Public Member Functions | Protected Member Functions | Protected Attributes | Friends
QProblem Class Reference

Implements the online active set strategy for QPs with general constraints. More...

#include <QProblem.hpp>

Inheritance diagram for QProblem:
Inheritance graph
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List of all members.

Public Member Functions

returnValue getA (real_t *const _A) const
returnValue getA (int number, real_t *const row) const
returnValue getA (real_t *const _A) const
returnValue getA (int number, real_t *const row) const
returnValue getConstraints (Constraints *const _constraints) const
returnValue getConstraints (Constraints *const _constraints) const
returnValue getConstraints (Constraints &_constraints) const
returnValue getDualSolution (real_t *const yOpt) const
returnValue getDualSolution (real_t *const yOpt) const
virtual returnValue getDualSolution (real_t *const yOpt) const
returnValue getLBA (real_t *const _lbA) const
returnValue getLBA (int number, real_t &value) const
returnValue getLBA (real_t *const _lbA) const
returnValue getLBA (int number, real_t &value) const
int getNAC ()
int getNAC ()
int getNAC () const
int getNC () const
int getNC () const
int getNC () const
int getNEC () const
int getNEC () const
int getNEC () const
int getNIAC ()
int getNIAC ()
int getNIAC () const
int getNZ ()
int getNZ ()
virtual int getNZ () const
returnValue getUBA (real_t *const _ubA) const
returnValue getUBA (int number, real_t &value) const
returnValue getUBA (real_t *const _ubA) const
returnValue getUBA (int number, real_t &value) const
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)
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)
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)
returnValue hotstart (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, int &nWSR, real_t *const cputime)
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, const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
returnValue hotstart (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, int &nWSR, real_t *const cputime, const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
returnValue init (const real_t *const _H, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, const real_t *const yOpt=0, real_t *const cputime=0)
returnValue init (const real_t *const _H, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, const real_t *const yOpt=0, real_t *const cputime=0)
returnValue init (SymmetricMatrix *_H, const real_t *const _g, Matrix *_A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, real_t *const cputime)
returnValue init (const real_t *const _H, const real_t *const _R, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, const real_t *const yOpt=0, real_t *const cputime=0)
returnValue init (const real_t *const _H, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, real_t *const cputime)
returnValue init (const char *const H_file, const char *const g_file, const char *const A_file, const char *const lb_file, const char *const ub_file, const char *const lbA_file, const char *const ubA_file, int &nWSR, real_t *const cputime)
returnValue init (SymmetricMatrix *_H, const real_t *const _g, Matrix *_A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, real_t *const cputime, const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
returnValue init (const real_t *const _H, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int &nWSR, real_t *const cputime, const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
returnValue init (const char *const H_file, const char *const g_file, const char *const A_file, const char *const lb_file, const char *const ub_file, const char *const lbA_file, const char *const ubA_file, int &nWSR, real_t *const cputime, const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
QProblemoperator= (const QProblem &rhs)
QProblemoperator= (const QProblem &rhs)
QProblemoperator= (const QProblem &rhs)
virtual returnValue printProperties ()
 QProblem ()
 QProblem ()
 QProblem (int _nV, int _nC)
 QProblem (int _nV, int _nC)
 QProblem ()
 QProblem (const QProblem &rhs)
 QProblem (const QProblem &rhs)
 QProblem (int _nV, int _nC, HessianType _hessianType=HST_UNKNOWN)
 QProblem (const QProblem &rhs)
returnValue reset ()
returnValue reset ()
virtual returnValue reset ()
returnValue setConstraintProduct (ConstraintProduct *const _constraintProduct)
returnValue solveCurrentEQP (const int n_rhs, const real_t *g_in, const real_t *lb_in, const real_t *ub_in, const real_t *lbA_in, const real_t *ubA_in, real_t *x_out, real_t *y_out)
 ~QProblem ()
 ~QProblem ()
virtual ~QProblem ()

Protected Member Functions

returnValue addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
returnValue addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky)
returnValue addBound (int number, SubjectToStatus B_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
returnValue addBound_checkLI (int number)
returnValue addBound_checkLI (int number)
returnValue addBound_checkLI (int number)
returnValue addBound_ensureLI (int number, SubjectToStatus B_status)
returnValue addBound_ensureLI (int number, SubjectToStatus B_status)
returnValue addBound_ensureLI (int number, SubjectToStatus B_status)
returnValue addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky)
returnValue addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky)
returnValue addConstraint (int number, SubjectToStatus C_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
returnValue addConstraint_checkLI (int number)
returnValue addConstraint_checkLI (int number)
returnValue addConstraint_checkLI (int number)
returnValue addConstraint_ensureLI (int number, SubjectToStatus C_status)
returnValue addConstraint_ensureLI (int number, SubjectToStatus C_status)
returnValue addConstraint_ensureLI (int number, SubjectToStatus C_status)
BooleanType areBoundsConsistent (const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_lbA, const real_t *const delta_ubA) const
BooleanType areBoundsConsistent (const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_lbA, const real_t *const delta_ubA) const
returnValue backsolveR (const real_t *const b, BooleanType transposed, real_t *const a)
returnValue backsolveR (const real_t *const b, BooleanType transposed, BooleanType removingBound, real_t *const a)
returnValue backsolveR (const real_t *const b, BooleanType transposed, real_t *const a)
returnValue backsolveR (const real_t *const b, BooleanType transposed, BooleanType removingBound, real_t *const a)
returnValue backsolveT (const real_t *const b, BooleanType transposed, real_t *const a)
returnValue backsolveT (const real_t *const b, BooleanType transposed, real_t *const a)
returnValue backsolveT (const real_t *const b, BooleanType transposed, real_t *const a) const
returnValue changeActiveSet (int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
returnValue checkKKTconditions ()
returnValue checkKKTconditions ()
returnValue clear ()
returnValue computeInitialCholesky ()
returnValue copy (const QProblem &rhs)
returnValue determineDataShift (const real_t *const g_new, const real_t *const lbA_new, const real_t *const ubA_new, const real_t *const lb_new, const real_t *const ub_new, real_t *const delta_g, real_t *const delta_lbA, real_t *const delta_ubA, real_t *const delta_lb, real_t *const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
returnValue determineStepDirection (const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yAC, real_t *const delta_yFX)
returnValue ensureNonzeroCurvature (BooleanType removeBoundNotConstraint, int remIdx, BooleanType &exchangeHappened, BooleanType &addBoundNotConstraint, int &addIdx, SubjectToStatus &addStatus)
returnValue hotstart_determineDataShift (const int *const FX_idx, const int *const AC_idx, const real_t *const g_new, const real_t *const lbA_new, const real_t *const ubA_new, const real_t *const lb_new, const real_t *const ub_new, real_t *const delta_g, real_t *const delta_lbA, real_t *const delta_ubA, real_t *const delta_lb, real_t *const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
returnValue hotstart_determineDataShift (const int *const FX_idx, const int *const AC_idx, const real_t *const g_new, const real_t *const lbA_new, const real_t *const ubA_new, const real_t *const lb_new, const real_t *const ub_new, real_t *const delta_g, real_t *const delta_lbA, real_t *const delta_ubA, real_t *const delta_lb, real_t *const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
returnValue hotstart_determineStepDirection (const int *const FR_idx, const int *const FX_idx, const int *const AC_idx, const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yAC, real_t *const delta_yFX)
returnValue hotstart_determineStepDirection (const int *const FR_idx, const int *const FX_idx, const int *const AC_idx, const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yAC, real_t *const delta_yFX)
returnValue hotstart_determineStepLength (const int *const FR_idx, const int *const FX_idx, const int *const AC_idx, const int *const IAC_idx, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yAC, const real_t *const delta_yFX, real_t *const delta_Ax, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
returnValue hotstart_determineStepLength (const int *const FR_idx, const int *const FX_idx, const int *const AC_idx, const int *const IAC_idx, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yAC, const real_t *const delta_yFX, real_t *const delta_Ax, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
returnValue hotstart_performStep (const int *const FR_idx, const int *const FX_idx, const int *const AC_idx, const int *const IAC_idx, const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yAC, const real_t *const delta_yFX, const real_t *const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
returnValue hotstart_performStep (const int *const FR_idx, const int *const FX_idx, const int *const AC_idx, const int *const IAC_idx, const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yAC, const real_t *const delta_yFX, const real_t *const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
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
returnValue obtainAuxiliaryWorkingSet (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, Bounds *auxiliaryBounds, Constraints *auxiliaryConstraints) const
returnValue obtainAuxiliaryWorkingSet (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, Bounds *auxiliaryBounds, Constraints *auxiliaryConstraints) const
returnValue obtainAuxiliaryWorkingSet (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, Bounds *auxiliaryBounds, Constraints *auxiliaryConstraints) const
returnValue performDriftCorrection ()
returnValue performPlainRatioTest (int nIdx, const int *const idxList, const real_t *const num, const real_t *const den, real_t epsNum, real_t epsDen, real_t &t, int &BC_idx) const
virtual returnValue performRamping ()
returnValue performStep (const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yAC, const real_t *const delta_yFX, int &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
returnValue printIteration (int iteration, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
real_t relativeHomotopyLength (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)
returnValue removeBound (int number, BooleanType updateCholesky)
returnValue removeBound (int number, BooleanType updateCholesky)
returnValue removeBound (int number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
returnValue removeConstraint (int number, BooleanType updateCholesky)
returnValue removeConstraint (int number, BooleanType updateCholesky)
returnValue removeConstraint (int number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
returnValue setA (const real_t *const A_new)
returnValue setA (int number, const real_t *const value)
returnValue setA (const real_t *const A_new)
returnValue setA (int number, const real_t *const value)
returnValue setA (Matrix *A_new)
returnValue setA (const real_t *const A_new)
returnValue setLBA (const real_t *const lbA_new)
returnValue setLBA (int number, real_t value)
returnValue setLBA (const real_t *const lbA_new)
returnValue setLBA (int number, real_t value)
returnValue setLBA (const real_t *const lbA_new)
returnValue setLBA (int number, real_t value)
returnValue setUBA (const real_t *const ubA_new)
returnValue setUBA (int number, real_t value)
returnValue setUBA (const real_t *const ubA_new)
returnValue setUBA (int number, real_t value)
returnValue setUBA (const real_t *const ubA_new)
returnValue setUBA (int number, real_t value)
virtual returnValue setupAuxiliaryQP (const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
returnValue setupAuxiliaryQPbounds (const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType useRelaxation)
returnValue setupAuxiliaryQPbounds (const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType useRelaxation)
returnValue setupAuxiliaryQPbounds (const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType useRelaxation)
returnValue setupAuxiliaryQPgradient ()
returnValue setupAuxiliaryQPgradient ()
returnValue setupAuxiliaryQPgradient ()
returnValue setupAuxiliaryQPsolution (const real_t *const xOpt, const real_t *const yOpt)
returnValue setupAuxiliaryQPsolution (const real_t *const xOpt, const real_t *const yOpt)
returnValue setupAuxiliaryQPsolution (const real_t *const xOpt, const real_t *const yOpt)
returnValue setupAuxiliaryWorkingSet (const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType setupAfresh)
returnValue setupAuxiliaryWorkingSet (const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType setupAfresh)
returnValue setupAuxiliaryWorkingSet (const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType setupAfresh)
returnValue setupCholeskyDecompositionProjected ()
returnValue setupCholeskyDecompositionProjected ()
returnValue setupCholeskyDecompositionProjected ()
returnValue setupQPdata (const real_t *const _H, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA)
returnValue setupQPdata (const real_t *const _H, const real_t *const _R, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA)
returnValue setupQPdata (SymmetricMatrix *_H, const real_t *const _g, Matrix *_A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA)
returnValue setupQPdata (const real_t *const _H, const real_t *const _g, const real_t *const _A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA)
returnValue setupQPdataFromFile (const char *const H_file, const char *const g_file, const char *const A_file, const char *const lb_file, const char *const ub_file, const char *const lbA_file, const char *const ubA_file)
returnValue setupSubjectToType ()
returnValue setupSubjectToType ()
virtual returnValue setupSubjectToType ()
virtual returnValue setupSubjectToType (const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new)
returnValue setupTQfactorisation ()
returnValue setupTQfactorisation ()
returnValue setupTQfactorisation ()
BooleanType shallRefactorise (const Bounds *const guessedBounds, const Constraints *const guessedConstraints) const
returnValue solveInitialQP (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, int &nWSR, real_t *const cputime)
returnValue solveInitialQP (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, int &nWSR, real_t *const cputime)
returnValue solveInitialQP (const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, int &nWSR, real_t *const cputime)
returnValue solveQP (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, int nWSRperformed=0)
returnValue solveRegularisedQP (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, int nWSRperformed=0)

