#include <math.h>

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Functions
BEGIN_NAMESPACE_QPOASES BooleanType	isEqual (real_t x, real_t y, real_t TOL)
BooleanType	isZero (real_t x, real_t TOL)
real_t	getSign (real_t arg)
int	getMax (int x, int y)
int	getMin (int x, int y)
real_t	getMax (real_t x, real_t y)
real_t	getMin (real_t x, real_t y)
real_t	getAbs (real_t x)
real_t	getSqrt (real_t x)

Detailed Description

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

Version:: 3.0

Date:: 2007-2014

Implementation of some inlined utilities for working with the different QProblem classes.

Function Documentation

real_t getAbs ( real_t x ) [inline]

Returns the absolute value of a real number.

Returns:: Absolute value of a real number

Parameters:

x	Real number.

Referenced by QProblem::addBound_checkLI(), QProblem::addConstraint_checkLI(), QProblemB::backsolveR(), QProblem::backsolveT(), QProblemB::computeCholesky(), QProblemB::computeGivens(), QProblem::computeProjectedCholesky(), QProblemB::determineDataShift(), QProblem::determineDataShift(), QProblemB::determineHessianType(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), getKKTResidual(), SolutionAnalysis::getMaxKKTviolation(), getNorm(), QProblemB::getRelativeHomotopyLength(), QProblem::getRelativeHomotopyLength(), SparseMatrix::getRowNorm(), QProblemB::hotstart(), QProblem::hotstart(), DenseMatrix::isDiag(), isEqual(), isZero(), main(), QProblem::performRamping(), QProblemB::printIteration(), and QProblem::printIteration().

int getMax	(	int	x,
		int	y
	)		`[inline]`

Returns maximum of two integers.

Returns:: Maximum of two integers

Parameters:

x	First integer.
y	Second integer.

Referenced by QProblem::ensureNonzeroCurvature(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblem::performRamping(), QProblem::performStep(), QProblemB::performStep(), DenseMatrix::times(), DenseMatrix::transTimes(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

real_t getMax	(	real_t	x,
		real_t	y
	)		`[inline]`

Returns maximum of two reals.

Returns:: Maximum of two reals

Parameters:

x	First real number.
y	Second real number.

int getMin	(	int	x,
		int	y
	)		`[inline]`

Returns minimum of two integers.

Returns:: Minimum of two integers

Parameters:

x	First integer.
y	Second integer.

Referenced by QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblem::QProblem(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

real_t getMin	(	real_t	x,
		real_t	y
	)		`[inline]`

Returns minimum of two reals.

Returns:: Minimum of two reals

Parameters:

x	First real number.
y	Second real number.

real_t getSign ( real_t arg ) [inline]

Returns sign of a real-valued argument.

Returns:: 1.0: argument is non-negative
-1.0: argument is negative

Parameters:

arg	real-valued argument whose sign is to be determined.

real_t getSqrt ( real_t x ) [inline]

Returns the square-root of a real number.

Returns:: Square-root of a real number

Parameters:

x	Non-negative real number.

Referenced by QProblemB::computeCholesky(), QProblemB::computeGivens(), QProblem::computeProjectedCholesky(), dpotrf_(), getNorm(), SparseMatrix::getRowNorm(), normaliseConstraints(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), and spotrf_().

BEGIN_NAMESPACE_QPOASES BooleanType isEqual	(	real_t	x,
		real_t	y,
		real_t	TOL = `ZERO`
	)		`[inline]`

Tests whether two real_t-valued arguments are (numerically) equal.

Returns:: BT_TRUE: arguments differ not more than TOL
BT_FALSE: arguments differ more than TOL

Parameters:

x	First real number.
y	Second real number.
TOL	Tolerance for comparison.

References BT_FALSE, BT_TRUE, and getAbs().

Referenced by dgemm_(), DenseMatrix::getCol(), SparseMatrix::getCol(), SparseMatrixRow::getCol(), DenseMatrix::getRow(), SparseMatrix::getRow(), SparseMatrixRow::getRow(), sgemm_(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

BooleanType isZero	(	real_t	x,
		real_t	TOL = `ZERO`
	)		`[inline]`

Tests whether a real-valued argument is (numerically) zero.

Returns:: BT_TRUE: argument differs from 0.0 not more than TOL
BT_FALSE: argument differs from 0.0 more than TOL

Parameters:

x	Real number.
TOL	Tolerance for comparison.

References BT_FALSE, BT_TRUE, and getAbs().

Referenced by SparseMatrix::addToDiag(), SparseMatrixRow::addToDiag(), QProblemB::computeGivens(), QProblemB::determineHessianType(), dgemm_(), QProblem::setA(), sgemm_(), SparseMatrix::SparseMatrix(), SparseMatrixRow::SparseMatrixRow(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

Functions

Detailed Description

Function Documentation