qpOASES-3.0beta/include/qpOASES/SQProblem.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_SQPROBLEM_HPP
#define QPOASES_SQPROBLEM_HPP


#include <qpOASES/QProblem.hpp>


BEGIN_NAMESPACE_QPOASES


class SQProblem : public QProblem
{
        /* allow SolutionAnalysis class to access private members */
        friend class SolutionAnalysis;

        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                SQProblem( );

                SQProblem(      int _nV,                                                                
                                        int _nC,                                                                
                                        HessianType _hessianType = HST_UNKNOWN  
                                        );

                SQProblem(      const SQProblem& rhs    
                                        );

                virtual ~SQProblem( );

                SQProblem& operator=(   const SQProblem& rhs    
                                                                );


                returnValue hotstart(   const real_t* const H_new,      
                                                                const real_t* const g_new,      
                                                                const real_t* const A_new,      
                                                                const real_t* const lb_new,     
                                                                const real_t* const ub_new,     
                                                                const real_t* const lbA_new,
                                                                const real_t* const ubA_new,
                                                                int& nWSR,                                      
                                                                real_t* const cputime           
                                                                );

                returnValue hotstart(   const char* const H_file,       
                                                                const char* const g_file,       
                                                                const char* const A_file,       
                                                                const char* const lb_file,      
                                                                const char* const ub_file,      
                                                                const char* const lbA_file, 
                                                                const char* const ubA_file, 
                                                                int& nWSR,                                      
                                                                real_t* const cputime           
                                                                );

                returnValue hotstart(   SymmetricMatrix *H_new, 
                                                                const real_t* const g_new,      
                                                                Matrix *A_new,  
                                                                const real_t* const lb_new,     
                                                                const real_t* const ub_new,     
                                                                const real_t* const lbA_new,
                                                                const real_t* const ubA_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,             
                                                                const real_t* const lbA_new,    
                                                                const real_t* const ubA_new,    
                                                                int& nWSR,                                              
                                                                real_t* const cputime                   
                                                                );

                returnValue hotstart(   const char* const g_file,       
                                                                const char* const lb_file,      
                                                                const char* const ub_file,      
                                                                const char* const lbA_file, 
                                                                const char* const ubA_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,                                     
                                                                const real_t* const lbA_new,                            
                                                                const real_t* const ubA_new,                            
                                                                int& nWSR,                                                                      
                                                                real_t* const cputime,                                          
                                                                const Bounds* const guessedBounds,                      
                                                                const Constraints* const guessedConstraints     
                                                                );

                returnValue hotstart(   const char* const g_file,                                       
                                                                const char* const lb_file,                                      
                                                                const char* const ub_file,                                      
                                                                const char* const lbA_file,                             
                                                                const char* const ubA_file,                             
                                                                int& nWSR,                                                                      
                                                                real_t* const cputime,                                          
                                                                const Bounds* const guessedBounds,                      
                                                                const Constraints* const guessedConstraints     
                                                                );



                #ifdef __MATLAB__

                returnValue resetMatrixPointers( );
                #endif


        /*
         *      PROTECTED MEMBER FUNCTIONS
         */
        protected:
                virtual returnValue setupAuxiliaryQP(   const real_t* const H_new,      
                                                                                                const real_t* const A_new       
                                                                                                );

                virtual returnValue setupAuxiliaryQP(   SymmetricMatrix *H_new,         
                                                                                                Matrix *A_new                           
                                                                                                );

        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:

};


END_NAMESPACE_QPOASES

#include <qpOASES/SQProblem.ipp>

#endif  /* QPOASES_SQPROBLEM_HPP */


/*
 *      end of file
 */