#include <qpOASES/Options.hpp>
Go to the source code of this file.
Functions | |
returnValue | readOqpData (const char *path, int_t &nQP, int_t &nV, int_t &nC, int_t &nEC, real_t **H, real_t **g, real_t **A, real_t **lb, real_t **ub, real_t **lbA, real_t **ubA, real_t **xOpt, real_t **yOpt, real_t **objOpt) |
BEGIN_NAMESPACE_QPOASES returnValue | readOqpDimensions (const char *path, int_t &nQP, int_t &nV, int_t &nC, int_t &nEC) |
returnValue | runOqpBenchmark (const char *path, BooleanType isSparse, const Options &options, int_t &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | runOqpBenchmark (const char *path, BooleanType isSparse, BooleanType useHotstarts, const Options &options, int_t maxAllowedNWSR, real_t &maxNWSR, real_t &avgNWSR, real_t &maxCPUtime, real_t &avgCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | solveOqpBenchmark (int_t nQP, int_t nV, int_t nC, int_t nEC, 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, BooleanType isSparse, const Options &options, int_t &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | solveOqpBenchmark (int_t nQP, int_t nV, int_t nC, int_t nEC, 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, BooleanType isSparse, BooleanType useHotstarts, const Options &options, int_t maxAllowedNWSR, real_t &maxNWSR, real_t &avgNWSR, real_t &maxCPUtime, real_t &avgCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | solveOqpBenchmark (int_t nQP, int_t nV, const real_t *const _H, const real_t *const g, const real_t *const lb, const real_t *const ub, BooleanType isSparse, const Options &options, int_t &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | solveOqpBenchmark (int_t nQP, int_t nV, const real_t *const _H, const real_t *const g, const real_t *const lb, const real_t *const ub, BooleanType isSparse, BooleanType useHotstarts, const Options &options, int_t maxAllowedNWSR, real_t &maxNWSR, real_t &avgNWSR, real_t &maxCPUtime, real_t &avgCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue readOqpData | ( | const char * | path, |
int_t & | nQP, | ||
int_t & | nV, | ||
int_t & | nC, | ||
int_t & | nEC, | ||
real_t ** | H, | ||
real_t ** | g, | ||
real_t ** | A, | ||
real_t ** | lb, | ||
real_t ** | ub, | ||
real_t ** | lbA, | ||
real_t ** | ubA, | ||
real_t ** | xOpt, | ||
real_t ** | yOpt, | ||
real_t ** | objOpt | ||
) |
Reads data of an Online QP Benchmark problem from file. This function allocates the required memory for all data; after successfully calling it, you have to free this memory yourself!
path | Full path of the data files (without trailing slash!). |
nQP | Output: Number of QPs. |
nV | Output: Number of variables. |
nC | Output: Number of constraints. |
nEC | Output: Number of equality constraints. |
H | Output: Hessian matrix. |
g | Output: Sequence of gradient vectors. |
A | Output: Constraint matrix. |
lb | Output: Sequence of lower bound vectors (on variables). |
ub | Output: Sequence of upper bound vectors (on variables). |
lbA | Output: Sequence of lower constraints' bound vectors. |
ubA | Output: Sequence of upper constraints' bound vectors. |
xOpt | Output: Sequence of primal solution vectors (not read if a null pointer is passed). |
yOpt | Output: Sequence of dual solution vectors (not read if a null pointer is passed). |
objOpt | Output: Sequence of optimal objective function values (not read if a null pointer is passed). |
Definition at line 79 of file qpOASES-3.2.0/src/OQPinterface.cpp.
BEGIN_NAMESPACE_QPOASES returnValue readOqpDimensions | ( | const char * | path, |
int_t & | nQP, | ||
int_t & | nV, | ||
int_t & | nC, | ||
int_t & | nEC | ||
) |
Reads dimensions of an Online QP Benchmark problem from file.
path | Full path of the data files (without trailing slash!). |
nQP | Output: Number of QPs. |
nV | Output: Number of variables. |
nC | Output: Number of constraints. |
nEC | Output: Number of equality constraints. |
Definition at line 49 of file qpOASES-3.2.0/src/OQPinterface.cpp.
returnValue runOqpBenchmark | ( | const char * | path, |
BooleanType | isSparse, | ||
const Options & | options, | ||
int_t & | nWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Runs an Online QP Benchmark problem and determines the maximum violation of the KKT optimality conditions as well as the maximum CPU time to solve each QP.
path | Full path of the benchmark files (without trailing slash!). |
isSparse | Shall convert matrices to sparse format before solution? |
options | QP solver options to be used while solving benchmark problems. |
nWSR | Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 569 of file qpOASES-3.2.0/src/OQPinterface.cpp.
returnValue runOqpBenchmark | ( | const char * | path, |
BooleanType | isSparse, | ||
BooleanType | useHotstarts, | ||
const Options & | options, | ||
int_t | maxAllowedNWSR, | ||
real_t & | maxNWSR, | ||
real_t & | avgNWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | avgCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Runs an Online QP Benchmark problem and determines the maximum violation of the KKT optimality conditions as well as the maximum and average number of iterations and CPU time to solve each QP.