Protected Attributes

real_t A [NCMAX_ALLOC *NVMAX]
MatrixA
real_t Ax [NCMAX_ALLOC]
real_tAx
real_tAx_l
real_tAx_u
ConstraintProductconstraintProduct
Constraints constraints
CyclingManager cyclingManager
real_tdelta_xFRy
real_tdelta_xFRz
real_tdelta_yAC_TMP
BooleanType freeConstraintMatrix
int idxAddB
int idxAddC
int idxRemB
int idxRemC
real_t lbA [NCMAX_ALLOC]
real_tlbA
real_t Q [NVMAX *NVMAX]
real_tQ
int sizeT
real_t T [NVMAX *NVMAX]
real_tT
real_ttempA
real_ttempB
real_t ubA [NCMAX_ALLOC]
real_tubA
real_tZFR_delta_xFRz

Friends

class SolutionAnalysis

Detailed Description

Implements the online active set strategy for QPs with general constraints.

A class for setting up and solving quadratic programs. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.

Author:
Hans Joachim Ferreau
Version:
1.3embedded
Date:
2007-2008

A class for setting up and solving quadratic programs. The main feature is the possibily to use the newly developed online active set strategy for parametric quadratic programming.

Author:
Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
Version:
3.0beta
Date:
2007-2011

Definition at line 53 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.


Constructor & Destructor Documentation

QProblem::QProblem ( int  _nV,
int  _nC 
)

Constructor which takes the QP dimensions only.

Parameters:
_nVNumber of variables.
_nCNumber of constraints.

Definition at line 75 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem::QProblem ( const QProblem rhs)

Copy constructor (deep copy).

Parameters:
rhsRhs object.

Definition at line 101 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Default constructor.

QProblem::QProblem ( int  _nV,
int  _nC 
)

Constructor which takes the QP dimensions only.

Parameters:
_nVNumber of variables.
_nCNumber of constraints.
QProblem::QProblem ( const QProblem rhs)

Copy constructor (deep copy).

Parameters:
rhsRhs object.

Destructor.

Default constructor.

QProblem::QProblem ( int  _nV,
int  _nC,
HessianType  _hessianType = HST_UNKNOWN 
)

Constructor which takes the QP dimension and Hessian type information. If the Hessian is the zero (i.e. HST_ZERO) or the identity matrix (i.e. HST_IDENTITY), respectively, no memory is allocated for it and a NULL pointer can be passed for it to the init() functions.

Parameters:
_nVNumber of variables.
_nCNumber of constraints.
_hessianTypeType of Hessian matrix.

Definition at line 80 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

QProblem::QProblem ( const QProblem rhs)

Copy constructor (deep copy).

Parameters:
rhsRhs object.
virtual QProblem::~QProblem ( ) [virtual]

Destructor.


Member Function Documentation

returnValue QProblem::addBound ( int  number,
SubjectToStatus  B_status,
BooleanType  updateCholesky 
) [protected]

Adds a bound to active set.

Returns:
SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED
Parameters:
numberNumber of bound to be added to active set.
B_statusStatus of new active bound.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

Definition at line 1787 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound ( int  number,
SubjectToStatus  B_status,
BooleanType  updateCholesky 
) [protected]

Adds a bound to active set.

Returns:
SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED
Parameters:
numberNumber of bound to be added to active set.
B_statusStatus of new active bound.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

returnValue QProblem::addBound ( int  number,
SubjectToStatus  B_status,
BooleanType  updateCholesky,
BooleanType  ensureLI = BT_TRUE 
) [protected]

Adds a bound to active set.

Returns:
SUCCESSFUL_RETURN
RET_ADDBOUND_FAILED
RET_ADDBOUND_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED
Parameters:
numberNumber of bound to be added to active set.
B_statusStatus of new active bound.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.
ensureLIEnsure linear independence by exchange rules by default.

Definition at line 3371 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::addBound_checkLI ( int  number) [protected]

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns:
RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
Parameters:
numberNumber of bound to be added to active set.

Definition at line 1953 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound_checkLI ( int  number) [protected]

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns:
RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
Parameters:
numberNumber of bound to be added to active set.
returnValue QProblem::addBound_checkLI ( int  number) [protected]

Checks if new active bound to be added is linearly dependent from from row of the active constraints matrix.

Returns:
RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
Parameters:
numberNumber of bound to be added to active set.
returnValue QProblem::addBound_ensureLI ( int  number,
SubjectToStatus  B_status 
) [protected]

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:
SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET
Parameters:
numberNumber of bound to be added to active set.
B_statusStatus of new active bound.

Definition at line 1975 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addBound_ensureLI ( int  number,
SubjectToStatus  B_status 
) [protected]

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:
SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET
Parameters:
numberNumber of bound to be added to active set.
B_statusStatus of new active bound.
returnValue QProblem::addBound_ensureLI ( int  number,
SubjectToStatus  B_status 
) [protected]

Ensures linear independence of constraint matrix when a new bound is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:
SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET
Parameters:
numberNumber of bound to be added to active set.
B_statusStatus of new active bound.
returnValue QProblem::addConstraint ( int  number,
SubjectToStatus  C_status,
BooleanType  updateCholesky 
) [protected]

Adds a constraint to active set.

Returns:
SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED
Parameters:
numberNumber of constraint to be added to active set.
C_statusStatus of new active constraint.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.

Definition at line 1339 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint ( int  number,
SubjectToStatus  C_status,
BooleanType  updateCholesky 
) [protected]

Adds a constraint to active set.

Returns:
SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED
Parameters:
numberNumber of constraint to be added to active set.
C_statusStatus of new active constraint.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.
returnValue QProblem::addConstraint ( int  number,
SubjectToStatus  C_status,
BooleanType  updateCholesky,
BooleanType  ensureLI = BT_TRUE 
) [protected]

Adds a constraint to active set.

Returns:
SUCCESSFUL_RETURN
RET_ADDCONSTRAINT_FAILED
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
RET_ENSURELI_FAILED
Parameters:
numberNumber of constraint to be added to active set.
C_statusStatus of new active constraint.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.
ensureLIEnsure linear independence by exchange rules by default.

Definition at line 2901 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::addConstraint_checkLI ( int  number) [protected]

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns:
RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED
Parameters:
numberNumber of constraint to be added to active set.

Definition at line 1493 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint_checkLI ( int  number) [protected]

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns:
RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED
Parameters:
numberNumber of constraint to be added to active set.
returnValue QProblem::addConstraint_checkLI ( int  number) [protected]

Checks if new active constraint to be added is linearly dependent from from row of the active constraints matrix.

Returns:
RET_LINEARLY_DEPENDENT
RET_LINEARLY_INDEPENDENT
RET_INDEXLIST_CORRUPTED
Parameters:
numberNumber of constraint to be added to active set.
returnValue QProblem::addConstraint_ensureLI ( int  number,
SubjectToStatus  C_status 
) [protected]

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:
SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET
Parameters:
numberNumber of constraint to be added to active set.
C_statusStatus of new active bound.

Definition at line 1527 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::addConstraint_ensureLI ( int  number,
SubjectToStatus  C_status 
) [protected]

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:
SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET
Parameters:
numberNumber of constraint to be added to active set.
C_statusStatus of new active bound.
returnValue QProblem::addConstraint_ensureLI ( int  number,
SubjectToStatus  C_status 
) [protected]

Ensures linear independence of constraint matrix when a new constraint is added. To this end a bound or constraint is removed simultaneously if necessary.

Returns:
SUCCESSFUL_RETURN
RET_LI_RESOLVED
RET_ENSURELI_FAILED
RET_ENSURELI_FAILED_TQ
RET_ENSURELI_FAILED_NOINDEX
RET_REMOVE_FROM_ACTIVESET
Parameters:
numberNumber of constraint to be added to active set.
C_statusStatus of new active bound.
BooleanType QProblem::areBoundsConsistent ( const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA 
) const [protected]

Checks if lower/upper (constraints') bounds remain consistent (i.e. if lb <= ub and lbA <= ubA ) during the current step.

Returns:
BT_TRUE iff (constraints") bounds remain consistent
Parameters:
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.

Definition at line 3496 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

BooleanType QProblem::areBoundsConsistent ( const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA 
) const [protected]

Checks if lower/upper (constraints') bounds remain consistent (i.e. if lb <= ub and lbA <= ubA ) during the current step.

Returns:
BT_TRUE iff (constraints") bounds remain consistent
Parameters:
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
returnValue QProblem::backsolveR ( const real_t *const  b,
BooleanType  transposed,
real_t *const  a 
) [protected]

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
aOutput: Solution vector

Reimplemented from QProblemB.

Definition at line 2514 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveR ( const real_t *const  b,
BooleanType  transposed,
BooleanType  removingBound,
real_t *const  a 
) [protected]

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
Special variant for the case that this function is called from within "removeBound()".

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
removingBoundIndicates if function is called from "removeBound()".
aOutput: Solution vector

Reimplemented from QProblemB.

Definition at line 2526 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveR ( const real_t *const  b,
BooleanType  transposed,
real_t *const  a 
) [protected]

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
aOutput: Solution vector

Reimplemented from QProblemB.

returnValue QProblem::backsolveR ( const real_t *const  b,
BooleanType  transposed,
BooleanType  removingBound,
real_t *const  a 
) [protected]

Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
Special variant for the case that this function is called from within "removeBound()".

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
removingBoundIndicates if function is called from "removeBound()".
aOutput: Solution vector

Reimplemented from QProblemB.

returnValue QProblem::backsolveT ( const real_t *const  b,
BooleanType  transposed,
real_t *const  a 
) [protected]

Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
aOutput: Solution vector

Definition at line 2586 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::backsolveT ( const real_t *const  b,
BooleanType  transposed,
real_t *const  a 
) [protected]

Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
aOutput: Solution vector
returnValue QProblem::backsolveT ( const real_t *const  b,
BooleanType  transposed,
real_t *const  a 
) const [protected]

Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.

Returns:
SUCCESSFUL_RETURN
RET_DIV_BY_ZERO
Parameters:
bRight hand side vector.
transposedIndicates if the transposed system shall be solved.
aOutput: Solution vector

Definition at line 4547 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::changeActiveSet ( int  BC_idx,
SubjectToStatus  BC_status,
BooleanType  BC_isBound 
) [protected]

Updates the active set.

Returns:
SUCCESSFUL_RETURN
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
Parameters:
BC_idxIndex of blocking constraint.
BC_statusStatus of blocking constraint.
BC_isBoundIndicates if blocking constraint is a bound.

Definition at line 5399 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblem object.

Returns:
SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Reimplemented from QProblemB.

Definition at line 3656 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Determines the maximum violation of the KKT optimality conditions of the current iterate within the QProblem object.

Returns:
SUCCESSFUL_RETURN
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION

Reimplemented from QProblemB.

returnValue QProblem::clear ( ) [protected]

Frees all allocated memory.

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1321 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

Computes initial Cholesky decomposition of the projected Hessian making use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().

Returns:
SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED

Definition at line 466 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::copy ( const QProblem rhs) [protected]

Copies all members from given rhs object.

Returns:
SUCCESSFUL_RETURN
Parameters:
rhsRhs object.

Definition at line 1414 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::determineDataShift ( const real_t *const  g_new,
const real_t *const  lbA_new,
const real_t *const  ubA_new,
const real_t *const  lb_new,
const real_t *const  ub_new,
real_t *const  delta_g,
real_t *const  delta_lbA,
real_t *const  delta_ubA,
real_t *const  delta_lb,
real_t *const  delta_ub,
BooleanType Delta_bC_isZero,
BooleanType Delta_bB_isZero 
) [protected]

Determines step direction of the shift of the QP data.

Returns:
SUCCESSFUL_RETURN
Parameters:
g_newNew gradient vector.
lbA_newNew lower constraints' bounds.
ubA_newNew upper constraints' bounds.
lb_newNew lower bounds.
ub_newNew upper bounds.
delta_gOutput: Step direction of gradient vector.
delta_lbAOutput: Step direction of lower constraints' bounds.
delta_ubAOutput: Step direction of upper constraints' bounds.
delta_lbOutput: Step direction of lower bounds.
delta_ubOutput: Step direction of upper bounds.
Delta_bC_isZeroOutput: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZeroOutput: Indicates if active bounds are to be shifted.

Definition at line 4600 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::determineStepDirection ( const real_t *const  delta_g,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
BooleanType  Delta_bC_isZero,
BooleanType  Delta_bB_isZero,
real_t *const  delta_xFX,
real_t *const  delta_xFR,
real_t *const  delta_yAC,
real_t *const  delta_yFX 
) [protected]

Determines step direction of the homotopy path.

Returns:
SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY
Parameters:
delta_gStep direction of gradient vector.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
Delta_bC_isZeroIndicates if active constraints' bounds are to be shifted.
Delta_bB_isZeroIndicates if active bounds are to be shifted.
delta_xFXOutput: Primal homotopy step direction of fixed variables.
delta_xFROutput: Primal homotopy step direction of free variables.
delta_yACOutput: Dual homotopy step direction of active constraints' multiplier.
delta_yFXOutput: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 4666 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::ensureNonzeroCurvature ( BooleanType  removeBoundNotConstraint,
int  remIdx,
BooleanType exchangeHappened,
BooleanType addBoundNotConstraint,
int &  addIdx,
SubjectToStatus addStatus 
) [protected]

Ensure non-zero curvature by primal jump.

Returns:
SUCCESSFUL_RETURN
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
Parameters:
removeBoundNotConstraintSubjectTo to be removed is a bound.
remIdxIndex of bound/constraint to be removed.
exchangeHappenedOutput: Exchange was necessary to ensure.
addBoundNotConstraintSubjectTo to be added is a bound.
addIdxIndex of bound/constraint to be added.
addStatusStatus of bound/constraint to be added.

Definition at line 4306 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::getA ( real_t *const  _A) const [inline]

Returns constraint matrix of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_AArray of appropriate dimension for copying constraint matrix.
returnValue QProblem::getA ( int  number,
real_t *const  row 
) const [inline]

Returns a single row of constraint matrix of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be returned.
rowArray of appropriate dimension for copying (number)th constraint.
returnValue QProblem::getA ( real_t *const  _A) const [inline]

Returns constraint matrix of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_AArray of appropriate dimension for copying constraint matrix.
returnValue QProblem::getA ( int  number,
real_t *const  row 
) const [inline]

Returns a single row of constraint matrix of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be returned.
rowArray of appropriate dimension for copying (number)th constraint.
returnValue QProblem::getConstraints ( Constraints *const  _constraints) const [inline]

Returns current constraints object of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_constraintsOutput: Constraints object.
returnValue QProblem::getConstraints ( Constraints *const  _constraints) const [inline]

Returns current constraints object of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_constraintsOutput: Constraints object.
returnValue QProblem::getConstraints ( Constraints _constraints) const [inline]

Returns current constraints object of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
RET_QPOBJECT_NOT_SETUP
Parameters:
_constraintsOutput: Constraints object.

Returns the dual solution vector (deep copy).

Returns:
SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
Parameters:
yOptOutput: Dual solution vector (if QP has been solved).

Reimplemented from QProblemB.

Definition at line 477 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Returns the dual solution vector (deep copy).

Returns:
SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
Parameters:
yOptOutput: Dual solution vector (if QP has been solved).

Reimplemented from QProblemB.

virtual returnValue QProblem::getDualSolution ( real_t *const  yOpt) const [virtual]

Returns the dual solution vector (deep copy).

Returns:
SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
Parameters:
yOptOutput: Dual solution vector (if QP has been solved).

Reimplemented from QProblemB.

returnValue QProblem::getLBA ( real_t *const  _lbA) const [inline]

Returns lower constraints' bound vector of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_lbAArray of appropriate dimension for copying lower constraints' bound vector.
returnValue QProblem::getLBA ( int  number,
real_t value 
) const [inline]

Returns single entry of lower constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be returned.
valueOutput: lbA[number].
returnValue QProblem::getLBA ( real_t *const  _lbA) const [inline]

Returns lower constraints' bound vector of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_lbAArray of appropriate dimension for copying lower constraints' bound vector.
returnValue QProblem::getLBA ( int  number,
real_t value 
) const [inline]

Returns single entry of lower constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be returned.
valueOutput: lbA[number].
int QProblem::getNAC ( ) [inline]

Returns the number of active constraints.

Returns:
Number of active constraints.
int QProblem::getNAC ( ) [inline]

Returns the number of active constraints.

Returns:
Number of active constraints.
int QProblem::getNAC ( ) const [inline]

Returns the number of active constraints.

Returns:
Number of active constraints.
int QProblem::getNC ( ) const [inline]

Returns the number of constraints.

Returns:
Number of constraints.
int QProblem::getNC ( ) const [inline]

Returns the number of constraints.

Returns:
Number of constraints.
int QProblem::getNC ( ) const [inline]

Returns the number of constraints.

Returns:
Number of constraints.
int QProblem::getNEC ( ) const [inline]

Returns the number of (implicitly defined) equality constraints.

Returns:
Number of (implicitly defined) equality constraints.
int QProblem::getNEC ( ) const [inline]

Returns the number of (implicitly defined) equality constraints.

Returns:
Number of (implicitly defined) equality constraints.
int QProblem::getNEC ( ) const [inline]

Returns the number of (implicitly defined) equality constraints.

Returns:
Number of (implicitly defined) equality constraints.
int QProblem::getNIAC ( ) [inline]

Returns the number of inactive constraints.

