37 #include <qpOASES/SQProblem.hpp> 136 guessedBounds,guessedConstraints
182 guessedBounds,guessedConstraints
198 const char*
const lb_file,
const char*
const ub_file,
199 const char*
const lbA_file,
const char*
const ubA_file,
210 if ( ( H_file == 0 ) || ( g_file == 0 ) )
213 if ( ( nC > 0 ) && ( A_file == 0 ) )
243 g_new,lb_new,ub_new,lbA_new,ubA_new
263 returnvalue =
hotstart( H_new,g_new,A_new,lb_new,ub_new,lbA_new,ubA_new,
265 guessedBounds,guessedConstraints
295 return QProblem::hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,cputime, guessedBounds,guessedConstraints );
303 const char*
const lb_file,
const char*
const ub_file,
304 const char*
const lbA_file,
const char*
const ubA_file,
310 return QProblem::hotstart( g_file,lb_file,ub_file,lbA_file,ubA_file, nWSR,cputime, guessedBounds,guessedConstraints );
362 for ( i=0; i<nC; ++i )
372 for ( i=0; i<nC; ++i )
379 for ( i=0; i<nC; ++i )
434 for (n_try = 0; n_try < 2; ++n_try) {
439 for (
int_t ii = 0; ii < nV; ++ii)
463 for (
int_t ii = 0; ii < nC; ++ii) {
473 for (
int_t ii = 0; ii < nV; ++ii) {
501 for (
int_t ii = 0; ii < nC; ++ii)
Manages working sets of constraints.
returnValue setupAuxiliaryQPgradient()
Implements the online active set strategy for QPs with varying matrices.
Allows to pass back messages to the calling function.
returnValue determineHessianType()
Interfaces matrix-vector operations tailored to symmetric dense matrices.
returnValue setH(const real_t *const H_new)
#define THROWERROR(retval)
SQProblem & operator=(const SQProblem &rhs)
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)
BooleanType freeConstraintMatrix
returnValue setupAllInactive()
returnValue readFromFile(real_t *data, int nrow, int ncol, const char *datafilename)
BooleanType usingRegularisation() const
returnValue setupSubjectToType()
SubjectToStatus getStatus(int i) const
Interfaces matrix-vector operations tailored to general dense matrices.
virtual returnValue computeProjectedCholesky()
returnValue setupAuxiliaryQPbounds(const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType useRelaxation)
returnValue setupAllFree()
real_t A[NCMAX_ALLOC *NVMAX]
Abstract base class for interfacing tailored matrix-vector operations.
returnValue regulariseHessian()
returnValue loadQPvectorsFromFile(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, real_t *const g_new, real_t *const lb_new, real_t *const ub_new, real_t *const lbA_new, real_t *const ubA_new) const
void rhs(const real_t *x, real_t *f)
#define END_NAMESPACE_QPOASES
SubjectToType getType(int i) const
QProblemStatus getStatus() const
returnValue setStatus(int i, SubjectToStatus value)
virtual returnValue setupNewAuxiliaryQP(SymmetricMatrix *H_new, Matrix *A_new, const real_t *lb_new, const real_t *ub_new, const real_t *lbA_new, const real_t *ubA_new)
Manages working sets of bounds (= box constraints).
#define BEGIN_NAMESPACE_QPOASES
Implements the online active set strategy for QPs with general constraints.
returnValue setupAuxiliaryWorkingSet(const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType setupAfresh)
QProblem & operator=(const QProblem &rhs)
returnValue setA(const real_t *const A_new)
returnValue setupTQfactorisation()
SubjectToStatus initialStatusBounds
Abstract base class for interfacing matrix-vector operations tailored to symmetric matrices...
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)