external_packages/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp
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1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
6  *
7  * qpOASES is free software; you can redistribute it and/or
8  * modify it under the terms of the GNU Lesser General Public
9  * License as published by the Free Software Foundation; either
10  * version 2.1 of the License, or (at your option) any later version.
11  *
12  * qpOASES is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15  * Lesser General Public License for more details.
16  *
17  * You should have received a copy of the GNU Lesser General Public
18  * License along with qpOASES; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 
34 //
35 
36 #ifndef QPOASES_SOLUTIONANALYSIS_HPP
37 #define QPOASES_SOLUTIONANALYSIS_HPP
38 
39 #include <QProblem.hpp>
40 
42 #define QPOASES_USE_OLD_VERSION 0
43 
44 #if QPOASES_USE_OLD_VERSION
45 #define KKT_DIM (2 * NVMAX + NCMAX)
46 #endif
47 
48 class SolutionAnalysis
49 {
50 public:
51 
54 
57  );
58 
61 
64  );
65 
68  QProblem* qp,
69  real_t* hessianInverse
70  );
71 
74  real_t* hessianInverse
75  );
76 
77 #if QPOASES_USE_OLD_VERSION
79  QProblem* qp,
80  real_t* g_b_bA_VAR,
81  real_t* Primal_Dual_VAR
82  );
83 #endif
84 
85 private:
86 
93 #if QPOASES_USE_OLD_VERSION
94  real_t K[KKT_DIM * KKT_DIM];
95 #endif
96 
97  int FR_idx[ NVMAX ];
98  int FX_idx[ NVMAX ];
99  int AC_idx[ NCMAX_ALLOC ];
101  real_t delta_xFR[ NVMAX ];
102  real_t delta_xFX[ NVMAX ];
103  real_t delta_yAC[ NVMAX ];
104  real_t delta_yFX[ NVMAX ];
105 };
106 
107 #endif // QPOASES_SOLUTIONANALYSIS_HPP
Implements the online active set strategy for box-constrained QPs.
Allows to pass back messages to the calling function.
void rhs(const real_t *x, real_t *f)
returnValue getVarianceCovariance(QProblemB *qp, real_t *g_b_bA_VAR, real_t *Primal_Dual_VAR) const
double real_t
Definition: AD_test.c:10
Implements the online active set strategy for QPs with general constraints.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:06