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Classes
struct	MatMatrixHeader
	Struct containing the variable header for mat file. More...

struct	TabularOutput
	Stores internal information for tabular (debugging) output. More...

Macros
#define	__ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

#define	BEGIN_NAMESPACE_QPOASES namespace qpOASES {

#define	END_NAMESPACE_QPOASES }

#define	QQ(I, J) Q[(I)+nV*(J)]

#define	REFER_NAMESPACE_QPOASES qpOASES::

#define	RR(I, J) R[(I)+nV*(J)]

#define	SOLVER_NONE

#define	TT(I, J) T[(I)*sizeT+(J)]

#define	USING_NAMESPACE_QPOASES using namespace qpOASES;

Typedefs
typedef int	fint

typedef int	int_t

typedef int_t	sparse_int_t

typedef unsigned int	uint_t

Enumerations
enum	BooleanType { BT_FALSE, BT_TRUE, BT_FALSE, BT_TRUE, BT_FALSE, BT_TRUE, BT_FALSE, BT_TRUE, BT_FALSE = 0, BT_TRUE }

enum	HessianType { HST_SEMIDEF, HST_POSDEF_NULLSPACE, HST_POSDEF, HST_IDENTITY, HST_SEMIDEF, HST_POSDEF_NULLSPACE, HST_POSDEF, HST_IDENTITY, HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_UNKNOWN, HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_INDEF, HST_UNKNOWN, HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_INDEF, HST_UNKNOWN }

enum	PrintLevel { NONE, LOW, MEDIUM, HIGH, DEBUG, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_TABULAR = -1, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH }

enum	QProblemStatus { QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED }

enum	SchurUpdateType { SUT_VarFixed, SUT_VarFreed, SUT_ConAdded, SUT_ConRemoved, SUT_UNDEFINED }

enum	SubjectToStatus { ST_INACTIVE, ST_LOWER, ST_UPPER, ST_UNDEFINED, ST_INACTIVE, ST_LOWER, ST_UPPER, ST_UNDEFINED, ST_INACTIVE, ST_LOWER, ST_UPPER, ST_UNDEFINED, ST_LOWER = -1, ST_INACTIVE, ST_UPPER, ST_INFEASIBLE_LOWER, ST_INFEASIBLE_UPPER, ST_UNDEFINED, ST_LOWER = -1, ST_INACTIVE, ST_UPPER, ST_INFEASIBLE_LOWER, ST_INFEASIBLE_UPPER, ST_UNDEFINED }

enum	SubjectToType { ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_DISABLED, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_DISABLED, ST_UNKNOWN }

enum	VisibilityStatus { VS_VISIBLE, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_VISIBLE }

Variables
BEGIN_NAMESPACE_QPOASES typedef double	real_t

Macro Definition Documentation

#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

Forces to always include all implicitly fixed bounds and all equality constraints into the initial working set when setting up an auxiliary QP.

Definition at line 63 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define BEGIN_NAMESPACE_QPOASES namespace qpOASES {

Macro for switching on/off the beginning of the qpOASES namespace definition.

Definition at line 110 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define END_NAMESPACE_QPOASES }

Macro for switching on/off the end of the qpOASES namespace definition.

Definition at line 113 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define QQ	(	I,
		J
	)	Q[(I)+nV*(J)]

Macro for accessing the orthonormal matrix Q of the QT factorisation.

Definition at line 147 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define REFER_NAMESPACE_QPOASES qpOASES::

Macro for switching on/off references to the qpOASES namespace.

Definition at line 119 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define RR	(	I,
		J
	)	R[(I)+nV*(J)]

Macro for accessing the Cholesky factor R.

Definition at line 144 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define SOLVER_NONE

Definition at line 155 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define TT	(	I,
		J
	)	T[(I)*sizeT+(J)]

Macro for accessing the triangular matrix T of the QT factorisation.

Definition at line 150 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

#define USING_NAMESPACE_QPOASES using namespace qpOASES;

Macro for switching on/off the use of the qpOASES namespace.

Definition at line 116 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

Typedef Documentation

typedef int fint

typedef for Fortran INTEGER type. Might be platform dependent!

Definition at line 180 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

typedef int int_t

Defines int_t for facilitating switching between int and long int.

Definition at line 174 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

typedef int_t sparse_int_t

Integer type for sparse matrix row/column entries. Make this "int" for 32 bit entries, and "long" for 64-bit entries on x86_64 platform.

Most sparse codes still assume 32-bit entries here (HSL, BQPD, ...)

Definition at line 189 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

typedef unsigned int uint_t

Definition at line 175 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

Enumeration Type Documentation

enum BooleanType

Summarises all possible logical values.

Enumerator
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".

Definition at line 199 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum HessianType

Summarises all possible types of the QP's Hessian matrix.

Enumerator
HST_SEMIDEF	Hessian is positive semi-definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_IDENTITY	Hessian is identity matrix.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_IDENTITY	Hessian is identity matrix.
HST_ZERO	Hessian is zero matrix (i.e. LP formulation).
HST_IDENTITY	Hessian is identity matrix.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_UNKNOWN	Hessian type is unknown.
HST_ZERO	Hessian is zero matrix (i.e. LP formulation).
HST_IDENTITY	Hessian is identity matrix.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_INDEF	Hessian is indefinite.
HST_UNKNOWN	Hessian type is unknown.
HST_ZERO	Hessian is zero matrix (i.e. LP formulation).
HST_IDENTITY	Hessian is identity matrix.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_INDEF	Hessian is indefinite.
HST_UNKNOWN	Hessian type is unknown.

Definition at line 244 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum PrintLevel

Summarises all possible print levels. Print levels are used to describe the desired amount of output during runtime of qpOASES.

Enumerator
NONE	No output.
LOW	Print error messages only.
MEDIUM	Print error and warning messages as well as concise info messages.
HIGH	Print all messages with full details.
DEBUG	Print all messages with full details as well * all ugly messages that might be helpful for * debugging the code.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_TABULAR	Tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Normal tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.

Definition at line 208 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum QProblemStatus

Summarises all possible states of the (S)QProblem(B) object during the solution process of a QP sequence.

Enumerator
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.

Definition at line 229 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum SchurUpdateType

Flag indicating which type of update generated column in Schur complement.

Enumerator
SUT_VarFixed	Free variable gets fixed.
SUT_VarFreed	Fixed variable gets freed.
SUT_ConAdded	Constraint becomes active.
SUT_ConRemoved	Constraint becomes inactive.
SUT_UNDEFINED	Type of Schur update is undefined.

Definition at line 279 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum SubjectToStatus

Summarises all possible states of bounds and constraints.

Enumerator
ST_INACTIVE	Bound/constraint is inactive.
ST_LOWER	Bound/constraint is at its lower bound.
ST_UPPER	Bound/constraint is at its upper bound.
ST_UNDEFINED	Status of bound/constraint undefined.
ST_INACTIVE	Bound/constraint is inactive.
ST_LOWER	Bound/constraint is at its lower bound.
ST_UPPER	Bound/constraint is at its upper bound.
ST_UNDEFINED	Status of bound/constraint undefined.
ST_INACTIVE	Bound/constraint is inactive.
ST_LOWER	Bound/constraint is at its lower bound.
ST_UPPER	Bound/constraint is at its upper bound.
ST_UNDEFINED	Status of bound/constraint undefined.
ST_LOWER	Bound/constraint is at its lower bound.
ST_INACTIVE	Bound/constraint is inactive.
ST_UPPER	Bound/constraint is at its upper bound.
ST_INFEASIBLE_LOWER	(to be documented)
ST_INFEASIBLE_UPPER	(to be documented)
ST_UNDEFINED	Status of bound/constraint undefined.
ST_LOWER	Bound/constraint is at its lower bound.
ST_INACTIVE	Bound/constraint is inactive.
ST_UPPER	Bound/constraint is at its upper bound.
ST_INFEASIBLE_LOWER	(to be documented)
ST_INFEASIBLE_UPPER	(to be documented)
ST_UNDEFINED	Status of bound/constraint undefined.

Definition at line 268 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum SubjectToType

Summarises all possible types of bounds and constraints.

Enumerator
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_DISABLED	Bound/constraint is disabled (i.e. ignored when solving QP).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_DISABLED	Bound/constraint is disabled (i.e. ignored when solving QP).
ST_UNKNOWN	Type of bound/constraint unknown.

Definition at line 257 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

enum VisibilityStatus

Defines visibility status of a message.

Enumerator
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.

Definition at line 220 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

Variable Documentation

BEGIN_NAMESPACE_QPOASES typedef double real_t

Defines real_t for facilitating switching between double and float.

Definition at line 165 of file external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp.

Classes

Macros

Typedefs

Enumerations

Variables

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Variable Documentation