qpOASES-3.2.0/include/qpOASES/Options.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 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_OPTIONS_HPP
#define QPOASES_OPTIONS_HPP


#include <qpOASES/Utils.hpp>


BEGIN_NAMESPACE_QPOASES


class Options
{
        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                Options( );

                Options(        const Options& rhs                      
                                        );

                ~Options( );

                Options& operator=(     const Options& rhs      
                                                        );


                returnValue setToDefault( );

                returnValue setToReliable( );

                returnValue setToMPC( );

                returnValue setToFast( );


                returnValue ensureConsistency( );


                returnValue print( ) const;


        /*
         *      PROTECTED MEMBER FUNCTIONS
         */
        protected:

                returnValue copy(       const Options& rhs      
                                                        );

        /*
         *      PUBLIC MEMBER VARIABLES
         */
        public:
                PrintLevel printLevel;                                  
                BooleanType enableRamping;                              
                BooleanType enableFarBounds;                    
                BooleanType enableFlippingBounds;               
                BooleanType enableRegularisation;               
                BooleanType enableFullLITests;                  
                BooleanType enableNZCTests;                             
                int_t enableDriftCorrection;                    
                int_t enableCholeskyRefactorisation;    
                BooleanType enableEqualities;                   
                real_t terminationTolerance;                    
                real_t boundTolerance;                                  
                real_t boundRelaxation;                                 
                real_t epsNum;                                                  
                real_t epsDen;                                                  
                real_t maxPrimalJump;                                   
                real_t maxDualJump;                                             
                real_t initialRamping;                                  
                real_t finalRamping;                                    
                real_t initialFarBounds;                                
                real_t growFarBounds;                                   
                SubjectToStatus initialStatusBounds;    
                real_t epsFlipping;                                             
                int_t numRegularisationSteps;                   
                real_t epsRegularisation;                               
                int_t numRefinementSteps;                               
                real_t epsIterRef;                                              
                real_t epsLITests;                                              
                real_t epsNZCTests;                                             
                real_t rcondSMin;                                               
                BooleanType enableInertiaCorrection;    
                BooleanType enableDropInfeasibles;              
                int_t dropBoundPriority;                                
        int_t dropEqConPriority;                                
        int_t dropIneqConPriority;                              
};


END_NAMESPACE_QPOASES


#endif  /* QPOASES_OPTIONS_HPP */


/*
 *      end of file
 */