Returns:
Number of inactive constraints.
int QProblem::getNIAC ( ) [inline]

Returns the number of inactive constraints.

Returns:
Number of inactive constraints.
int QProblem::getNIAC ( ) const [inline]

Returns the number of inactive constraints.

Returns:
Number of inactive constraints.
int QProblem::getNZ ( )

Returns the dimension of null space.

Returns:
Dimension of null space.

Reimplemented from QProblemB.

Definition at line 467 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

int QProblem::getNZ ( )

Returns the dimension of null space.

Returns:
Dimension of null space.

Reimplemented from QProblemB.

int QProblem::getNZ ( ) const [virtual]

Returns the dimension of null space.

Returns:
Dimension of null space.

Reimplemented from QProblemB.

Definition at line 1117 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::getUBA ( real_t *const  _ubA) const [inline]

Returns upper constraints' bound vector of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_ubAArray of appropriate dimension for copying upper constraints' bound vector.
returnValue QProblem::getUBA ( int  number,
real_t value 
) const [inline]

Returns single entry of upper constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be returned.
valueOutput: ubA[number].
returnValue QProblem::getUBA ( real_t *const  _ubA) const [inline]

Returns upper constraints' bound vector of the QP (deep copy).

Returns:
SUCCESSFUL_RETURN
Parameters:
_ubAArray of appropriate dimension for copying upper constraints' bound vector.
returnValue QProblem::getUBA ( int  number,
real_t value 
) const [inline]

Returns single entry of upper constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be returned.
valueOutput: ubA[number].
returnValue QProblem::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 
)

Solves QProblem using online active set strategy.

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
Parameters:
g_newGradient of neighbouring QP to be solved.
lb_newLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_newUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_newLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_newUpper constraints' bounds of neighbouring QP to be solved.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeOutput: CPU time required to solve QP (or to perform nWSR iterations).

Reimplemented in SQProblem.

Definition at line 255 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::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 
)

Solves QProblem using online active set strategy.

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
Parameters:
g_newGradient of neighbouring QP to be solved.
lb_newLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_newUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_newLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_newUpper constraints' bounds of neighbouring QP to be solved.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeOutput: CPU time required to solve QP (or to perform nWSR iterations).

Reimplemented in SQProblem.

returnValue QProblem::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 
)

Solves QProblem using online active set strategy. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
Parameters:
g_newGradient of neighbouring QP to be solved.
lb_newLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_newUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_newLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_newUpper constraints' bounds of neighbouring QP to be solved.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).

Reimplemented in SQProblem.

returnValue QProblem::hotstart ( 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,
int &  nWSR,
real_t *const  cputime 
)

Solves QProblem using online active set strategy reading QP data from files. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
Parameters:
g_fileName of file where gradient, of neighbouring QP to be solved, is stored.
lb_fileName of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.
ub_fileName of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.
lbA_fileName of file where lower constraints' bounds, of neighbouring QP to be solved, is stored.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_fileName of file where upper constraints' bounds, of neighbouring QP to be solved, is stored.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).

Reimplemented in SQProblem.

Definition at line 809 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::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,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
)

Solves an initialised QProblem using online active set strategy (using an initialised homotopy). Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_SETUP_AUXILIARYQP_FAILED
Parameters:
g_newGradient of neighbouring QP to be solved.
lb_newLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_newUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_newLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_newUpper constraints' bounds of neighbouring QP to be solved.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
guessedBoundsInitial guess for working set of bounds. A null pointer corresponds to an empty working set!
guessedConstraintsInitial guess for working set of constraints. A null pointer corresponds to an empty working set!

Reimplemented in SQProblem.

Definition at line 883 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart ( 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,
int &  nWSR,
real_t *const  cputime,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
)

Solves an initialised QProblem using online active set strategy (using an initialised homotopy) reading QP data from files. Note: This function internally calls solveQP/solveRegularisedQP for solving an initialised QP!

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
RET_SETUP_AUXILIARYQP_FAILED
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
Parameters:
g_fileName of file where gradient, of neighbouring QP to be solved, is stored.
lb_fileName of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.
ub_fileName of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.
lbA_fileName of file where lower constraints' bounds, of neighbouring QP to be solved, is stored.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_fileName of file where upper constraints' bounds, of neighbouring QP to be solved, is stored.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
guessedBoundsInitial guess for working set of bounds. A null pointer corresponds to an empty working set!
guessedConstraintsInitial guess for working set of constraints. A null pointer corresponds to an empty working set!

Reimplemented in SQProblem.

Definition at line 968 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::hotstart_determineDataShift ( const int *const  FX_idx,
const int *const  AC_idx,
const real_t *const  g_new,
const real_t *const  lbA_new,
const real_t *const  ubA_new,
const real_t *const  lb_new,
const real_t *const  ub_new,
real_t *const  delta_g,
real_t *const  delta_lbA,
real_t *const  delta_ubA,
real_t *const  delta_lb,
real_t *const  delta_ub,
BooleanType Delta_bC_isZero,
BooleanType Delta_bB_isZero 
) [protected]

Determines step direction of the shift of the QP data.

Returns:
SUCCESSFUL_RETURN
Parameters:
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
g_newNew gradient vector.
lbA_newNew lower constraints' bounds.
ubA_newNew upper constraints' bounds.
lb_newNew lower bounds.
ub_newNew upper bounds.
delta_gOutput: Step direction of gradient vector.
delta_lbAOutput: Step direction of lower constraints' bounds.
delta_ubAOutput: Step direction of upper constraints' bounds.
delta_lbOutput: Step direction of lower bounds.
delta_ubOutput: Step direction of upper bounds.
Delta_bC_isZeroOutput: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZeroOutput: Indicates if active bounds are to be shifted.

Definition at line 2639 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineDataShift ( const int *const  FX_idx,
const int *const  AC_idx,
const real_t *const  g_new,
const real_t *const  lbA_new,
const real_t *const  ubA_new,
const real_t *const  lb_new,
const real_t *const  ub_new,
real_t *const  delta_g,
real_t *const  delta_lbA,
real_t *const  delta_ubA,
real_t *const  delta_lb,
real_t *const  delta_ub,
BooleanType Delta_bC_isZero,
BooleanType Delta_bB_isZero 
) [protected]

Determines step direction of the shift of the QP data.

Returns:
SUCCESSFUL_RETURN
Parameters:
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
g_newNew gradient vector.
lbA_newNew lower constraints' bounds.
ubA_newNew upper constraints' bounds.
lb_newNew lower bounds.
ub_newNew upper bounds.
delta_gOutput: Step direction of gradient vector.
delta_lbAOutput: Step direction of lower constraints' bounds.
delta_ubAOutput: Step direction of upper constraints' bounds.
delta_lbOutput: Step direction of lower bounds.
delta_ubOutput: Step direction of upper bounds.
Delta_bC_isZeroOutput: Indicates if active constraints' bounds are to be shifted.
Delta_bB_isZeroOutput: Indicates if active bounds are to be shifted.
returnValue QProblem::hotstart_determineStepDirection ( const int *const  FR_idx,
const int *const  FX_idx,
const int *const  AC_idx,
const real_t *const  delta_g,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
BooleanType  Delta_bC_isZero,
BooleanType  Delta_bB_isZero,
real_t *const  delta_xFX,
real_t *const  delta_xFR,
real_t *const  delta_yAC,
real_t *const  delta_yFX 
) [protected]

Determines step direction of the homotopy path.

Returns:
SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY
Parameters:
FR_idxIndex array of free variables.
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
delta_gStep direction of gradient vector.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
Delta_bC_isZeroIndicates if active constraints' bounds are to be shifted.
Delta_bB_isZeroIndicates if active bounds are to be shifted.
delta_xFXOutput: Primal homotopy step direction of fixed variables.
delta_xFROutput: Primal homotopy step direction of free variables.
delta_yACOutput: Dual homotopy step direction of active constraints' multiplier.
delta_yFXOutput: Dual homotopy step direction of fixed variables' multiplier.

Definition at line 2697 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineStepDirection ( const int *const  FR_idx,
const int *const  FX_idx,
const int *const  AC_idx,
const real_t *const  delta_g,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
BooleanType  Delta_bC_isZero,
BooleanType  Delta_bB_isZero,
real_t *const  delta_xFX,
real_t *const  delta_xFR,
real_t *const  delta_yAC,
real_t *const  delta_yFX 
) [protected]

Determines step direction of the homotopy path.

Returns:
SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY
Parameters:
FR_idxIndex array of free variables.
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
delta_gStep direction of gradient vector.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
Delta_bC_isZeroIndicates if active constraints' bounds are to be shifted.
Delta_bB_isZeroIndicates if active bounds are to be shifted.
delta_xFXOutput: Primal homotopy step direction of fixed variables.
delta_xFROutput: Primal homotopy step direction of free variables.
delta_yACOutput: Dual homotopy step direction of active constraints' multiplier.
delta_yFXOutput: Dual homotopy step direction of fixed variables' multiplier.
returnValue QProblem::hotstart_determineStepLength ( const int *const  FR_idx,
const int *const  FX_idx,
const int *const  AC_idx,
const int *const  IAC_idx,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_xFX,
const real_t *const  delta_xFR,
const real_t *const  delta_yAC,
const real_t *const  delta_yFX,
real_t *const  delta_Ax,
int &  BC_idx,
SubjectToStatus BC_status,
BooleanType BC_isBound 
) [protected]

Determines the maximum possible step length along the homotopy path.

Returns:
SUCCESSFUL_RETURN
Parameters:
FR_idxIndex array of free variables.
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
IAC_idxIndex array of inactive constraints.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_xFXPrimal homotopy step direction of fixed variables.
delta_xFRPrimal homotopy step direction of free variables.
delta_yACDual homotopy step direction of active constraints' multiplier.
delta_yFXDual homotopy step direction of fixed variables' multiplier.
delta_AxOutput: Step in vector Ax.
BC_idxOutput: Index of blocking constraint.
BC_statusOutput: Status of blocking constraint.
BC_isBoundOutput: Indicates if blocking constraint is a bound.

Definition at line 3052 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_determineStepLength ( const int *const  FR_idx,
const int *const  FX_idx,
const int *const  AC_idx,
const int *const  IAC_idx,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_xFX,
const real_t *const  delta_xFR,
const real_t *const  delta_yAC,
const real_t *const  delta_yFX,
real_t *const  delta_Ax,
int &  BC_idx,
SubjectToStatus BC_status,
BooleanType BC_isBound 
) [protected]

Determines the maximum possible step length along the homotopy path.

Returns:
SUCCESSFUL_RETURN
Parameters:
FR_idxIndex array of free variables.
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
IAC_idxIndex array of inactive constraints.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_xFXPrimal homotopy step direction of fixed variables.
delta_xFRPrimal homotopy step direction of free variables.
delta_yACDual homotopy step direction of active constraints' multiplier.
delta_yFXDual homotopy step direction of fixed variables' multiplier.
delta_AxOutput: Step in vector Ax.
BC_idxOutput: Index of blocking constraint.
BC_statusOutput: Status of blocking constraint.
BC_isBoundOutput: Indicates if blocking constraint is a bound.
returnValue QProblem::hotstart_performStep ( const int *const  FR_idx,
const int *const  FX_idx,
const int *const  AC_idx,
const int *const  IAC_idx,
const real_t *const  delta_g,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_xFX,
const real_t *const  delta_xFR,
const real_t *const  delta_yAC,
const real_t *const  delta_yFX,
const real_t *const  delta_Ax,
int  BC_idx,
SubjectToStatus  BC_status,
BooleanType  BC_isBound 
) [protected]

Performs a step along the homotopy path (and updates active set).

Returns:
SUCCESSFUL_RETURN
RET_OPTIMAL_SOLUTION_FOUND
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
RET_QP_INFEASIBLE
Parameters:
FR_idxIndex array of free variables.
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
IAC_idxIndex array of inactive constraints.
delta_gStep direction of gradient vector.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_xFXPrimal homotopy step direction of fixed variables.
delta_xFRPrimal homotopy step direction of free variables.
delta_yACDual homotopy step direction of active constraints' multiplier.
delta_yFXDual homotopy step direction of fixed variables' multiplier.
delta_AxStep in vector Ax.
BC_idxIndex of blocking constraint.
BC_statusStatus of blocking constraint.
BC_isBoundIndicates if blocking constraint is a bound.

Definition at line 3318 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::hotstart_performStep ( const int *const  FR_idx,
const int *const  FX_idx,
const int *const  AC_idx,
const int *const  IAC_idx,
const real_t *const  delta_g,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_xFX,
const real_t *const  delta_xFR,
const real_t *const  delta_yAC,
const real_t *const  delta_yFX,
const real_t *const  delta_Ax,
int  BC_idx,
SubjectToStatus  BC_status,
BooleanType  BC_isBound 
) [protected]

Performs a step along the homotopy path (and updates active set).

Returns:
SUCCESSFUL_RETURN
RET_OPTIMAL_SOLUTION_FOUND
RET_REMOVE_FROM_ACTIVESET_FAILED
RET_ADD_TO_ACTIVESET_FAILED
RET_QP_INFEASIBLE
Parameters:
FR_idxIndex array of free variables.
FX_idxIndex array of fixed variables.
AC_idxIndex array of active constraints.
IAC_idxIndex array of inactive constraints.
delta_gStep direction of gradient vector.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_xFXPrimal homotopy step direction of fixed variables.
delta_xFRPrimal homotopy step direction of free variables.
delta_yACDual homotopy step direction of active constraints' multiplier.
delta_yFXDual homotopy step direction of fixed variables' multiplier.
delta_AxStep in vector Ax.
BC_idxIndex of blocking constraint.
BC_statusStatus of blocking constraint.
BC_isBoundIndicates if blocking constraint is a bound.
returnValue QProblem::init ( const real_t *const  _H,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
const real_t *const  yOpt = 0,
real_t *const  cputime = 0 
)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
Parameters:
_HHessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
yOptInitial guess for dual solution vector.
cputimeOutput: CPU time required to initialise QP.

Definition at line 237 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::init ( const real_t *const  _H,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
const real_t *const  yOpt = 0,
real_t *const  cputime = 0 
)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
Parameters:
_HHessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
yOptInitial guess for dual solution vector.
cputimeOutput: CPU time required to initialise QP.
returnValue QProblem::init ( SymmetricMatrix _H,
const real_t *const  _g,
Matrix _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
real_t *const  cputime 
)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
Parameters:
_HHessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.

Definition at line 230 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init ( const real_t *const  _H,
const real_t *const  _R,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
const real_t *const  yOpt = 0,
real_t *const  cputime = 0 
)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations).

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
RET_INACCURATE_SOLUTION
RET_NO_SOLUTION
Parameters:
_HHessian matrix.
_RCholesky factorization of the Hessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
yOptInitial guess for dual solution vector.
cputimeOutput: CPU time required to initialise QP.

Definition at line 251 of file external_packages/qpoases/SRC/QProblem.cpp.

returnValue QProblem::init ( const real_t *const  _H,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
real_t *const  cputime 
)

Initialises a QProblem with given QP data and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
Parameters:
_HHessian matrix.
If Hessian matrix is trivial, a NULL pointer can be passed.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.

Definition at line 258 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init ( const char *const  H_file,
const char *const  g_file,
const char *const  A_file,
const char *const  lb_file,
const char *const  ub_file,
const char *const  lbA_file,
const char *const  ubA_file,
int &  nWSR,
real_t *const  cputime 
)

Initialises a QProblem with given QP data to be read from files and solves it using an initial homotopy with empty working set (at most nWSR iterations). Note: This function internally calls solveInitialQP for initialisation!

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_UNABLE_TO_READ_FILE
Parameters:
H_fileName of file where Hessian matrix is stored.
If Hessian matrix is trivial, a NULL pointer can be passed.
g_fileName of file where gradient vector is stored.
A_fileName of file where constraint matrix is stored.
lb_fileName of file where lower bound vector.
If no lower bounds exist, a NULL pointer can be passed.
ub_fileName of file where upper bound vector.
If no upper bounds exist, a NULL pointer can be passed.
lbA_fileName of file where lower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_fileName of file where upper constraints' bound vector.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.

Definition at line 286 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init ( SymmetricMatrix _H,
const real_t *const  _g,
Matrix _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
real_t *const  cputime,
const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
)

Initialises a QProblem with given QP data and solves it depending on the parameter constellation:
1. 0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
2. xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
3. 0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
4. 0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
5. xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
6. xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
7. xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!) Note: This function internally calls solveInitialQP for initialisation!

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
Parameters:
_HHessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.
xOptOptimal primal solution vector.
(If a null pointer is passed, the old primal solution is kept!)
yOptOptimal dual solution vector.
(If a null pointer is passed, the old dual solution is kept!)
guessedBoundsOptimal working set of bounds for solution (xOpt,yOpt).
guessedConstraintsOptimal working set of constraints for solution (xOpt,yOpt).

Definition at line 314 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init ( const real_t *const  _H,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA,
int &  nWSR,
real_t *const  cputime,
const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
)

Initialises a QProblem with given QP data and solves it depending on the parameter constellation:
1. 0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
2. xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
3. 0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
4. 0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
5. xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
6. xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
7. xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!) Note: This function internally calls solveInitialQP for initialisation!

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_INVALID_ARGUMENTS
Parameters:
_HHessian matrix.
If Hessian matrix is trivial, a NULL pointer can be passed.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.
xOptOptimal primal solution vector.
(If a null pointer is passed, the old primal solution is kept!)
yOptOptimal dual solution vector.
(If a null pointer is passed, the old dual solution is kept!)
guessedBoundsOptimal working set of bounds for solution (xOpt,yOpt).
guessedConstraintsOptimal working set of constraints for solution (xOpt,yOpt).

Definition at line 368 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::init ( const char *const  H_file,
const char *const  g_file,
const char *const  A_file,
const char *const  lb_file,
const char *const  ub_file,
const char *const  lbA_file,
const char *const  ubA_file,
int &  nWSR,
real_t *const  cputime,
const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
)

Initialises a QProblem with given QP data to be read from files and solves it depending on the parameter constellation:
Note: This function internally calls solveInitialQP for initialisation! 1. 0, 0, 0 : start with xOpt = 0, yOpt = 0 and IB empty (or all implicit equality bounds),
2. xOpt, 0, 0 : start with xOpt, yOpt = 0 and obtain IB by "clipping",
3. 0, yOpt, 0 : start with xOpt = 0, yOpt and obtain IB from yOpt != 0,
4. 0, 0, IB: start with xOpt = 0, yOpt = 0 and IB,
5. xOpt, yOpt, 0 : start with xOpt, yOpt and obtain IB from yOpt != 0,
6. xOpt, 0, IB: start with xOpt, yOpt = 0 and IB,
7. xOpt, yOpt, IB: start with xOpt, yOpt and IB (assume them to be consistent!)

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
RET_UNABLE_TO_READ_FILE
Parameters:
H_fileName of file where Hessian matrix is stored.
If Hessian matrix is trivial, a NULL pointer can be passed.
g_fileName of file where gradient vector is stored.
A_fileName of file where constraint matrix is stored.
lb_fileName of file where lower bound vector.
If no lower bounds exist, a NULL pointer can be passed.
ub_fileName of file where upper bound vector.
If no upper bounds exist, a NULL pointer can be passed.
lbA_fileName of file where lower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_fileName of file where upper constraints' bound vector.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations when using initial homotopy. Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP initialisation.
Output: CPU time spend for QP initialisation.
xOptOptimal primal solution vector.
(If a null pointer is passed, the old primal solution is kept!)
yOptOptimal dual solution vector.
(If a null pointer is passed, the old dual solution is kept!)
guessedBoundsOptimal working set of bounds for solution (xOpt,yOpt).
guessedConstraintsOptimal working set of constraints for solution (xOpt,yOpt).

Definition at line 422 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::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 [protected]

Loads new QP vectors from files (internal members are not affected!).

Returns:
SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
Parameters:
g_fileName of file where gradient, of neighbouring QP to be solved, is stored.
lb_fileName of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.
ub_fileName of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.
lbA_fileName of file where lower constraints' bounds, of neighbouring QP to be solved, is stored.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_fileName of file where upper constraints' bounds, of neighbouring QP to be solved, is stored.
If no upper constraints' bounds exist, a NULL pointer can be passed.
g_newOutput: Gradient of neighbouring QP to be solved.
lb_newOutput: Lower bounds of neighbouring QP to be solved
ub_newOutput: Upper bounds of neighbouring QP to be solved
lbA_newOutput: Lower constraints' bounds of neighbouring QP to be solved
ubA_newOutput: Upper constraints' bounds of neighbouring QP to be solved

Definition at line 5981 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::obtainAuxiliaryWorkingSet ( const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints,
Bounds auxiliaryBounds,
Constraints auxiliaryConstraints 
) const [protected]

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

Returns:
SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
Parameters:
xOptOptimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
yOptOptimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
guessedBoundsGuessed working set of bounds for solution (xOpt,yOpt).
guessedConstraintsGuessed working set for solution (xOpt,yOpt).
auxiliaryBoundsInput: Allocated bound object.
Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraintsInput: Allocated bound object.
Ouput: Working set for auxiliary QP.

Definition at line 857 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::obtainAuxiliaryWorkingSet ( const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints,
Bounds auxiliaryBounds,
Constraints auxiliaryConstraints 
) const [protected]

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

Returns:
SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
Parameters:
xOptOptimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
yOptOptimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
guessedBoundsGuessed working set of bounds for solution (xOpt,yOpt).
guessedConstraintsGuessed working set for solution (xOpt,yOpt).
auxiliaryBoundsInput: Allocated bound object.
Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraintsInput: Allocated bound object.
Ouput: Working set for auxiliary QP.
returnValue QProblem::obtainAuxiliaryWorkingSet ( const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints,
Bounds auxiliaryBounds,
Constraints auxiliaryConstraints 
) const [protected]

Obtains the desired working set for the auxiliary initial QP in accordance with the user specifications (assumes that member AX has already been initialised!)

Returns:
SUCCESSFUL_RETURN
RET_OBTAINING_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
Parameters:
xOptOptimal primal solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
yOptOptimal dual solution vector. If a NULL pointer is passed, all entries are assumed to be zero.
guessedBoundsGuessed working set of bounds for solution (xOpt,yOpt).
guessedConstraintsGuessed working set for solution (xOpt,yOpt).
auxiliaryBoundsInput: Allocated bound object.
Ouput: Working set of constraints for auxiliary QP.
auxiliaryConstraintsInput: Allocated bound object.
Ouput: Working set for auxiliary QP.
QProblem & QProblem::operator= ( const QProblem rhs)

Assignment operator (deep copy).

Parameters:
rhsRhs object.

Definition at line 152 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

QProblem& QProblem::operator= ( const QProblem rhs)

Assignment operator (deep copy).

Parameters:
rhsRhs object.
QProblem& QProblem::operator= ( const QProblem rhs)

Assignment operator (deep copy).

Parameters:
rhsRhs object.

Drift correction at end of each active set iteration

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 5575 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performPlainRatioTest ( int  nIdx,
const int *const  idxList,
const real_t *const  num,
const real_t *const  den,
real_t  epsNum,
real_t  epsDen,
real_t t,
int &  BC_idx 
) const [protected]

Performs robustified ratio test yield the maximum possible step length along the homotopy path.

Returns:
SUCCESSFUL_RETURN
Parameters:
nIdxNumber of ratios to be checked.
idxListArray containing the indices of all ratios to be checked.
numArray containing all numerators for performing the ratio test.
denArray containing all denominators for performing the ratio test.
epsNumNumerator tolerance.
epsDenDenominator tolerance.
tOutput: Maximum possible step length along the homotopy path.
BC_idxOutput: Index of blocking constraint.

Definition at line 4284 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performRamping ( ) [protected, virtual]

Ramping Strategy to avoid ties. Modifies homotopy start without changing current active set.

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 5517 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::performStep ( const real_t *const  delta_g,
const real_t *const  delta_lbA,
const real_t *const  delta_ubA,
const real_t *const  delta_lb,
const real_t *const  delta_ub,
const real_t *const  delta_xFX,
const real_t *const  delta_xFR,
const real_t *const  delta_yAC,
const real_t *const  delta_yFX,
int &  BC_idx,
SubjectToStatus BC_status,
BooleanType BC_isBound 
) [protected]

Determines the maximum possible step length along the homotopy path and performs this step (without changing working set).

Returns:
SUCCESSFUL_RETURN
RET_ERROR_IN_CONSTRAINTPRODUCT
RET_QP_INFEASIBLE
Parameters:
delta_gStep direction of gradient.
delta_lbAStep direction of lower constraints' bounds.
delta_ubAStep direction of upper constraints' bounds.
delta_lbStep direction of lower bounds.
delta_ubStep direction of upper bounds.
delta_xFXPrimal homotopy step direction of fixed variables.
delta_xFRPrimal homotopy step direction of free variables.
delta_yACDual homotopy step direction of active constraints' multiplier.
delta_yFXDual homotopy step direction of fixed variables' multiplier.
BC_idxOutput: Index of blocking constraint.
BC_statusOutput: Status of blocking constraint.
BC_isBoundOutput: Indicates if blocking constraint is a bound.

Definition at line 4997 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::printIteration ( int  iteration,
int  BC_idx,
SubjectToStatus  BC_status,
BooleanType  BC_isBound 
) [protected]

Prints concise information on the current iteration.

Returns:
SUCCESSFUL_RETURN
Parameters:
iterationNumber of current iteration.
BC_idxIndex of blocking constraint.
BC_statusStatus of blocking constraint.
BC_isBoundIndicates if blocking constraint is a bound.

Definition at line 6039 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

Prints concise list of properties of the current QP.

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1164 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

real_t QProblem::relativeHomotopyLength ( 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 
) [protected]

Compute relative length of homotopy in data space for termination criterion.

Returns:
Relative length in data space.
Parameters:
g_newFinal gradient.
lb_newFinal lower variable bounds.
ub_newFinal upper variable bounds.
lbA_newFinal lower constraint bounds.
ubA_newFinal upper constraint bounds.

Definition at line 5485 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::removeBound ( int  number,
BooleanType  updateCholesky 
) [protected]

Removes a bounds from active set.

Returns:
SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
Parameters:
numberNumber of bound to be removed from active set.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

Definition at line 2351 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::removeBound ( int  number,
BooleanType  updateCholesky 
) [protected]

Removes a bounds from active set.

Returns:
SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
Parameters:
numberNumber of bound to be removed from active set.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.

Reimplemented from QProblemB.

returnValue QProblem::removeBound ( int  number,
BooleanType  updateCholesky,
BooleanType  allowFlipping = BT_FALSE,
BooleanType  ensureNZC = BT_FALSE 
) [protected]

Removes a bounds from active set.

Returns:
SUCCESSFUL_RETURN
RET_BOUND_NOT_ACTIVE
RET_HESSIAN_NOT_SPD
RET_REMOVEBOUND_FAILED
Parameters:
numberNumber of bound to be removed from active set.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.
allowFlippingFlag indicating if flipping bounds are allowed.
ensureNZCFlag indicating if non-zero curvature is ensured by exchange rules.

Definition at line 4058 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::removeConstraint ( int  number,
BooleanType  updateCholesky 
) [protected]

Removes a constraint from active set.

Returns:
SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD
Parameters:
numberNumber of constraint to be removed from active set.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.

Definition at line 2201 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::removeConstraint ( int  number,
BooleanType  updateCholesky 
) [protected]

Removes a constraint from active set.

Returns:
SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD
Parameters:
numberNumber of constraint to be removed from active set.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.
returnValue QProblem::removeConstraint ( int  number,
BooleanType  updateCholesky,
BooleanType  allowFlipping = BT_FALSE,
BooleanType  ensureNZC = BT_FALSE 
) [protected]

Removes a constraint from active set.

Returns:
SUCCESSFUL_RETURN
RET_CONSTRAINT_NOT_ACTIVE
RET_REMOVECONSTRAINT_FAILED
RET_HESSIAN_NOT_SPD
Parameters:
numberNumber of constraint to be removed from active set.
updateCholeskyFlag indicating if Cholesky decomposition shall be updated.
allowFlippingFlag indicating if flipping bounds are allowed.
ensureNZCFlag indicating if non-zero curvature is ensured by exchange rules.

Definition at line 3829 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

Clears all data structures of QProblemB except for QP data.

Returns:
SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

Definition at line 203 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Clears all data structures of QProblemB except for QP data.

Returns:
SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

virtual returnValue QProblem::reset ( ) [virtual]

Clears all data structures of QProblemB except for QP data.

Returns:
SUCCESSFUL_RETURN
RET_RESET_FAILED

Reimplemented from QProblemB.

returnValue QProblem::setA ( const real_t *const  A_new) [inline, protected]

Sets constraint matrix of the QP.
(Remark: Also internal vector Ax is recomputed!)

Returns:
SUCCESSFUL_RETURN
Parameters:
A_newNew constraint matrix (with correct dimension!).
returnValue QProblem::setA ( int  number,
const real_t *const  value 
) [inline, protected]

Changes single row of constraint matrix of the QP.
(Remark: Also correponding component of internal vector Ax is recomputed!)

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of row to be changed.
valueNew (number)th constraint (with correct dimension!).
returnValue QProblem::setA ( const real_t *const  A_new) [inline, protected]

Sets constraint matrix of the QP.
(Remark: Also internal vector Ax is recomputed!)

Returns:
SUCCESSFUL_RETURN
Parameters:
A_newNew constraint matrix (with correct dimension!).
returnValue QProblem::setA ( int  number,
const real_t *const  value 
) [inline, protected]

Changes single row of constraint matrix of the QP.
(Remark: Also correponding component of internal vector Ax is recomputed!)

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of row to be changed.
valueNew (number)th constraint (with correct dimension!).
returnValue QProblem::setA ( Matrix A_new) [inline, protected]

Sets constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters:
A_newNew constraint matrix.
returnValue QProblem::setA ( const real_t *const  A_new) [inline, protected]

Sets dense constraint matrix of the QP.
Note: Also internal vector Ax is recomputed!

