qp_solver_qpoases.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit 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 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit 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 ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_QP_SOLVER_QPOASES_HPP
#define ACADO_TOOLKIT_QP_SOLVER_QPOASES_HPP


#include <acado/conic_solver/dense_qp_solver.hpp>

namespace qpOASES
{
        class SQProblem;
}

BEGIN_NAMESPACE_ACADO

class QPsolver_qpOASES : public DenseQPsolver
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:
        QPsolver_qpOASES( );
                
        QPsolver_qpOASES(       UserInteraction* _userInteraction
                                                        );

        QPsolver_qpOASES( const QPsolver_qpOASES& rhs );

        virtual ~QPsolver_qpOASES( );

        QPsolver_qpOASES& operator=( const QPsolver_qpOASES& rhs );


        virtual DenseCPsolver* clone( ) const;

        virtual DenseQPsolver* cloneDenseQPsolver( ) const;


        virtual returnValue solve( DenseCP *cp_  );


        virtual returnValue solve(      double* H,      
                                                                        double* A,      
                                                                        double* g,      
                                                                        double* lb,     
                                                                        double* ub,     
                                                                        double* lbA,    
                                                                        double* ubA,    
                                                                        uint maxIter            
                                                                        );

        virtual returnValue solve(  DMatrix *H,    
                                    DMatrix *A,    
                                    DVector *g,    
                                    DVector *lb,   
                                    DVector *ub,   
                                    DVector *lbA,  
                                    DVector *ubA,  
                                    uint maxIter        
                                                                        );


        virtual returnValue step(       double* H,              
                                                                        double* A,              
                                                                        double* g,              
                                                                        double* lb,             
                                                                        double* ub,             
                                                                        double* lbA,    
                                                                        double* ubA     
                                                                        );

        virtual returnValue step(       DMatrix *H,    
                                    DMatrix *A,    
                                    DVector *g,    
                                    DVector *lb,   
                                    DVector *ub,   
                                    DVector *lbA,  
                                    DVector *ubA   
                                                                        );


                virtual returnValue getPrimalSolution(  DVector& xOpt   
                                                                                                ) const;

                virtual returnValue getDualSolution(    DVector& yOpt   
                                                                                                ) const;

                virtual double getObjVal( ) const;


                virtual uint getNumberOfVariables( ) const;
                virtual uint getNumberOfConstraints( ) const;


        virtual returnValue getVarianceCovariance( DMatrix &var );


        virtual returnValue getVarianceCovariance( DMatrix &H, DMatrix &var );



    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:
        virtual returnValue setupQPobject(      uint nV,        
                                                                                        uint nC         
                                                                                        );

                returnValue updateQPstatus(     int ret
                                                                        );



    //
    // DATA MEMBERS:
    //
    protected:
                qpOASES::SQProblem* qp;
};


CLOSE_NAMESPACE_ACADO


#include <acado/bindings/acado_qpoases/qp_solver_qpoases.ipp>


#endif  // ACADO_TOOLKIT_QP_SOLVER_QPOASES_HPP

/*
 *      end of file
 */