(not yet documented) More...

#include <qp_solver_qpoases.hpp>

Inheritance diagram for QPsolver_qpOASES:

Public Member Functions
virtual DenseCPsolver *	clone () const

virtual DenseQPsolver *	cloneDenseQPsolver () const

virtual returnValue	getDualSolution (DVector &yOpt) const

virtual uint	getNumberOfConstraints () const

virtual uint	getNumberOfVariables () const

virtual double	getObjVal () const

virtual returnValue	getPrimalSolution (DVector &xOpt) const

virtual returnValue	getVarianceCovariance (DMatrix &var)

virtual returnValue	getVarianceCovariance (DMatrix &H, DMatrix &var)

QPsolver_qpOASES &	operator= (const QPsolver_qpOASES &rhs)

	QPsolver_qpOASES ()

	QPsolver_qpOASES (UserInteraction *_userInteraction)

	QPsolver_qpOASES (const QPsolver_qpOASES &rhs)

virtual returnValue	solve (DenseCP *cp_)

virtual returnValue	solve (double H, double A, double g, double lb, double ub, double lbA, double *ubA, uint maxIter)

virtual returnValue	solve (DMatrix H, DMatrix A, DVector g, DVector lb, DVector ub, DVector lbA, DVector *ubA, uint maxIter)

virtual returnValue	step (double H, double A, double g, double lb, double ub, double lbA, double *ubA)

virtual returnValue	step (DMatrix H, DMatrix A, DVector g, DVector lb, DVector ub, DVector lbA, DVector *ubA)

virtual	~QPsolver_qpOASES ()

Public Member Functions inherited from DenseQPsolver
	DenseQPsolver ()

	DenseQPsolver (UserInteraction *_userInteraction)

	DenseQPsolver (const DenseQPsolver &rhs)

virtual uint	getNumberOfIterations () const

QPStatus	getStatus () const

virtual returnValue	init (const DenseCP *cp)

virtual returnValue	init (uint nV, uint nC)

BooleanType	isInfeasible () const

BooleanType	isSolved () const

BooleanType	isUnbounded () const

DenseQPsolver &	operator= (const DenseQPsolver &rhs)

	~DenseQPsolver ()

Public Member Functions inherited from DenseCPsolver
	DenseCPsolver ()

	DenseCPsolver (UserInteraction *_userInteraction)

	DenseCPsolver (const DenseCPsolver &rhs)

DenseCPsolver &	operator= (const DenseCPsolver &rhs)

virtual	~DenseCPsolver ()

Public Member Functions inherited from AlgorithmicBase
int	addLogRecord (LogRecord &_record)

returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOptionsList ()

	AlgorithmicBase ()

	AlgorithmicBase (UserInteraction *_userInteraction)

	AlgorithmicBase (const AlgorithmicBase &rhs)

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

Options	getOptions (uint idx) const

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

AlgorithmicBase &	operator= (const AlgorithmicBase &rhs)

returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

returnValue	printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const

returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const DVector &lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

virtual	~AlgorithmicBase ()

Protected Member Functions
virtual returnValue	setupQPobject (uint nV, uint nC)

returnValue	updateQPstatus (int ret)

Protected Member Functions inherited from DenseQPsolver
virtual returnValue	makeBoundsConsistent (DenseCP *cp) const

virtual returnValue	setupLogging ()

Protected Member Functions inherited from DenseCPsolver
virtual returnValue	setupOptions ()

Protected Attributes
qpOASES::SQProblem *	qp

Protected Attributes inherited from DenseQPsolver
int	numberOfSteps

QPStatus	qpStatus

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

(not yet documented)

The class QPsolver_qpOASES interfaces the qpOASES software package for solving convex quadratic programming (QP) problems.

 \author Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file qp_solver_qpoases.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO QPsolver_qpOASES::QPsolver_qpOASES ( )

Default constructor.

Definition at line 44 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES::QPsolver_qpOASES ( UserInteraction * _userInteraction )

Definition at line 50 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES::QPsolver_qpOASES ( const QPsolver_qpOASES & rhs )

Copy constructor (deep copy).

Definition at line 56 of file qp_solver_qpoases.cpp.

