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Classes
struct	MatMatrixHeader
	Struct containing the variable header for mat file. More...

struct	TabularOutput
	Stores internal information for tabular (debugging) output. More...

Macros
#define	__ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

#define	BEGIN_NAMESPACE_QPOASES

#define	END_NAMESPACE_QPOASES

#define	inline

#define	myStatic static

#define	QQ(I, J) _THIS->Q[(I)+NVMAX*(J)]

#define	REFER_NAMESPACE_QPOASES /::/

#define	RR(I, J) _THIS->R[(I)+NVMAX*(J)]

#define	TT(I, J) _THIS->T[(I)*NVCMIN+(J)]

#define	USING_NAMESPACE_QPOASES

Enumerations
enum	BooleanType { BT_FALSE, BT_TRUE, BT_FALSE, BT_TRUE, BT_FALSE, BT_TRUE, BT_FALSE, BT_TRUE, BT_FALSE = 0, BT_TRUE }

enum	HessianType { HST_SEMIDEF, HST_POSDEF_NULLSPACE, HST_POSDEF, HST_IDENTITY, HST_SEMIDEF, HST_POSDEF_NULLSPACE, HST_POSDEF, HST_IDENTITY, HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_UNKNOWN, HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_INDEF, HST_UNKNOWN, HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_INDEF, HST_UNKNOWN }

enum	PrintLevel { NONE, LOW, MEDIUM, HIGH, DEBUG, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_TABULAR = -1, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH }

enum	QProblemStatus { QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED, QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED }

enum	SubjectToStatus { ST_INACTIVE, ST_LOWER, ST_UPPER, ST_UNDEFINED, ST_INACTIVE, ST_LOWER, ST_UPPER, ST_UNDEFINED, ST_INACTIVE, ST_LOWER, ST_UPPER, ST_UNDEFINED, ST_LOWER = -1, ST_INACTIVE, ST_UPPER, ST_INFEASIBLE_LOWER, ST_INFEASIBLE_UPPER, ST_UNDEFINED, ST_LOWER = -1, ST_INACTIVE, ST_UPPER, ST_INFEASIBLE_LOWER, ST_INFEASIBLE_UPPER, ST_UNDEFINED }

enum	SubjectToType { ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_DISABLED, ST_UNKNOWN, ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_DISABLED, ST_UNKNOWN }

enum	VisibilityStatus { VS_VISIBLE, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_VISIBLE, VS_HIDDEN, VS_VISIBLE }

Variables
BEGIN_NAMESPACE_QPOASES typedef double	real_t

Detailed Description

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.1embedded

Date: 2007-2015

Declaration of all non-built-in types (except for classes).

Definition in file Types.h.

Macro Definition Documentation

◆ __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

Forces to always include all implicitly fixed bounds and all equality constraints into the initial working set when setting up an auxiliary QP.

Definition at line 63 of file Types.h.

◆ BEGIN_NAMESPACE_QPOASES

#define BEGIN_NAMESPACE_QPOASES

Macro for switching on/off the beginning of the qpOASES namespace definition.

Definition at line 132 of file Types.h.

◆ END_NAMESPACE_QPOASES

#define END_NAMESPACE_QPOASES

Macro for switching on/off the end of the qpOASES namespace definition.

Definition at line 135 of file Types.h.

◆ inline

#define inline

Definition at line 109 of file Types.h.

◆ myStatic

#define myStatic static

Definition at line 103 of file Types.h.

◆ QQ

#define QQ	(	I,
		J
	)	_THIS->Q[(I)+NVMAX*(J)]

Macro for accessing the orthonormal matrix Q of the QT factorisation.

Definition at line 148 of file Types.h.

◆ REFER_NAMESPACE_QPOASES

#define REFER_NAMESPACE_QPOASES /*::*/

Macro for switching on/off references to the qpOASES namespace.

Definition at line 141 of file Types.h.

◆ RR

#define RR	(	I,
		J
	)	_THIS->R[(I)+NVMAX*(J)]

Macro for accessing the Cholesky factor R.

Definition at line 145 of file Types.h.

◆ TT

#define TT	(	I,
		J
	)	_THIS->T[(I)*NVCMIN+(J)]

Macro for accessing the triangular matrix T of the QT factorisation.

Definition at line 151 of file Types.h.

◆ USING_NAMESPACE_QPOASES

#define USING_NAMESPACE_QPOASES

Macro for switching on/off the use of the qpOASES namespace.

Definition at line 138 of file Types.h.

Enumeration Type Documentation

◆ BooleanType

enum BooleanType

Summarises all possible logical values.

Enumerator
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".
BT_FALSE	Logical value for "false".
BT_TRUE	Logical value for "true".

Definition at line 172 of file Types.h.

◆ HessianType

enum HessianType

Summarises all possible types of the QP's Hessian matrix.

Enumerator
HST_SEMIDEF	Hessian is positive semi-definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_IDENTITY	Hessian is identity matrix.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_IDENTITY	Hessian is identity matrix.
HST_ZERO	Hessian is zero matrix (i.e. LP formulation).
HST_IDENTITY	Hessian is identity matrix.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_UNKNOWN	Hessian type is unknown.
HST_ZERO	Hessian is zero matrix (i.e. LP formulation).
HST_IDENTITY	Hessian is identity matrix.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_INDEF	Hessian is indefinite.
HST_UNKNOWN	Hessian type is unknown.
HST_ZERO	Hessian is zero matrix (i.e. LP formulation).
HST_IDENTITY	Hessian is identity matrix.
HST_POSDEF	Hessian is (strictly) positive definite.
HST_POSDEF_NULLSPACE	Hessian is positive definite on null space of active bounds/constraints.
HST_SEMIDEF	Hessian is positive semi-definite.
HST_INDEF	Hessian is indefinite.
HST_UNKNOWN	Hessian type is unknown.

Definition at line 217 of file Types.h.

◆ PrintLevel

enum PrintLevel

Summarises all possible print levels. Print levels are used to describe the desired amount of output during runtime of qpOASES.

Enumerator
NONE	No output.
LOW	Print error messages only.
MEDIUM	Print error and warning messages as well as concise info messages.
HIGH	Print all messages with full details.
DEBUG	Print all messages with full details as well * all ugly messages that might be helpful for * debugging the code.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_TABULAR	Tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Normal tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.

Definition at line 181 of file Types.h.

◆ QProblemStatus

enum QProblemStatus

Summarises all possible states of the (S)QProblem(B) object during the solution process of a QP sequence.

Enumerator
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.
QPS_NOTINITIALISED	QProblem object is freshly instantiated or reset.
QPS_PREPARINGAUXILIARYQP	An auxiliary problem is currently setup, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_AUXILIARYQPSOLVED	An auxilary problem was solved, either at the very beginning via an initial homotopy or after changing the QP matrices.
QPS_PERFORMINGHOMOTOPY	A homotopy according to the main idea of the online active set strategy is performed.
QPS_HOMOTOPYQPSOLVED	An intermediate QP along the homotopy path was solved.
QPS_SOLVED	The solution of the actual QP was found.

Definition at line 202 of file Types.h.

◆ SubjectToStatus

enum SubjectToStatus

Summarises all possible states of bounds and constraints.

Enumerator
ST_INACTIVE	Bound/constraint is inactive.
ST_LOWER	Bound/constraint is at its lower bound.
ST_UPPER	Bound/constraint is at its upper bound.
ST_UNDEFINED	Status of bound/constraint undefined.
ST_INACTIVE	Bound/constraint is inactive.
ST_LOWER	Bound/constraint is at its lower bound.
ST_UPPER	Bound/constraint is at its upper bound.
ST_UNDEFINED	Status of bound/constraint undefined.
ST_INACTIVE	Bound/constraint is inactive.
ST_LOWER	Bound/constraint is at its lower bound.
ST_UPPER	Bound/constraint is at its upper bound.
ST_UNDEFINED	Status of bound/constraint undefined.
ST_LOWER	Bound/constraint is at its lower bound.
ST_INACTIVE	Bound/constraint is inactive.
ST_UPPER	Bound/constraint is at its upper bound.
ST_INFEASIBLE_LOWER	(to be documented)
ST_INFEASIBLE_UPPER	(to be documented)
ST_UNDEFINED	Status of bound/constraint undefined.
ST_LOWER	Bound/constraint is at its lower bound.
ST_INACTIVE	Bound/constraint is inactive.
ST_UPPER	Bound/constraint is at its upper bound.
ST_INFEASIBLE_LOWER	(to be documented)
ST_INFEASIBLE_UPPER	(to be documented)
ST_UNDEFINED	Status of bound/constraint undefined.

Definition at line 241 of file Types.h.

◆ SubjectToType

enum SubjectToType

Summarises all possible types of bounds and constraints.

Enumerator
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_DISABLED	Bound/constraint is disabled (i.e. ignored when solving QP).
ST_UNKNOWN	Type of bound/constraint unknown.
ST_UNBOUNDED	Bound/constraint is unbounded.
ST_BOUNDED	Bound/constraint is bounded but not fixed.
ST_EQUALITY	Bound/constraint is fixed (implicit equality bound/constraint).
ST_DISABLED	Bound/constraint is disabled (i.e. ignored when solving QP).
ST_UNKNOWN	Type of bound/constraint unknown.

Definition at line 230 of file Types.h.

◆ VisibilityStatus

enum VisibilityStatus

Defines visibility status of a message.

Enumerator
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.
VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.

Definition at line 193 of file Types.h.

Variable Documentation

◆ real_t

BEGIN_NAMESPACE_QPOASES typedef double real_t

Defines real_t for facilitating switching between double and float.

Definition at line 165 of file Types.h.

Classes

Macros

Enumerations

Variables