files. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.
- Returns
- SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
RET_NO_HESSIAN_SPECIFIED
- Parameters
-
H_file Name of file where Hessian matrix, of neighbouring QP to be solved, is stored.
If Hessian matrix is trivial,a NULL pointer can be passed.g_file Name of file where gradient, of neighbouring QP to be solved, is stored. lb_file Name of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.ub_file Name of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.
Definition at line 1873 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
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protected |
Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- Returns
- SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED
Definition at line 664 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
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protected |
Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- Returns
- SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED
|
protectedvirtual |
|
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.
|
protectedvirtual |
|
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.
Definition at line 1365 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
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private |
Determines if it is more efficient to refactorise the matrices when hotstarting or not (i.e. better to update the existing factorisations).
- Returns
- BT_TRUE iff matrices shall be refactorised afresh
- Parameters
-
guessedBounds Guessed new working set.
|
private |
Determines if it is more efficient to refactorise the matrices when hotstarting or not (i.e. better to update the existing factorisations).
- Returns
- BT_TRUE iff matrices shall be refactorised afresh
- Parameters
-
guessedBounds Guessed new working set.
Definition at line 3369 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
|
protected |
Solves a QProblemB whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding optimal working set can be provided.
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
- Parameters
-
xOpt Optimal primal solution vector. A NULL pointer can be passed. yOpt Optimal dual solution vector. A NULL pointer can be passed. guessedBounds Guessed working set for solution (xOpt,yOpt). A NULL pointer can be passed. nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Output: CPU time required to solve QP (or to perform nWSR iterations).
Definition at line 791 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblemB.cpp.
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protected |
Solves a QProblemB whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding optimal working set can be provided.
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
- Parameters
-
xOpt Optimal primal solution vector. A NULL pointer can be passed. yOpt Optimal dual solution vector. A NULL pointer can be passed. guessedBounds Guessed working set for solution (xOpt,yOpt). A NULL pointer can be passed. nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Output: CPU time required to solve QP (or to perform nWSR iterations).
|
private |
Solves a QProblemB whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding optimal working set can be provided. Note: This function is internally called by all init functions!
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
- Parameters
-
xOpt Optimal primal solution vector. yOpt Optimal dual solution vector. guessedBounds Optimal working set of bounds 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 2253 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
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private |
Solves a QProblemB whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding optimal working set can be provided. Note: This function is internally called by all init functions!
- Returns
- SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
- Parameters
-
xOpt Optimal primal solution vector. A NULL pointer can be passed. yOpt Optimal dual solution vector. A NULL pointer can be passed. guessedBounds Guessed working set for solution (xOpt,yOpt). A NULL pointer can be passed. nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
|
private |
Solves an initialised QProblemB using online active set strategy. Note: This function is internally called by all hotstart functions!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time 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 2401 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
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private |
Solves an initialised QProblemB using online active set strategy. Note: This function is internally called by all hotstart functions!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).nWSRperformed Number of working set recalculations already performed to solve this QP within previous solveQP() calls. This number is always zero, except for successive calls from solveRegularisedQP() or when using the far bound strategy.
Definition at line 2352 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
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private |
Solves an initialised QProblemB using online active set strategy. Note: This function is internally called by all hotstart functions!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time 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 2648 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
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private |
Solves an initialised QProblemB using online active set strategy. Note: This function is internally called by all hotstart functions!
- Returns
- SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
- Parameters
-
g_new Gradient of neighbouring QP to be solved. lb_new Lower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.ub_new Upper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.nWSR Input: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.cputime Input: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).nWSRperformed Number of working set recalculations already performed to solve this QP within previous solveRegularisedQP() calls. This number is always zero, except for successive calls when using the far bound strategy.
Definition at line 2579 of file external_packages/qpOASES-3.0beta/src/QProblemB.cpp.
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protected |
...
- Parameters
-
curFarBound ... nRamp ... lb_new ... lb_new_far ... ub_new ... ub_new_far ...
Definition at line 2196 of file external_packages/qpOASES-3.2.0/src/QProblemB.cpp.
|
inline |
Returns if the QP has been internally regularised.
