295 uint_t nV = (uint_t)
getNV( );
303 memcpy(
g,g_new,nV*
sizeof(
real_t) );
315 uint_t nV = (uint_t)
getNV( );
322 memcpy(
lb,lb_new,nV*
sizeof(
real_t) );
327 for( i=0; i<nV; ++i )
345 if ( ( number >= 0 ) && ( number < nV ) )
363 uint_t nV = (uint_t)
getNV( );
370 memcpy(
ub,ub_new,nV*
sizeof(
real_t) );
375 for( i=0; i<nV; ++i )
393 if ( ( number >= 0 ) && ( number < nV ) )
426 if (
getAbs( yold ) > mu )
429 t = mu *
getSqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
451 #ifdef __USE_THREE_MULTS_GIVENS__
456 xnew = xold*c + yold*s;
457 ynew = (xnew+xold)*nu - yold;
462 xnew = c*xold + s*yold;
463 ynew = -s*xold + c*yold;
481 if ( ( den >= epsDen ) && ( num >= epsNum ) )
const real_t INFTY
Definition Constants.hpp:61
const real_t ZERO
Definition Constants.hpp:57
returnValue
Defines all symbols for global return values.
Definition MessageHandling.hpp:65
@ RET_QPOBJECT_NOT_SETUP
Definition MessageHandling.hpp:100
@ RET_INVALID_ARGUMENTS
Definition MessageHandling.hpp:71
@ RET_INDEX_OUT_OF_BOUNDS
Definition MessageHandling.hpp:70
@ SUCCESSFUL_RETURN
Definition MessageHandling.hpp:68
#define THROWERROR(retval)
Definition MessageHandling.hpp:456
BooleanType
Definition Types.hpp:204
@ BT_TRUE
Definition Types.hpp:206
@ BT_FALSE
Definition Types.hpp:205
HessianType
Definition Types.hpp:249
@ HST_IDENTITY
Definition Types.hpp:251
@ HST_ZERO
Definition Types.hpp:250
PrintLevel
Definition Types.hpp:213
QProblemStatus
Definition Types.hpp:234
@ QPS_NOTINITIALISED
Definition Types.hpp:235
@ QPS_SOLVED
Definition Types.hpp:243
int int_t
Definition Types.hpp:180
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition Types.hpp:171
#define END_NAMESPACE_QPOASES
Definition Types.hpp:110
#define BEGIN_NAMESPACE_QPOASES
Definition Types.hpp:107
real_t getSqrt(real_t x)
Definition Utils.ipp:157
real_t getAbs(real_t x)
Definition Utils.ipp:143
BooleanType isZero(real_t x, real_t TOL=ZERO)
Definition Utils.ipp:60
Manages working sets of bounds (i.e. box constraints).
Definition Bounds.hpp:57
int_t getNFV() const
Definition Bounds.ipp:55
int_t getNV() const
Definition Bounds.ipp:46
int_t getNFR() const
Definition Bounds.ipp:82
int_t getNFX() const
Definition Bounds.ipp:91
Manages all user-specified options for solving QPs.
Definition Options.hpp:57
PrintLevel printLevel
Definition Options.hpp:122
returnValue ensureConsistency()
Definition Options.cpp:234
SymmetricMatrix * H
Definition QProblemB.hpp:972
uint_t getCount() const
Definition QProblemB.ipp:216
BooleanType freeHessian
Definition QProblemB.hpp:971
returnValue resetCounter()
Definition QProblemB.ipp:225
BooleanType isInfeasible() const
Definition QProblemB.ipp:133
returnValue setPrintLevel(PrintLevel _printlevel)
Definition QProblemB.cpp:824
void applyGivens(real_t c, real_t s, real_t nu, real_t xold, real_t yold, real_t &xnew, real_t &ynew) const
Definition QProblemB.ipp:447
real_t * g
Definition QProblemB.hpp:974
real_t * lb
Definition QProblemB.hpp:975
BooleanType isBlocking(real_t num, real_t den, real_t epsNum, real_t epsDen, real_t &t) const
Definition QProblemB.ipp:474
HessianType getHessianType() const
Definition QProblemB.ipp:151
returnValue setG(const real_t *const g_new)
Definition QProblemB.ipp:293
uint_t count
Definition QProblemB.hpp:996
returnValue setUB(const real_t *const ub_new)
Definition QProblemB.ipp:360
returnValue setOptions(const Options &_options)
Definition QProblemB.ipp:191
Options options
Definition QProblemB.hpp:1004
BooleanType isSolved() const
Definition QProblemB.ipp:121
BooleanType unbounded
Definition QProblemB.hpp:991
int_t getNFV() const
Definition QProblemB.ipp:91
returnValue setLB(const real_t *const lb_new)
Definition QProblemB.ipp:312
QProblemStatus getStatus() const
Definition QProblemB.ipp:100
BooleanType isUnbounded() const
Definition QProblemB.ipp:142
void computeGivens(real_t xold, real_t yold, real_t &xnew, real_t &ynew, real_t &c, real_t &s) const
Definition QProblemB.ipp:409
returnValue setHessianType(HessianType _hessianType)
Definition QProblemB.ipp:160
int_t getNV() const
Definition QProblemB.ipp:64
int_t getNFR() const
Definition QProblemB.ipp:73
returnValue getBounds(Bounds &_bounds) const
Definition QProblemB.ipp:48
Options getOptions() const
Definition QProblemB.ipp:182
BooleanType usingRegularisation() const
Definition QProblemB.ipp:170
PrintLevel getPrintLevel() const
Definition QProblemB.ipp:206
returnValue setH(SymmetricMatrix *H_new)
Definition QProblemB.ipp:239
QProblemStatus status
Definition QProblemB.hpp:988
int_t getNFX() const
Definition QProblemB.ipp:82
BooleanType infeasible
Definition QProblemB.hpp:990
BooleanType isInitialised() const
Definition QProblemB.ipp:109
real_t * ub
Definition QProblemB.hpp:976
Bounds bounds
Definition QProblemB.hpp:978
HessianType hessianType
Definition QProblemB.hpp:993
real_t regVal
Definition QProblemB.hpp:994
Interfaces matrix-vector operations tailored to symmetric dense matrices.
Definition Matrices.hpp:512
Abstract base class for interfacing matrix-vector operations tailored to symmetric matrices.
Definition Matrices.hpp:293