Public Member Functions | Protected Member Functions | Protected Attributes

(not yet documented) More...

#include <qp_solver_qpoases.hpp>

Inheritance diagram for QPsolver_qpOASES:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual DenseCPsolverclone () const
virtual DenseQPsolvercloneDenseQPsolver () const
virtual returnValue getDualSolution (DVector &yOpt) const
virtual uint getNumberOfConstraints () const
virtual uint getNumberOfVariables () const
virtual double getObjVal () const
virtual returnValue getPrimalSolution (DVector &xOpt) const
virtual returnValue getVarianceCovariance (DMatrix &var)
virtual returnValue getVarianceCovariance (DMatrix &H, DMatrix &var)
QPsolver_qpOASESoperator= (const QPsolver_qpOASES &rhs)
 QPsolver_qpOASES ()
 QPsolver_qpOASES (UserInteraction *_userInteraction)
 QPsolver_qpOASES (const QPsolver_qpOASES &rhs)
virtual returnValue solve (DenseCP *cp_)
virtual returnValue solve (double *H, double *A, double *g, double *lb, double *ub, double *lbA, double *ubA, uint maxIter)
virtual returnValue solve (DMatrix *H, DMatrix *A, DVector *g, DVector *lb, DVector *ub, DVector *lbA, DVector *ubA, uint maxIter)
virtual returnValue step (double *H, double *A, double *g, double *lb, double *ub, double *lbA, double *ubA)
virtual returnValue step (DMatrix *H, DMatrix *A, DVector *g, DVector *lb, DVector *ub, DVector *lbA, DVector *ubA)
virtual ~QPsolver_qpOASES ()

Protected Member Functions

virtual returnValue setupQPobject (uint nV, uint nC)
returnValue updateQPstatus (int ret)

Protected Attributes

qpOASES::SQProblem * qp

Detailed Description

(not yet documented)

The class QPsolver_qpOASES interfaces the qpOASES software package for solving convex quadratic programming (QP) problems.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file qp_solver_qpoases.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 44 of file qp_solver_qpoases.cpp.

Definition at line 50 of file qp_solver_qpoases.cpp.

Copy constructor (deep copy).

Definition at line 56 of file qp_solver_qpoases.cpp.

Destructor.

Definition at line 65 of file qp_solver_qpoases.cpp.


Member Function Documentation

DenseCPsolver * QPsolver_qpOASES::clone ( ) const [virtual]

Implements DenseQPsolver.

Definition at line 93 of file qp_solver_qpoases.cpp.

Implements DenseQPsolver.

Definition at line 99 of file qp_solver_qpoases.cpp.

Returns dual solution vector if QP has been solved.

Returns:
SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
Parameters:
yOptOUTPUT: dual solution vector.

Implements DenseQPsolver.

Definition at line 230 of file qp_solver_qpoases.cpp.

Implements DenseQPsolver.

Definition at line 278 of file qp_solver_qpoases.cpp.

Implements DenseQPsolver.

Definition at line 270 of file qp_solver_qpoases.cpp.

double QPsolver_qpOASES::getObjVal ( ) const [virtual]

Returns optimal objective function value.

Returns:
finite value: Optimal objective function value (QP has been solved)
+INFTY: QP has not been solved or is infeasible
-INFTY: QP is unbounded

Implements DenseQPsolver.

Definition at line 252 of file qp_solver_qpoases.cpp.

Returns primal solution vector if QP has been solved.

Returns:
SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED
Parameters:
xOptOUTPUT: primal solution vector.

Implements DenseQPsolver.

Definition at line 208 of file qp_solver_qpoases.cpp.

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns:
SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseQPsolver.

Definition at line 264 of file qp_solver_qpoases.cpp.

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns:
SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseQPsolver.

Definition at line 287 of file qp_solver_qpoases.cpp.

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

Assignment operator (deep copy).

Definition at line 72 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::setupQPobject ( uint  nV,
uint  nC 
) [protected, virtual]

Setups QP object.

Returns:
SUCCESSFUL_RETURN
RET_QP_INIT_FAILED
Parameters:
nVNumber of QP variables.
nCNumber of QP constraints (without bounds).

Implements DenseQPsolver.

Definition at line 339 of file qp_solver_qpoases.cpp.

Solves the QP.

Reimplemented from DenseQPsolver.

Definition at line 105 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve ( double *  H,
double *  A,
double *  g,
double *  lb,
double *  ub,
double *  lbA,
double *  ubA,
uint  maxIter 
) [virtual]

Solves QP using at most <maxIter> iterations.

Returns:
SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST
Parameters:
HHessian matrix of neighbouring QP to be solved.
AConstraint matrix of neighbouring QP to be solved.
gGradient of neighbouring QP to be solved.
lbLower bounds of neighbouring QP to be solved.
ubUpper bounds of neighbouring QP to be solved.
lbALower constraints' bounds of neighbouring QP to be solved.
ubAUpper constraints' bounds of neighbouring QP to be solved.
maxIterMaximum number of iterations.

Implements DenseQPsolver.

Definition at line 111 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::solve ( DMatrix H,
DMatrix A,
DVector g,
DVector lb,
DVector ub,
DVector lbA,
DVector ubA,
uint  maxIter 
) [virtual]

Solves QP using at most <maxIter> iterations.

Parameters:
HHessian matrix of neighbouring QP to be solved.
AConstraint matrix of neighbouring QP to be solved.
gGradient of neighbouring QP to be solved.
lbLower bounds of neighbouring QP to be solved.
ubUpper bounds of neighbouring QP to be solved.
lbALower constraints' bounds of neighbouring QP to be solved.
ubAUpper constraints' bounds of neighbouring QP to be solved.
maxIterMaximum number of iterations.

Implements DenseQPsolver.

Definition at line 158 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::step ( double *  H,
double *  A,
double *  g,
double *  lb,
double *  ub,
double *  lbA,
double *  ubA 
) [virtual]

Performs exactly one QP iteration.

Returns:
SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST
Parameters:
HHessian matrix of neighbouring QP to be solved.
AConstraint matrix of neighbouring QP to be solved.
gGradient of neighbouring QP to be solved.
lbLower bounds of neighbouring QP to be solved.
ubUpper bounds of neighbouring QP to be solved.
lbALower constraints' bounds of neighbouring QP to be solved.
ubAUpper constraints' bounds of neighbouring QP to be solved.

Implements DenseQPsolver.

Definition at line 180 of file qp_solver_qpoases.cpp.

returnValue QPsolver_qpOASES::step ( DMatrix H,
DMatrix A,
DVector g,
DVector lb,
DVector ub,
DVector lbA,
DVector ubA 
) [virtual]

Performs exactly one QP iteration.

Returns:
SUCCESSFUL_RETURN
RET_QP_SOLUTION_REACHED_LIMIT
RET_QP_SOLUTION_FAILED
RET_INITIALIZE_FIRST
Parameters:
HHessian matrix of neighbouring QP to be solved.
AConstraint matrix of neighbouring QP to be solved.
gGradient of neighbouring QP to be solved.
lbLower bounds of neighbouring QP to be solved.
ubUpper bounds of neighbouring QP to be solved.
lbALower constraints' bounds of neighbouring QP to be solved.
ubAUpper constraints' bounds of neighbouring QP to be solved.

Implements DenseQPsolver.

Definition at line 194 of file qp_solver_qpoases.cpp.

Definition at line 377 of file qp_solver_qpoases.cpp.


Member Data Documentation

qpOASES::SQProblem* QPsolver_qpOASES::qp [protected]

Definition at line 204 of file qp_solver_qpoases.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