- Returns
- BT_TRUE: Hessian is internally regularised for QP solution
BT_FALSE: No internal Hessian regularisation is used for QP solution
|
inline |
Returns if the QP has been internally regularised.
- Returns
- BT_TRUE: Hessian is internally regularised for QP solution
BT_FALSE: No internal Hessian regularisation is used for QP solution
Friends And Related Function Documentation
|
friend |
Definition at line 58 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
Member Data Documentation
|
protected |
Data structure for problem's bounds.
Definition at line 569 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
| unsigned int QProblemB::count |
Counts the number of hotstart function calls (internal usage only!).
Definition at line 90 of file QProblemB.h.
|
protected |
Counts the number of hotstart function calls (internal usage only!).
Definition at line 587 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Counts the number of hotstart function calls.
Definition at line 995 of file external_packages/qpOASES-3.2.0/include/qpOASES/QProblemB.hpp.
Temporary for determineStepDirection
Definition at line 92 of file QProblemB.h.
|
protected |
Temporary for determineStepDirection
Definition at line 1025 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Struct for making a temporary copy of the matrix factorisations.
Definition at line 1032 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Flag indicating whether the Hessian matrix needs to be de-allocated.
Definition at line 998 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Gradient.
Definition at line 565 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Gradient.
Definition at line 1001 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
| DenseMatrix* QProblemB::H |
Hessian matrix pointer.
Definition at line 65 of file QProblemB.h.
|
protected |
Hessian matrix.
Definition at line 564 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Hessian matrix.
Definition at line 999 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Flag indicating whether Cholesky decomposition has already been setup.
Definition at line 601 of file external_packages/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Flag indicating whether H contains Hessian or corresponding Cholesky factor R;
- See also
- init.
Definition at line 592 of file external_packages/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Flag indicating whether Cholesky decomposition has already been setup.
Definition at line 1008 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Type of Hessian matrix.
Definition at line 583 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
| DenseMatrix QProblemB::HH |
Hessian matrix.
Definition at line 66 of file QProblemB.h.
|
protected |
QP infeasible?
Definition at line 580 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Flag indicating whether Hessian matrix has been regularised.
Definition at line 1021 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Lower bound vector (on variables).
Definition at line 566 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Lower bound vector (on variables).
Definition at line 1002 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Struct containing all user-defined options for solving QPs.
Definition at line 1030 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Print level.
Definition at line 585 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Cholesky decomposition of H (i.e. H = R^T*R).
Cholesky factor of H (i.e. H = R^T*R).
Definition at line 571 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Cholesky factor of H (i.e. H = R^T*R).
Definition at line 1007 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Start value for Ramping Strategy (usually 0.5 or 1.0).
Start value for Ramping Strategy.
Definition at line 1027 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Final value for Ramping Strategy (usually 1.0 or 0.5).
Final value for Ramping Strategy.
Definition at line 1028 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
| int QProblemB::rampOffset |
Offset index for Ramping.
Definition at line 96 of file QProblemB.h.
|
protected |
Offset index for Ramping.
Definition at line 1001 of file external_packages/qpOASES-3.2.0/include/qpOASES/QProblemB.hpp.
|
protected |
Holds the offset used to regularise Hessian matrix (zero by default).
Definition at line 993 of file external_packages/qpOASES-3.2.0/include/qpOASES/QProblemB.hpp.
|
protected |
Current status of the solution process.
Definition at line 578 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Struct storing information for tabular output (printLevel == PL_TABULAR).
Definition at line 1007 of file external_packages/qpOASES-3.2.0/include/qpOASES/QProblemB.hpp.
|
protected |
Last homotopy step length.
Definition at line 576 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Upper bound vector (on variables).
Definition at line 567 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Upper bound vector (on variables).
Definition at line 1003 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
QP unbounded?
Definition at line 581 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Primal solution vector.
Definition at line 573 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Primal solution vector.
Definition at line 1010 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
|
protected |
Dual solution vector.
Definition at line 574 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblemB.hpp.
|
protected |
Dual solution vector.
Definition at line 1011 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblemB.hpp.
The documentation for this struct was generated from the following files: