external_packages/qpOASES-3.2.0/src/Utils.cpp File Reference

#include <math.h>
#include <qpOASES/Utils.hpp>

Include dependency graph for external_packages/qpOASES-3.2.0/src/Utils.cpp:

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Functions
returnValue	convertBooleanTypeToString (BooleanType value, char *const string)
returnValue	convertPrintLevelToString (PrintLevel value, char *const string)
returnValue	convertSubjectToStatusToString (SubjectToStatus value, char *const string)
real_t	getCPUtime ()
returnValue	getKktViolation (int_t nV, int_t nC, const real_t *const H, const real_t *const g, const real_t *const A, const real_t *const lb, const real_t *const ub, const real_t *const lbA, const real_t *const ubA, const real_t *const x, const real_t *const y, real_t &stat, real_t &feas, real_t &cmpl, const real_t *const workingSetB, const real_t *const workingSetC, BooleanType hasIdentityHessian)
returnValue	getKktViolation (int_t nV, const real_t *const H, const real_t *const g, const real_t *const lb, const real_t *const ub, const real_t *const x, const real_t *const y, real_t &stat, real_t &feas, real_t &cmpl, const real_t *const workingSetB, BooleanType hasIdentityHessian)
real_t	getNorm (const real_t *const v, int_t n, int_t type)
int_t	getSimpleStatus (returnValue returnvalue, BooleanType doPrintStatus)
returnValue	myPrintf (const char *s)
returnValue	normaliseConstraints (int_t nV, int_t nC, real_t *A, real_t *lbA, real_t *ubA, int_t type)
BEGIN_NAMESPACE_QPOASES returnValue	print (const real_t *const v, int_t n, const char *name)
returnValue	print (const real_t *const v, int_t n, const int_t *const V_idx, const char *name)
returnValue	print (const real_t *const M, int_t nrow, int_t ncol, const char *name)
returnValue	print (const real_t *const M, int_t nrow, int_t ncol, const int_t *const ROW_idx, const int_t *const COL_idx, const char *name)
returnValue	print (const int_t *const index, int_t n, const char *name)
returnValue	printCopyrightNotice ()
returnValue	readFromFile (real_t *data, int_t nrow, int_t ncol, const char *datafilename)
returnValue	readFromFile (real_t *data, int_t n, const char *datafilename)
returnValue	readFromFile (int_t *data, int_t n, const char *datafilename)
returnValue	writeIntoFile (const real_t *const data, int_t nrow, int_t ncol, const char *datafilename, BooleanType append)
returnValue	writeIntoFile (const real_t *const data, int_t n, const char *datafilename, BooleanType append)
returnValue	writeIntoFile (const int_t *const integer, int_t n, const char *datafilename, BooleanType append)
returnValue	writeIntoMatFile (FILE *const matFile, const real_t *const data, int_t nRows, int_t nCols, const char *name)
returnValue	writeIntoMatFile (FILE *const matFile, const int_t *const data, int_t nRows, int_t nCols, const char *name)

Function Documentation

returnValue convertBooleanTypeToString	(	BooleanType	value,
		char *const	string
	)

Writes a value of BooleanType into a string.

Returns

SUCCESSFUL_RETURN

Parameters

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

Definition at line 812 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue convertPrintLevelToString	(	PrintLevel	value,
		char *const	string
	)

Writes a value of PrintLevel into a string.

Returns

SUCCESSFUL_RETURN

Parameters

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

Definition at line 870 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue convertSubjectToStatusToString	(	SubjectToStatus	value,
		char *const	string
	)

Writes a value of SubjectToStatus into a string.

Returns

SUCCESSFUL_RETURN

Parameters

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

Definition at line 828 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

real_t getCPUtime

(

)

Returns the current system time.

Returns

current system time

Definition at line 581 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue getKktViolation	(	int_t	nV,
		int_t	nC,
		const real_t *const	H,
		const real_t *const	g,
		const real_t *const	A,
		const real_t *const	lb,
		const real_t *const	ub,
		const real_t *const	lbA,
		const real_t *const	ubA,
		const real_t *const	x,
		const real_t *const	y,
		real_t &	stat,
		real_t &	feas,
		real_t &	cmpl,
		const real_t *const	workingSetB = 0,
		const real_t *const	workingSetC = 0,
		BooleanType	hasIdentityHessian = BT_FALSE
	)

Computes the maximum violation of the KKT optimality conditions of given iterate for given QP data.

Parameters

nV	Number of variables.
nC	Number of constraints.
H	Hessian matrix (may be NULL if Hessian is zero or identity matrix).
g	Gradient vector.
A	Constraint matrix.
lb	Lower bound vector (on variables).
ub	Upper bound vector (on variables).
lbA	Lower constraints' bound vector.
ubA	Upper constraints' bound vector.
x	Primal trial vector.
y	Dual trial vector.
stat	Output: maximum value of stationarity condition residual.
feas	Output: maximum value of primal feasibility violation.
cmpl	Output: maximum value of complementarity residual.
workingSetB	Working set of bounds (used to determine active bounds).
workingSetC	Working set of constraints (used to determine active constraints).
hasIdentityHessian	Indicating whether Hessian matrix is identity matrix or not if NULL pointer is passed.

Definition at line 631 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue getKktViolation	(	int_t	nV,
		const real_t *const	H,
		const real_t *const	g,
		const real_t *const	lb,
		const real_t *const	ub,
		const real_t *const	x,
		const real_t *const	y,
		real_t &	stat,
		real_t &	feas,
		real_t &	cmpl,
		const real_t *const	workingSetB = 0,
		BooleanType	hasIdentityHessian = BT_FALSE
	)

Computes the maximum violation of the KKT optimality conditions of given iterate for given QP data.

Parameters

nV	Number of variables.
H	Hessian matrix (may be NULL if Hessian is zero or identity matrix).
g	Gradient vector.
lb	Lower bound vector (on variables).
ub	Upper bound vector (on variables).
x	Primal trial vector.
y	Dual trial vector.
stat	Output: maximum value of stationarity condition residual.
feas	Output: maximum value of primal feasibility violation.
cmpl	Output: maximum value of complementarity residual.
workingSetB	Working set of bounds (used to determine active bounds).
hasIdentityHessian	Indicating whether Hessian matrix is identity matrix or not if NULL pointer is passed

Definition at line 792 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

real_t getNorm	(	const real_t *const	v,
		int_t	n,
		int_t	type = 2
	)

Returns the N-norm of a vector.

Returns

>= 0.0: successful

Parameters

v	Vector.
n	Vector's dimension.
type	Norm type, 1: one-norm, 2: Euclidean norm.

Definition at line 603 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

int_t getSimpleStatus	(	returnValue	returnvalue,
		BooleanType	doPrintStatus = BT_FALSE
	)

Converts a returnValue from an (S)QProblem(B) object into a more simple status flag.

Returns

0: QP problem solved 1: QP could not be solved within given number of iterations -1: QP could not be solved due to an internal error -2: QP is infeasible (and thus could not be solved) -3: QP is unbounded (and thus could not be solved)

Parameters

returnvalue	ReturnValue to be analysed.
doPrintStatus	Flag indicating whether simple status shall be printed to screen.

Definition at line 912 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue myPrintf

(

const char *

s

)

Prints a string to desired output target (useful also for MATLAB output!).

Returns

SUCCESSFUL_RETURN

Parameters

s	String to be written.

Definition at line 225 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue normaliseConstraints	(	int_t	nV,
		int_t	nC,
		real_t *	A,
		real_t *	lbA,
		real_t *	ubA,
		int_t	type = 1
	)

Normalises QP constraints.

Returns

SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters

nV	Number of variables.
nC	Number of constraints.
A	Input: Constraint matrix, Output: Normalised constraint matrix.
lbA	Input: Constraints' lower bound vector, Output: Normalised constraints' lower bound vector.
ubA	Input: Constraints' upper bound vector, Output: Normalised constraints' upper bound vector.
type	Norm type, 1: one-norm, 2: Euclidean norm.

Definition at line 963 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

BEGIN_NAMESPACE_QPOASES returnValue print	(	const real_t *const	v,
		int	n,
		const char *	name
	)

Prints a named vector.

Returns

SUCCESSFUL_RETURN

Parameters

v	Vector to be printed.
n	Length of vector.
name	Name of vector.

Definition at line 76 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue print	(	const real_t *const	v,
		int_t	n,
		const int_t *const	V_idx,
		const char *	name = 0
	)

Prints a (possibly named) permuted vector.