path | Full path of the benchmark files (without trailing slash!). |
isSparse | Shall convert matrices to sparse format before solution? |
useHotstarts | Shall QP solution be hotstarted? |
options | QP solver options to be used while solving benchmark problems. |
maxAllowedNWSR | Maximum number of working set recalculations to be performed. |
maxNWSR | Output: Maximum number of performed working set recalculations. |
avgNWSR | Output: Average number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
avgCPUtime | Output: Average CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 592 of file qpOASES-3.2.0/src/OQPinterface.cpp.
returnValue solveOqpBenchmark | ( | int_t | nQP, |
int_t | nV, | ||
int_t | nC, | ||
int_t | nEC, | ||
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, | ||
BooleanType | isSparse, | ||
const Options & | options, | ||
int_t & | nWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Solves an Online QP Benchmark problem as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.
Note: This variant is outdated and only kept to ensure backwards-compatibility!
nQP | Number of QPs. |
nV | Number of variables. |
nC | Number of constraints. |
nEC | Number of equality constraints. |
_H | Hessian matrix. |
g | Sequence of gradient vectors. |
_A | Constraint matrix. |
lb | Sequence of lower bound vectors (on variables). |
ub | Sequence of upper bound vectors (on variables). |
lbA | Sequence of lower constraints' bound vectors. |
ubA | Sequence of upper constraints' bound vectors. |
isSparse | Shall convert matrices to sparse format before solution? |
options | QP solver options to be used while solving benchmark problems. |
nWSR | Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 230 of file qpOASES-3.2.0/src/OQPinterface.cpp.
returnValue solveOqpBenchmark | ( | int_t | nQP, |
int_t | nV, | ||
int_t | nC, | ||
int_t | nEC, | ||
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, | ||
BooleanType | isSparse, | ||
BooleanType | useHotstarts, | ||
const Options & | options, | ||
int_t | maxAllowedNWSR, | ||
real_t & | maxNWSR, | ||
real_t & | avgNWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | avgCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Solves an Online QP Benchmark problem as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.
nQP | Number of QPs. |
nV | Number of variables. |
nC | Number of constraints. |
nEC | Number of equality constraints. |
_H | Hessian matrix. |
g | Sequence of gradient vectors. |
_A | Constraint matrix. |
lb | Sequence of lower bound vectors (on variables). |
ub | Sequence of upper bound vectors (on variables). |
lbA | Sequence of lower constraints' bound vectors. |
ubA | Sequence of upper constraints' bound vectors. |
isSparse | Shall convert matrices to sparse format before solution? |
useHotstarts | Shall QP solution be hotstarted? |
options | QP solver options to be used while solving benchmark problems. |
maxAllowedNWSR | Maximum number of working set recalculations to be performed. |
maxNWSR | Output: Maximum number of performed working set recalculations. |
avgNWSR | Output: Average number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
avgCPUtime | Output: Average CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 260 of file qpOASES-3.2.0/src/OQPinterface.cpp.
returnValue solveOqpBenchmark | ( | int_t | nQP, |
int_t | nV, | ||
const real_t *const | _H, | ||
const real_t *const | g, | ||
const real_t *const | lb, | ||
const real_t *const | ub, | ||
BooleanType | isSparse, | ||
const Options & | options, | ||
int_t & | nWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Solves an Online QP Benchmark problem (without constraints) as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.
Note: This variant is outdated and only kept to ensure backwards-compatibility!
nQP | Number of QPs. |
nV | Number of variables. |
_H | Hessian matrix. |
g | Sequence of gradient vectors. |
lb | Sequence of lower bound vectors (on variables). |
ub | Sequence of upper bound vectors (on variables). |
isSparse | Shall convert matrices to sparse format before solution? |
options | QP solver options to be used while solving benchmark problems. |
nWSR | Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 407 of file qpOASES-3.2.0/src/OQPinterface.cpp.
returnValue solveOqpBenchmark | ( | int_t | nQP, |
int_t | nV, | ||
const real_t *const | _H, | ||
const real_t *const | g, | ||
const real_t *const | lb, | ||
const real_t *const | ub, | ||
BooleanType | isSparse, | ||
BooleanType | useHotstarts, | ||
const Options & | options, | ||
int_t | maxAllowedNWSR, | ||
real_t & | maxNWSR, | ||
real_t & | avgNWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | avgCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Solves an Online QP Benchmark problem (without constraints) as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.
nQP | Number of QPs. |
nV | Number of variables. |
_H | Hessian matrix. |
g | Sequence of gradient vectors. |
lb | Sequence of lower bound vectors (on variables). |
ub | Sequence of upper bound vectors (on variables). |
isSparse | Shall convert matrices to sparse format before solution? |
useHotstarts | Shall QP solution be hotstarted? |
options | QP solver options to be used while solving benchmark problems. |
maxAllowedNWSR | Maximum number of working set recalculations to be performed. |
maxNWSR | Output: Maximum number of performed working set recalculations. |
avgNWSR | Output: Average number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
avgCPUtime | Output: Average CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 435 of file qpOASES-3.2.0/src/OQPinterface.cpp.