QPsolver_qpOASES::~QPsolver_qpOASES ( )

virtual

Destructor.

Definition at line 65 of file qp_solver_qpoases.cpp.

Member Function Documentation

DenseCPsolver * QPsolver_qpOASES::clone ( ) const

virtual

Implements DenseQPsolver.

Definition at line 93 of file qp_solver_qpoases.cpp.

DenseQPsolver * QPsolver_qpOASES::cloneDenseQPsolver ( ) const

virtual

Implements DenseQPsolver.

Definition at line 99 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getDualSolution ( DVector & yOpt ) const

virtual

Returns dual solution vector if QP has been solved.

Returns: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters

yOpt	OUTPUT: dual solution vector.

Implements DenseQPsolver.

Definition at line 230 of file qp_solver_qpoases.cpp.

uint QPsolver_qpOASES::getNumberOfConstraints ( ) const

virtual

Implements DenseQPsolver.

Definition at line 278 of file qp_solver_qpoases.cpp.

uint QPsolver_qpOASES::getNumberOfVariables ( ) const

virtual

Implements DenseQPsolver.

Definition at line 270 of file qp_solver_qpoases.cpp.

double QPsolver_qpOASES::getObjVal ( ) const

virtual

Returns optimal objective function value.

Returns: finite value: Optimal objective function value (QP has been solved)
+INFTY: QP has not been solved or is infeasible
-INFTY: QP is unbounded

Implements DenseQPsolver.

Definition at line 252 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getPrimalSolution ( DVector & xOpt ) const

virtual

Returns primal solution vector if QP has been solved.

Returns: SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters

xOpt	OUTPUT: primal solution vector.

Implements DenseQPsolver.

Definition at line 208 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getVarianceCovariance ( DMatrix & var )

virtual

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns: SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseQPsolver.

Definition at line 264 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::getVarianceCovariance	(	DMatrix &	H,
		DMatrix &	var
	)

virtual

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns: SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseQPsolver.

Definition at line 287 of file qp_solver_qpoases.cpp.

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

Assignment operator (deep copy).

Definition at line 72 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::setupQPobject	(	uint	nV,
		uint	nC
	)

protectedvirtual

Setups QP object.

Returns: SUCCESSFUL_RETURN
RET_QP_INIT_FAILED

Parameters

nV	Number of QP variables.
nC	Number of QP constraints (without bounds).

Implements DenseQPsolver.

Definition at line 339 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve ( DenseCP * cp_ )

virtual

Solves the QP.

Reimplemented from DenseQPsolver.

Definition at line 105 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve	(	double *	H,
		double *	A,
		double *	g,
		double *	lb,
		double *	ub,
		double *	lbA,
		double *	ubA,
		uint	maxIter
	)

virtual

Solves QP using at most <maxIter> iterations.

Returns: SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST

Parameters

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.
maxIter	Maximum number of iterations.

Implements DenseQPsolver.

Definition at line 111 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve	(	DMatrix *	H,
		DMatrix *	A,
		DVector *	g,
		DVector *	lb,
		DVector *	ub,
		DVector *	lbA,
		DVector *	ubA,
		uint	maxIter
	)

virtual

Solves QP using at most <maxIter> iterations.

Parameters

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.
maxIter	Maximum number of iterations.

Implements DenseQPsolver.

Definition at line 158 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::step	(	double *	H,
		double *	A,
		double *	g,
		double *	lb,
		double *	ub,
		double *	lbA,
		double *	ubA
	)

virtual

Performs exactly one QP iteration.

Returns: SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST

Parameters

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.

Implements DenseQPsolver.

Definition at line 180 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::step	(	DMatrix *	H,
		DMatrix *	A,
		DVector *	g,
		DVector *	lb,
		DVector *	ub,
		DVector *	lbA,
		DVector *	ubA
	)

virtual

Performs exactly one QP iteration.

Returns: SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST

Parameters

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.

Implements DenseQPsolver.

Definition at line 194 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::updateQPstatus ( int ret )

protected

Definition at line 377 of file qp_solver_qpoases.cpp.

Member Data Documentation

qpOASES::SQProblem* QPsolver_qpOASES::qp

protected

Definition at line 204 of file qp_solver_qpoases.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation