Manages all user-specified options for solving QPs. More...

#include <qpOASES_wrapper.h>

Public Attributes
real_t	boundRelaxation

real_t	boundTolerance

int_t	dropBoundPriority

int_t	dropEqConPriority

int_t	dropIneqConPriority

int_t	enableCholeskyRefactorisation

int_t	enableDriftCorrection

int_t	enableDropInfeasibles

int_t	enableEqualities

int_t	enableFarBounds

int_t	enableFlippingBounds

int_t	enableFullLITests

int_t	enableInertiaCorrection

int_t	enableNZCTests

int_t	enableRamping

int_t	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

int_t	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int_t	numRefinementSteps

int_t	numRegularisationSteps

int_t	printLevel

int_t	printResiduals

real_t	rcondSMin

real_t	terminationTolerance

Detailed Description

Manages all user-specified options for solving QPs.

This struct manages all user-specified options used for solving quadratic programs.

Author: Hans Joachim Ferreau

Version: 3.2

Date: 2014-2015

Definition at line 113 of file qpOASES_wrapper.h.

Member Data Documentation

◆ boundRelaxation

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.

◆ boundTolerance

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.

◆ dropBoundPriority

int_t qpOASES_Options::dropBoundPriority

...

Definition at line 153 of file qpOASES_wrapper.h.

◆ dropEqConPriority

int_t qpOASES_Options::dropEqConPriority

...

Definition at line 154 of file qpOASES_wrapper.h.

◆ dropIneqConPriority

int_t qpOASES_Options::dropIneqConPriority

...

Definition at line 155 of file qpOASES_wrapper.h.

◆ enableCholeskyRefactorisation

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.

◆ enableDriftCorrection

int_t qpOASES_Options::enableDriftCorrection

Specifies the frequency of drift corrections (0 = off).

Definition at line 123 of file qpOASES_wrapper.h.

◆ enableDropInfeasibles

int_t qpOASES_Options::enableDropInfeasibles

...

Definition at line 152 of file qpOASES_wrapper.h.

◆ enableEqualities

int_t qpOASES_Options::enableEqualities

Specifies whether equalities shall be always treated as active constraints.

Definition at line 125 of file qpOASES_wrapper.h.

◆ enableFarBounds

int_t qpOASES_Options::enableFarBounds

Specifies whether far bounds shall be used or not.

Definition at line 118 of file qpOASES_wrapper.h.

◆ enableFlippingBounds

int_t qpOASES_Options::enableFlippingBounds

Specifies whether flipping bounds shall be used or not.

Definition at line 119 of file qpOASES_wrapper.h.

◆ enableFullLITests

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.

◆ enableInertiaCorrection

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.

◆ enableNZCTests

int_t qpOASES_Options::enableNZCTests

Specifies whether nonzero curvature tests shall be used.

Definition at line 122 of file qpOASES_wrapper.h.

◆ enableRamping

int_t qpOASES_Options::enableRamping

Specifies whether ramping shall be enabled or not.

Definition at line 117 of file qpOASES_wrapper.h.

◆ enableRegularisation

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.

◆ epsDen

real_t qpOASES_Options::epsDen

Denominator tolerance for ratio tests.

Definition at line 132 of file qpOASES_wrapper.h.

◆ epsFlipping

real_t qpOASES_Options::epsFlipping

Tolerance of squared Cholesky diagonal factor which triggers flipping bound.

Definition at line 141 of file qpOASES_wrapper.h.

◆ epsIterRef

real_t qpOASES_Options::epsIterRef

Early termination tolerance for iterative refinement.

Definition at line 145 of file qpOASES_wrapper.h.

◆ epsLITests

real_t qpOASES_Options::epsLITests

Tolerance for linear independence tests.

Definition at line 146 of file qpOASES_wrapper.h.

◆ epsNum

real_t qpOASES_Options::epsNum

Numerator tolerance for ratio tests.

Definition at line 131 of file qpOASES_wrapper.h.

◆ epsNZCTests

real_t qpOASES_Options::epsNZCTests

Tolerance for nonzero curvature tests.

Definition at line 147 of file qpOASES_wrapper.h.

◆ epsRegularisation

real_t qpOASES_Options::epsRegularisation

Scaling factor of identity matrix used for Hessian regularisation.

Definition at line 143 of file qpOASES_wrapper.h.

◆ finalRamping

real_t qpOASES_Options::finalRamping

Final value for Ramping Strategy.

Definition at line 137 of file qpOASES_wrapper.h.

◆ growFarBounds

real_t qpOASES_Options::growFarBounds

Factor to grow Far Bounds.

Definition at line 139 of file qpOASES_wrapper.h.

◆ initialFarBounds

real_t qpOASES_Options::initialFarBounds

Initial size of Far Bounds.

Definition at line 138 of file qpOASES_wrapper.h.

◆ initialRamping

real_t qpOASES_Options::initialRamping

Start value for Ramping Strategy.

Definition at line 136 of file qpOASES_wrapper.h.

◆ initialStatusBounds

int_t qpOASES_Options::initialStatusBounds

Initial status of bounds at first iteration.

Definition at line 140 of file qpOASES_wrapper.h.

◆ maxDualJump

real_t qpOASES_Options::maxDualJump

Maximum allowed jump in dual variables in linear independence tests.

Definition at line 134 of file qpOASES_wrapper.h.

◆ maxPrimalJump

real_t qpOASES_Options::maxPrimalJump

Maximum allowed jump in primal variables in nonzero curvature tests.

Definition at line 133 of file qpOASES_wrapper.h.

◆ numRefinementSteps

int_t qpOASES_Options::numRefinementSteps

Maximum number of iterative refinement steps.

Definition at line 144 of file qpOASES_wrapper.h.

◆ numRegularisationSteps

int_t qpOASES_Options::numRegularisationSteps

Maximum number of successive regularisation steps.

Definition at line 142 of file qpOASES_wrapper.h.

◆ printLevel

int_t qpOASES_Options::printLevel

Print level.

Definition at line 115 of file qpOASES_wrapper.h.

◆ printResiduals

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.

◆ rcondSMin

real_t qpOASES_Options::rcondSMin

Minimum reciprocal condition number of S before refactorization is triggered

Definition at line 149 of file qpOASES_wrapper.h.

◆ terminationTolerance

real_t qpOASES_Options::terminationTolerance

Termination tolerance.

Definition at line 127 of file qpOASES_wrapper.h.

The documentation for this struct was generated from the following file:

qpOASES_wrapper.h

Public Attributes