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters:
A_newNew dense constraint matrix (with correct dimension!).

Defines user-defined routine for calculating the constraint product A*x

Returns:
SUCCESSFUL_RETURN

Definition at line 1153 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setLBA ( const real_t *const  lbA_new) [inline, protected]

Sets constraints' lower bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
lbA_newNew constraints' lower bound vector (with correct dimension!).
returnValue QProblem::setLBA ( int  number,
real_t  value 
) [inline, protected]

Changes single entry of lower constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be changed.
valueNew value for entry of lower constraints' bound vector (with correct dimension!).
returnValue QProblem::setLBA ( const real_t *const  lbA_new) [inline, protected]

Sets constraints' lower bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
lbA_newNew constraints' lower bound vector (with correct dimension!).
returnValue QProblem::setLBA ( int  number,
real_t  value 
) [inline, protected]

Changes single entry of lower constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be changed.
valueNew value for entry of lower constraints' bound vector (with correct dimension!).
returnValue QProblem::setLBA ( const real_t *const  lbA_new) [inline, protected]

Sets constraints' lower bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters:
lbA_newNew constraints' lower bound vector (with correct dimension!).
returnValue QProblem::setLBA ( int  number,
real_t  value 
) [inline, protected]

Changes single entry of lower constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be changed.
valueNew value for entry of lower constraints' bound vector (with correct dimension!).
returnValue QProblem::setUBA ( const real_t *const  ubA_new) [inline, protected]

Sets constraints' upper bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
ubA_newNew constraints' upper bound vector (with correct dimension!).
returnValue QProblem::setUBA ( int  number,
real_t  value 
) [inline, protected]

Changes single entry of upper constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be changed.
valueNew value for entry of upper constraints' bound vector (with correct dimension!).
returnValue QProblem::setUBA ( const real_t *const  ubA_new) [inline, protected]

Sets constraints' upper bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
ubA_newNew constraints' upper bound vector (with correct dimension!).
returnValue QProblem::setUBA ( int  number,
real_t  value 
) [inline, protected]

Changes single entry of upper constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be changed.
valueNew value for entry of upper constraints' bound vector (with correct dimension!).
returnValue QProblem::setUBA ( const real_t *const  ubA_new) [inline, protected]

Sets constraints' upper bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters:
ubA_newNew constraints' upper bound vector (with correct dimension!).
returnValue QProblem::setUBA ( int  number,
real_t  value 
) [inline, protected]

Changes single entry of upper constraints' bound vector of the QP.

Returns:
SUCCESSFUL_RETURN
RET_INDEX_OUT_OF_BOUNDS
Parameters:
numberNumber of entry to be changed.
valueNew value for entry of upper constraints' bound vector (with correct dimension!).
returnValue QProblem::setupAuxiliaryQP ( const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
) [protected, virtual]

Updates QP vectors, working sets and internal data structures in order to start from an optimal solution corresponding to initial guesses of the working set for bounds and constraints.

Returns:
SUCCESSFUL_RETURN
RET_SETUP_AUXILIARYQP_FAILED
RET_INVALID_ARGUMENTS
Parameters:
guessedBoundsInitial guess for working set of bounds.
guessedConstraintsInitial guess for working set of constraints.

Definition at line 5669 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPbounds ( const Bounds *const  auxiliaryBounds,
const Constraints *const  auxiliaryConstraints,
BooleanType  useRelaxation 
) [protected]

Setups (constraints') bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:
SUCCESSFUL_RETURN
RET_UNKNOWN BUG
Parameters:
auxiliaryBoundsWorking set of bounds for auxiliary QP.
auxiliaryConstraintsWorking set of constraints for auxiliary QP.
useRelaxationFlag indicating if inactive (constraints') bounds shall be relaxed.

Definition at line 1198 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPbounds ( const Bounds *const  auxiliaryBounds,
const Constraints *const  auxiliaryConstraints,
BooleanType  useRelaxation 
) [protected]

Setups (constraints') bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:
SUCCESSFUL_RETURN
RET_UNKNOWN BUG
Parameters:
auxiliaryBoundsWorking set of bounds for auxiliary QP.
auxiliaryConstraintsWorking set of constraints for auxiliary QP.
useRelaxationFlag indicating if inactive (constraints') bounds shall be relaxed.
returnValue QProblem::setupAuxiliaryQPbounds ( const Bounds *const  auxiliaryBounds,
const Constraints *const  auxiliaryConstraints,
BooleanType  useRelaxation 
) [protected]

Setups (constraints') bounds of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:
SUCCESSFUL_RETURN
RET_UNKNOWN_BUG
Parameters:
auxiliaryBoundsWorking set of bounds for auxiliary QP.
auxiliaryConstraintsWorking set of constraints for auxiliary QP.
useRelaxationFlag indicating if inactive (constraints') bounds shall be relaxed.

Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Definition at line 1169 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

Setups gradient of the auxiliary initial QP for given optimal primal/dual solution and given initial working set (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).

Returns:
SUCCESSFUL_RETURN

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryQPsolution ( const real_t *const  xOpt,
const real_t *const  yOpt 
) [protected]

Setups the optimal primal/dual solution of the auxiliary initial QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
xOptOptimal primal solution vector. If a NULL pointer is passed, all entries are set to zero.
yOptOptimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.

Reimplemented from QProblemB.

Definition at line 1116 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryQPsolution ( const real_t *const  xOpt,
const real_t *const  yOpt 
) [protected]

Setups the optimal primal/dual solution of the auxiliary initial QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
xOptOptimal primal solution vector. If a NULL pointer is passed, all entries are set to zero.
yOptOptimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryQPsolution ( const real_t *const  xOpt,
const real_t *const  yOpt 
) [protected]

Setups the optimal primal/dual solution of the auxiliary initial QP.

Returns:
SUCCESSFUL_RETURN
Parameters:
xOptOptimal primal solution vector. If a NULL pointer is passed, all entries are set to zero.
yOptOptimal dual solution vector. If a NULL pointer is passed, all entries are set to zero.

Reimplemented from QProblemB.

returnValue QProblem::setupAuxiliaryWorkingSet ( const Bounds *const  auxiliaryBounds,
const Constraints *const  auxiliaryConstraints,
BooleanType  setupAfresh 
) [protected]

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns:
SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG
Parameters:
auxiliaryBoundsWorking set of bounds for auxiliary QP.
auxiliaryConstraintsWorking set of constraints for auxiliary QP.
setupAfreshFlag indicating if given working set shall be setup afresh or by updating the current one.

Definition at line 1000 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupAuxiliaryWorkingSet ( const Bounds *const  auxiliaryBounds,
const Constraints *const  auxiliaryConstraints,
BooleanType  setupAfresh 
) [protected]

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns:
SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN BUG
Parameters:
auxiliaryBoundsWorking set of bounds for auxiliary QP.
auxiliaryConstraintsWorking set of constraints for auxiliary QP.
setupAfreshFlag indicating if given working set shall be setup afresh or by updating the current one.
returnValue QProblem::setupAuxiliaryWorkingSet ( const Bounds *const  auxiliaryBounds,
const Constraints *const  auxiliaryConstraints,
BooleanType  setupAfresh 
) [protected]

Setups bound and constraints data structures according to auxiliaryBounds/Constraints. (If the working set shall be setup afresh, make sure that bounds and constraints data structure have been resetted and the TQ factorisation has been initialised!)

Returns:
SUCCESSFUL_RETURN
RET_SETUP_WORKINGSET_FAILED
RET_INVALID_ARGUMENTS
RET_UNKNOWN_BUG
Parameters:
auxiliaryBoundsWorking set of bounds for auxiliary QP.
auxiliaryConstraintsWorking set of constraints for auxiliary QP.
setupAfreshFlag indicating if given working set shall be setup afresh or by updating the current one.

Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).

Returns:
SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 578 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z).

Returns:
SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z). Note: If Hessian turns out not to be positive definite, the Hessian type is set to HST_SEMIDEF accordingly.

Returns:
SUCCESSFUL_RETURN
RET_HESSIAN_NOT_SPD
RET_INDEXLIST_CORRUPTED
returnValue QProblem::setupQPdata ( const real_t *const  _H,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA 
) [protected]

Setups internal QP data.

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters:
_HHessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 3520 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupQPdata ( const real_t *const  _H,
const real_t *const  _R,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA 
) [protected]

Setups internal QP data.

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
Parameters:
_HHessian matrix.
_RCholesky factorization of the Hessian matrix.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 3607 of file external_packages/qpoases/SRC/QProblem.cpp.

returnValue QProblem::setupQPdata ( SymmetricMatrix _H,
const real_t *const  _g,
Matrix _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA 
) [protected]

Setups internal QP data.

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG
Parameters:
_HHessian matrix.
If Hessian matrix is trivial,a NULL pointer can be passed.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.

Definition at line 5806 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::setupQPdata ( const real_t *const  _H,
const real_t *const  _g,
const real_t *const  _A,
const real_t *const  _lb,
const real_t *const  _ub,
const real_t *const  _lbA,
const real_t *const  _ubA 
) [protected]

Setups dense internal QP data. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.

Returns:
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG
Parameters:
_HHessian matrix.
If Hessian matrix is trivial,a NULL pointer can be passed.
_gGradient vector.
_AConstraint matrix.
_lbLower bound vector (on variables).
If no lower bounds exist, a NULL pointer can be passed.
_ubUpper bound vector (on variables).
If no upper bounds exist, a NULL pointer can be passed.
_lbALower constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
_ubAUpper constraints' bound vector.
If no lower constraints' bounds exist, a NULL pointer can be passed.
returnValue QProblem::setupQPdataFromFile ( const char *const  H_file,
const char *const  g_file,
const char *const  A_file,
const char *const  lb_file,
const char *const  ub_file,
const char *const  lbA_file,
const char *const  ubA_file 
) [protected]

Setups internal QP data by loading it from files. If the current Hessian is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, memory for Hessian is allocated and it is set to the given one.