Returns

SUCCESSFUL_RETURN

Parameters

v	Vector to be printed.
n	Length of vector.
V_idx	Pemutation vector.
name	Name of vector.

Definition at line 107 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue print	(	const real_t *const	M,
		int	nrow,
		int	ncol,
		const char *	name
	)

Prints a named matrix.

Returns

SUCCESSFUL_RETURN

Parameters

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.
name	Name of matrix.

Definition at line 138 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue print	(	const real_t *const	M,
		int_t	nrow,
		int_t	ncol,
		const int_t *const	ROW_idx,
		const int_t *const	COL_idx,
		const char *	name = 0
	)

Prints a (possibly named) permuted matrix.

Returns

SUCCESSFUL_RETURN

Parameters

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.
ROW_idx	Row pemutation vector.
COL_idx	Column pemutation vector.
name	Name of matrix.

Definition at line 166 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue print	(	const int *const	index,
		int	n,
		const char *	name
	)

Prints a named index array.

Returns

SUCCESSFUL_RETURN

Parameters

index	Index array to be printed.
n	Length of index array.
name	Name of index array.

Definition at line 194 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue printCopyrightNotice

(

)

Prints qpOASES copyright notice.

Returns

SUCCESSFUL_RETURN

Definition at line 255 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue readFromFile	(	real_t *	data,
		int	nrow,
		int	ncol,
		const char *	datafilename
	)

Reads a real_t matrix from file.

Returns

SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters

data	Matrix to be read from file.
nrow	Row number of matrix.
ncol	Column number of matrix.
datafilename	Data file name.

Definition at line 273 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue readFromFile	(	real_t *	data,
		int	n,
		const char *	datafilename
	)

Reads a real_t vector from file.

Returns

SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters

data	Vector to be read from file.
n	Length of vector.
datafilename	Data file name.

Definition at line 327 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue readFromFile	(	int *	data,
		int	n,
		const char *	datafilename
	)

Reads an integer (column) vector from file.

Returns

SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters

data	Vector to be read from file.
n	Length of vector.
datafilename	Data file name.

Definition at line 339 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue writeIntoFile	(	const real_t *const	data,
		int	nrow,
		int	ncol,
		const char *	datafilename,
		BooleanType	append
	)

Writes a real_t matrix into a file.

Returns

SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

data	Matrix to be written into file.
nrow	Row number of matrix.
ncol	Column number of matrix.
datafilename	Data file name.
append	Indicates if data shall be appended if the file already exists (otherwise it is overwritten).

Definition at line 388 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue writeIntoFile	(	const real_t *const	data,
		int	n,
		const char *	datafilename,
		BooleanType	append
	)

Writes a real_t vector into a file.

Returns

SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

data	Vector to be written into file.
n	Length of vector.
datafilename	Data file name.
append	Indicates if data shall be appended if the file already exists (otherwise it is overwritten).

Definition at line 444 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue writeIntoFile	(	const int *const	integer,
		int	n,
		const char *	datafilename,
		BooleanType	append
	)

Writes an integer (column) vector into a file.

Returns

SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters

integer	Integer vector to be written into file.
n	Length of vector.
datafilename	Data file name.
append	Indicates if integer shall be appended if the file already exists (otherwise it is overwritten).

Definition at line 455 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue writeIntoMatFile	(	FILE *const	matFile,
		const real_t *const	data,
		int_t	nRows,
		int_t	nCols,
		const char *	name
	)

Writes a real_t matrix/vector into a Matlab binary file.

Returns

SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE

Parameters

matFile	Pointer to Matlab binary file.
data	Data to be written into file.
nRows	Row number of matrix.
nCols	Column number of matrix.
name	Matlab name of matrix/vector to be stored.

Definition at line 507 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.

returnValue writeIntoMatFile	(	FILE *const	matFile,
		const int_t *const	data,
		int_t	nRows,
		int_t	nCols,
		const char *	name
	)

Writes in integer matrix/vector into a Matlab binary file.

Returns

SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE

Parameters

matFile	Pointer to Matlab binary file.
data	Data to be written into file.
nRows	Row number of matrix.
nCols	Column number of matrix.
name	Matlab name of matrix/vector to be stored.

Definition at line 559 of file external_packages/qpOASES-3.2.0/src/Utils.cpp.