Manages all user-specified options for solving QPs. More...
#include <qpOASES_wrapper.h>
Manages all user-specified options for solving QPs.
This struct manages all user-specified options used for solving quadratic programs.
Definition at line 113 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::boundRelaxation |
Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds.
Definition at line 130 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::boundTolerance |
Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint).
Definition at line 128 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::dropBoundPriority |
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Definition at line 153 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::dropEqConPriority |
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Definition at line 154 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::dropIneqConPriority |
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Definition at line 155 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableCholeskyRefactorisation |
Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates).
Definition at line 124 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableDriftCorrection |
Specifies the frequency of drift corrections (0 = off).
Definition at line 123 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableDropInfeasibles |
...
Definition at line 152 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableEqualities |
Specifies whether equalities shall be always treated as active constraints.
Definition at line 125 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableFarBounds |
Specifies whether far bounds shall be used or not.
Definition at line 118 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableFlippingBounds |
Specifies whether flipping bounds shall be used or not.
Definition at line 119 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableFullLITests |
Specifies whether condition-hardened LI test shall be used or not.
Definition at line 121 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableInertiaCorrection |
Specifies whether the working set should be repaired when negative curvature is discovered during hotstart.
Definition at line 150 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableNZCTests |
Specifies whether nonzero curvature tests shall be used.
Definition at line 122 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableRamping |
Specifies whether ramping shall be enabled or not.
Definition at line 117 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::enableRegularisation |
Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected.
Definition at line 120 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsDen |
Denominator tolerance for ratio tests.
Definition at line 132 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsFlipping |
Tolerance of squared Cholesky diagonal factor which triggers flipping bound.
Definition at line 141 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsIterRef |
Early termination tolerance for iterative refinement.
Definition at line 145 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsLITests |
Tolerance for linear independence tests.
Definition at line 146 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsNum |
Numerator tolerance for ratio tests.
Definition at line 131 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsNZCTests |
Tolerance for nonzero curvature tests.
Definition at line 147 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::epsRegularisation |
Scaling factor of identity matrix used for Hessian regularisation.
Definition at line 143 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::finalRamping |
Final value for Ramping Strategy.
Definition at line 137 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::growFarBounds |
Factor to grow Far Bounds.
Definition at line 139 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::initialFarBounds |
Initial size of Far Bounds.
Definition at line 138 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::initialRamping |
Start value for Ramping Strategy.
Definition at line 136 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::initialStatusBounds |
Initial status of bounds at first iteration.
Definition at line 140 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::maxDualJump |
Maximum allowed jump in dual variables in linear independence tests.
Definition at line 134 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::maxPrimalJump |
Maximum allowed jump in primal variables in nonzero curvature tests.
Definition at line 133 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::numRefinementSteps |
Maximum number of iterative refinement steps.
Definition at line 144 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::numRegularisationSteps |
Maximum number of successive regularisation steps.
Definition at line 142 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::printLevel |
Print level.
Definition at line 115 of file qpOASES_wrapper.h.
| int_t qpOASES_Options::printResiduals |
If true, it will print the internal qpOASES residuals and other information per iteration
Definition at line 156 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::rcondSMin |
Minimum reciprocal condition number of S before refactorization is triggered
Definition at line 149 of file qpOASES_wrapper.h.
| real_t qpOASES_Options::terminationTolerance |
Termination tolerance.
Definition at line 127 of file qpOASES_wrapper.h.