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Classes
struct	TabularOutput
	Stores internal information for tabular (debugging) output. More...
struct	MatMatrixHeader
	Struct containing the variable header for mat file. More...
Defines
#define	__ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
#define	BEGIN_NAMESPACE_QPOASES namespace qpOASES {
#define	END_NAMESPACE_QPOASES }
#define	USING_NAMESPACE_QPOASES using namespace qpOASES;
#define	REFER_NAMESPACE_QPOASES qpOASES::
#define	RR(I, J) R[(I)+nV*(J)]
#define	QQ(I, J) Q[(I)+nV*(J)]
#define	TT(I, J) T[(I)*sizeT+(J)]
Enumerations
enum	BooleanType { BT_FALSE, BT_TRUE }
enum	PrintLevel { PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH }
enum	VisibilityStatus { VS_HIDDEN, VS_VISIBLE }
enum	QProblemStatus { QPS_NOTINITIALISED, QPS_PREPARINGAUXILIARYQP, QPS_AUXILIARYQPSOLVED, QPS_PERFORMINGHOMOTOPY, QPS_HOMOTOPYQPSOLVED, QPS_SOLVED }
enum	HessianType { HST_ZERO, HST_IDENTITY, HST_POSDEF, HST_POSDEF_NULLSPACE, HST_SEMIDEF, HST_INDEF, HST_UNKNOWN }
enum	SubjectToType { ST_UNBOUNDED, ST_BOUNDED, ST_EQUALITY, ST_DISABLED, ST_UNKNOWN }
enum	SubjectToStatus { ST_LOWER = -1, ST_INACTIVE, ST_UPPER, ST_INFEASIBLE_LOWER, ST_INFEASIBLE_UPPER, ST_UNDEFINED }
Variables
BEGIN_NAMESPACE_QPOASES typedef double	real_t

Detailed Description

Author:: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:: 3.0

Date:: 2007-2014

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

Define Documentation

#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

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

#define BEGIN_NAMESPACE_QPOASES namespace qpOASES {

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

#define END_NAMESPACE_QPOASES }

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

#define QQ	(	I,
		J
	)	Q[(I)+nV*(J)]

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

Referenced by QProblem::addBound(), QProblem::addBound_checkLI(), QProblem::addBound_ensureLI(), QProblem::addConstraint(), QProblem::addConstraint_checkLI(), QProblem::addConstraint_ensureLI(), QProblem::computeProjectedCholesky(), QProblem::determineStepDirection(), QProblem::removeBound(), QProblem::removeConstraint(), and QProblem::setupTQfactorisation().

#define REFER_NAMESPACE_QPOASES qpOASES::

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

Referenced by dgemm_(), dpotrf_(), DenseMatrix::getNorm(), SparseMatrix::getNorm(), SparseMatrixRow::getNorm(), DenseMatrix::getRowNorm(), SparseMatrix::getRowNorm(), SparseMatrixRow::getRowNorm(), Constraints::print(), Bounds::print(), DenseMatrix::print(), SparseMatrix::print(), SparseMatrixRow::print(), sgemm_(), and spotrf_().

#define RR	(	I,
		J
	)	R[(I)+nV*(J)]

Macro for accessing the Cholesky factor R.

Referenced by QProblem::addBound(), QProblemB::addBound(), QProblem::addConstraint(), QProblemB::backsolveR(), QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), QProblem::removeBound(), QProblemB::removeBound(), and QProblem::removeConstraint().

#define TT	(	I,
		J
	)	T[(I)*sizeT+(J)]

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

Referenced by QProblem::addBound(), QProblem::addConstraint(), QProblem::backsolveT(), QProblem::printIteration(), QProblem::removeBound(), and QProblem::removeConstraint().

#define USING_NAMESPACE_QPOASES using namespace qpOASES;

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

Referenced by main().

Enumeration Type Documentation

enum BooleanType

Summarises all possible logical values.

Enumerator:

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

enum HessianType

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

Enumerator:

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

enum PrintLevel

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

Enumerator:

PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Normal tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.

enum QProblemStatus

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

Enumerator:

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

enum SubjectToStatus

Summarises all possible states of bounds and constraints.

Enumerator:

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

enum SubjectToType

Summarises all possible types of bounds and constraints.

Enumerator:

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

enum VisibilityStatus

Defines visibility status of a message.

Enumerator:

VS_HIDDEN	Message not visible.
VS_VISIBLE	Message visible.

Variable Documentation

BEGIN_NAMESPACE_QPOASES typedef double real_t

Defines real_t for facilitating switching between double and float.

Referenced by QProblem::addBound(), QProblemB::addBound(), QProblem::addBound_checkLI(), QProblem::addBound_ensureLI(), QProblem::addConstraint(), QProblem::addConstraint_checkLI(), QProblem::addConstraint_ensureLI(), QProblemB::backsolveR(), QProblem::backsolveT(), SymDenseMat::bilinear(), QProblemB::computeGivens(), QProblem::copy(), QProblemB::copy(), QProblemB::createDiagSparseMat(), QProblemB::determineHessianType(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), DenseMatrix::duplicate(), SparseMatrix::duplicate(), SparseMatrixRow::duplicate(), SymDenseMat::duplicateSym(), SymSparseMat::duplicateSym(), QProblem::ensureNonzeroCurvature(), DenseMatrix::full(), SparseMatrix::full(), SparseMatrixRow::full(), Flipper::get(), getCPUtime(), getKKTResidual(), SolutionAnalysis::getMaxKKTviolation(), getNorm(), QProblemB::getObjVal(), QProblemB::getRelativeHomotopyLength(), QProblem::getRelativeHomotopyLength(), SparseMatrix::getRowNorm(), SolutionAnalysis::getVarianceCovariance(), SQProblem::hotstart(), QProblemB::hotstart(), QProblem::hotstart(), QProblemB::isCPUtimeLimitExceeded(), main(), normaliseConstraints(), QProblemB::performRamping(), QProblem::performRamping(), QProblem::performStep(), QProblemB::performStep(), SparseMatrix::print(), SparseMatrixRow::print(), QProblemB::printIteration(), QProblem::printIteration(), QProblem::QProblem(), QProblemB::QProblemB(), readFromFile(), readOQPdata(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), runOQPbenchmark(), Flipper::set(), QProblem::setA(), QProblemB::setG(), QProblemB::setH(), QProblemB::setLB(), QProblem::setLBA(), QProblemB::setUB(), QProblem::setUBA(), SQProblem::setupAuxiliaryQP(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupQPdataFromFile(), QProblem::setupQPdataFromFile(), QProblem::solveCurrentEQP(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), solveOQPbenchmark(), QProblem::solveQP(), QProblemB::solveQP(), QProblem::solveRegularisedQP(), QProblemB::solveRegularisedQP(), SparseMatrix::SparseMatrix(), SparseMatrixRow::SparseMatrixRow(), QProblemB::updateFarBounds(), QProblem::updateFarBounds(), writeIntoMatFile(), and QProblem::writeQpDataIntoMatFile().

Classes

Defines

Enumerations

Variables

Detailed Description

Define Documentation

Enumeration Type Documentation

Variable Documentation