Returns:
SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE
RET_INVALID_ARGUMENTS
RET_UNKNONW_BUG
Parameters:
H_fileName of file where Hessian matrix, of neighbouring QP to be solved, is stored.
If Hessian matrix is trivial,a NULL pointer can be passed.
g_fileName of file where gradient, of neighbouring QP to be solved, is stored.
A_fileName of file where constraint matrix, of neighbouring QP to be solved, is stored.
lb_fileName of file where lower bounds, of neighbouring QP to be solved, is stored.
If no lower bounds exist, a NULL pointer can be passed.
ub_fileName of file where upper bounds, of neighbouring QP to be solved, is stored.
If no upper bounds exist, a NULL pointer can be passed.
lbA_fileName of file where lower constraints' bounds, of neighbouring QP to be solved, is stored.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_fileName of file where upper constraints' bounds, of neighbouring QP to be solved, is stored.
If no upper constraints' bounds exist, a NULL pointer can be passed.

Definition at line 5912 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:
SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

Definition at line 507 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:
SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

virtual returnValue QProblem::setupSubjectToType ( ) [protected, virtual]

Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:
SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED

Reimplemented from QProblemB.

returnValue QProblem::setupSubjectToType ( const real_t *const  lb_new,
const real_t *const  ub_new,
const real_t *const  lbA_new,
const real_t *const  ubA_new 
) [protected, virtual]

Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).

Returns:
SUCCESSFUL_RETURN
RET_SETUPSUBJECTTOTYPE_FAILED
Parameters:
lb_newNew lower bounds.
ub_newNew upper bounds.
lbA_newNew lower constraints' bounds.
ubA_newNew upper constraints' bounds.

Definition at line 2127 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns:
SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Definition at line 680 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns:
SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED

Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.

Returns:
SUCCESSFUL_RETURN
RET_INDEXLIST_CORRUPTED
BooleanType QProblem::shallRefactorise ( const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints 
) const [protected]

Determines if it is more efficient to refactorise the matrices when hotstarting or not (i.e. better to update the existing factorisations).

Returns:
BT_TRUE iff matrices shall be refactorised afresh
Parameters:
guessedBoundsGuessed new working set of bounds.
guessedConstraintsGuessed new working set of constraints.

Definition at line 5767 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveCurrentEQP ( const int  n_rhs,
const real_t g_in,
const real_t lb_in,
const real_t ub_in,
const real_t lbA_in,
const real_t ubA_in,
real_t x_out,
real_t y_out 
)

Solves using the current working set

Returns:
SUCCESSFUL_RETURN
RET_STEPDIRECTION_FAILED_TQ
RET_STEPDIRECTION_FAILED_CHOLESKY
Parameters:
n_rhsNumber of consecutive right hand sides
g_inGradient of neighbouring QP to be solved.
lb_inLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_inUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_inLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_inUpper constraints' bounds of neighbouring QP to be solved.
x_outPrimal solution
y_outDual solution

Definition at line 1045 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveInitialQP ( const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints,
int &  nWSR,
real_t *const  cputime 
) [protected]

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints can be provided.

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
Parameters:
xOptOptimal primal solution vector. A NULL pointer can be passed.
yOptOptimal dual solution vector. A NULL pointer can be passed.
guessedBoundsGuessed working set of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraintsOptimal working set of constraints for solution (xOpt,yOpt). A NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeOutput: CPU time required to solve QP (or to perform nWSR iterations).

Definition at line 713 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/SRC/QProblem.cpp.

returnValue QProblem::solveInitialQP ( const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints,
int &  nWSR,
real_t *const  cputime 
) [protected]

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints can be provided.

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
Parameters:
xOptOptimal primal solution vector. A NULL pointer can be passed.
yOptOptimal dual solution vector. A NULL pointer can be passed.
guessedBoundsGuessed working set of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraintsOptimal working set of constraints for solution (xOpt,yOpt). A NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeOutput: CPU time required to solve QP (or to perform nWSR iterations).
returnValue QProblem::solveInitialQP ( const real_t *const  xOpt,
const real_t *const  yOpt,
const Bounds *const  guessedBounds,
const Constraints *const  guessedConstraints,
int &  nWSR,
real_t *const  cputime 
) [protected]

Solves a QProblem whose QP data is assumed to be stored in the member variables. A guess for its primal/dual optimal solution vectors and the corresponding working sets of bounds and constraints can be provided. Note: This function is internally called by all init functions!

Returns:
SUCCESSFUL_RETURN
RET_INIT_FAILED
RET_INIT_FAILED_CHOLESKY
RET_INIT_FAILED_TQ
RET_INIT_FAILED_HOTSTART
RET_INIT_FAILED_INFEASIBILITY
RET_INIT_FAILED_UNBOUNDEDNESS
RET_MAX_NWSR_REACHED
Parameters:
xOptOptimal primal solution vector. A NULL pointer can be passed.
yOptOptimal dual solution vector. A NULL pointer can be passed.
guessedBoundsGuessed working set of bounds for solution (xOpt,yOpt). A NULL pointer can be passed.
guessedConstraintsOptimal working set of constraints for solution (xOpt,yOpt). A NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
returnValue QProblem::solveQP ( 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,
int  nWSRperformed = 0 
) [protected]

Solves QProblem using online active set strategy. Note: This function is internally called by all hotstart functions!

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
Parameters:
g_newGradient of neighbouring QP to be solved.
lb_newLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_newUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_newLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_newUpper constraints' bounds of neighbouring QP to be solved.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
nWSRperformedNumber of working set recalculations already performed to solve this QP within previous solveQP() calls. This number is always zero, except for successive calls from solveRegularisedQP() or when using the far bound strategy.

Definition at line 1694 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.

returnValue QProblem::solveRegularisedQP ( 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,
int  nWSRperformed = 0 
) [protected]

Solves QProblem using online active set strategy. Note: This function is internally called by all hotstart functions!

Returns:
SUCCESSFUL_RETURN
RET_MAX_NWSR_REACHED
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
RET_HOTSTART_FAILED
RET_SHIFT_DETERMINATION_FAILED
RET_STEPDIRECTION_DETERMINATION_FAILED
RET_STEPLENGTH_DETERMINATION_FAILED
RET_HOMOTOPY_STEP_FAILED
RET_HOTSTART_STOPPED_INFEASIBILITY
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
Parameters:
g_newGradient of neighbouring QP to be solved.
lb_newLower bounds of neighbouring QP to be solved.
If no lower bounds exist, a NULL pointer can be passed.
ub_newUpper bounds of neighbouring QP to be solved.
If no upper bounds exist, a NULL pointer can be passed.
lbA_newLower constraints' bounds of neighbouring QP to be solved.
If no lower constraints' bounds exist, a NULL pointer can be passed.
ubA_newUpper constraints' bounds of neighbouring QP to be solved.
If no upper constraints' bounds exist, a NULL pointer can be passed.
nWSRInput: Maximum number of working set recalculations;
Output: Number of performed working set recalculations.
cputimeInput: Maximum CPU time allowed for QP solution.
Output: CPU time spend for QP solution (or to perform nWSR iterations).
nWSRperformedNumber of working set recalculations already performed to solve this QP within previous solveRegularisedQP() calls. This number is always zero, except for successive calls when using the far bound strategy.

Definition at line 2014 of file external_packages/qpOASES-3.0beta/src/QProblem.cpp.


Friends And Related Function Documentation

SolutionAnalysis [friend]

Reimplemented from QProblemB.

Reimplemented in SQProblem.

Definition at line 56 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.


Member Data Documentation

real_t QProblem::A [protected]
Matrix* QProblem::A [protected]
real_t QProblem::Ax [protected]

Stores the current product A*x (for increased efficiency only).

Definition at line 620 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::Ax [protected]

Stores the current A*x
(for increased efficiency only).

Definition at line 1077 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t* QProblem::Ax_l [protected]

Stores the current distance to lower constraints' bounds A*x-lbA
(for increased efficiency only).

Definition at line 1079 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t* QProblem::Ax_u [protected]

Stores the current distance to lower constraints' bounds ubA-A*x
(for increased efficiency only).

Definition at line 1081 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Pointer to user-defined constraint product function.

Definition at line 1084 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Data structure for problem's constraints.

Definition at line 614 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

Data structure for storing (possible) cycling information (NOT YET IMPLEMENTED!).

Definition at line 622 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

Temporary for determineStepDirection.

Definition at line 1089 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Temporary for determineStepDirection.

Definition at line 1090 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Temporary for determineStepDirection.

Definition at line 1091 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Flag indicating whether the constraint matrix needs to be de-allocated.

Definition at line 1065 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxAddB [protected]

Auxiliary variable for debug output.

Definition at line 1093 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxAddC [protected]

Auxiliary variable for debug output.

Definition at line 1095 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxRemB [protected]

Auxiliary variable for debug output.

Definition at line 1094 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::idxRemC [protected]

Auxiliary variable for debug output.

Definition at line 1096 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::lbA [protected]

Lower constraints' bound vector.

Definition at line 611 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::lbA [protected]

Lower constraints' bound vector.

Definition at line 1068 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::Q [protected]

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 617 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::Q [protected]

Orthonormal quadratic matrix, A = [0 T]*Q'.

Definition at line 1074 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

int QProblem::sizeT [protected]

Matrix T is stored in a (sizeT x sizeT) array.

Definition at line 618 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t QProblem::T [protected]

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 616 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::T [protected]

Reverse triangular matrix, A = [0 T]*Q'.

Definition at line 1073 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t* QProblem::tempA [protected]

Temporary for determineStepDirection.

Definition at line 1086 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t* QProblem::tempB [protected]

Temporary for determineStepDirection.

Definition at line 1087 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

real_t QProblem::ubA [protected]

Upper constraints' bound vector.

Definition at line 612 of file examples/code_generation/mpc_mhe/getting_started_export/qpoases/INCLUDE/QProblem.hpp.

real_t* QProblem::ubA [protected]

Upper constraints' bound vector.

Definition at line 1069 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.

Temporary for determineStepDirection.

Definition at line 1088 of file external_packages/qpOASES-3.0beta/include/qpOASES/QProblem.hpp.


The documentation for this class was generated from the following files:


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:25