qpOASES 3.2.1
An Implementation of the Online Active Set Strategy
SymSparseMat Class Reference

Interfaces matrix-vector operations tailored to symmetric sparse matrices. More...

#include <Matrices.hpp>

Inheritance diagram for SymSparseMat:
SymmetricMatrix SparseMatrix Matrix Matrix

Public Member Functions

 SymSparseMat ()
 
 SymSparseMat (int_t nr, int_t nc, sparse_int_t *r, sparse_int_t *c, real_t *v)
 
 SymSparseMat (int_t nr, int_t nc, int_t ld, const real_t *const v)
 
virtual ~SymSparseMat ()
 
virtual Matrixduplicate () const
 
virtual SymmetricMatrixduplicateSym () const
 
virtual returnValue bilinear (const Indexlist *const icols, int_t xN, const real_t *x, int_t xLD, real_t *y, int_t yLD) const
 
virtual void free ()
 
virtual void setVal (const real_t *newVal)
 
virtual real_t diag (int_t i) const
 
virtual BooleanType isDiag () const
 
virtual real_t getNorm (int_t type=2) const
 
virtual real_t getRowNorm (int_t rNum, int_t type=2) const
 
virtual returnValue getRowNorm (real_t *norm, int_t type=2) const
 
virtual returnValue getRow (int_t rNum, const Indexlist *const icols, real_t alpha, real_t *row) const
 
virtual returnValue getCol (int_t cNum, const Indexlist *const irows, real_t alpha, real_t *col) const
 
virtual returnValue getSparseSubmatrix (int_t irowsLength, const int_t *const irowsNumber, int_t icolsLength, const int_t *const icolsNumber, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t *irn, int_t *jcn, real_t *avals, BooleanType only_lower_triangular=BT_FALSE) const
 
virtual returnValue times (int_t xN, real_t alpha, const real_t *x, int_t xLD, real_t beta, real_t *y, int_t yLD) const
 
virtual returnValue times (const Indexlist *const irows, const Indexlist *const icols, int_t xN, real_t alpha, const real_t *x, int_t xLD, real_t beta, real_t *y, int_t yLD, BooleanType yCompr=BT_TRUE) const
 
virtual returnValue transTimes (int_t xN, real_t alpha, const real_t *x, int_t xLD, real_t beta, real_t *y, int_t yLD) const
 
virtual returnValue transTimes (const Indexlist *const irows, const Indexlist *const icols, int_t xN, real_t alpha, const real_t *x, int_t xLD, real_t beta, real_t *y, int_t yLD) const
 
virtual returnValue addToDiag (real_t alpha)
 
sparse_int_tcreateDiagInfo ()
 
virtual real_tfull () const
 
virtual returnValue print (const char *name=0) const
 
virtual returnValue writeToFile (FILE *output_file, const char *prefix) const
 
virtual returnValue getSparseSubmatrix (const Indexlist *const irows, const Indexlist *const icols, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t *irn, int_t *jcn, real_t *avals, BooleanType only_lower_triangular=BT_FALSE) const
 
virtual returnValue getSparseSubmatrix (const Indexlist *const irows, int_t idx_icol, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t *irn, int_t *jcn, real_t *avals, BooleanType only_lower_triangular=BT_FALSE) const
 
virtual returnValue getSparseSubmatrix (int_t idx_row, const Indexlist *const icols, int_t rowoffset, int_t coloffset, int_t &numNonzeros, int_t *irn, int_t *jcn, real_t *avals, BooleanType only_lower_triangular=BT_FALSE) const
 
BooleanType needToFreeMemory () const
 
void doFreeMemory ()
 
void doNotFreeMemory ()
 

Protected Attributes

int_t nRows
 
int_t nCols
 
sparse_int_tir
 
sparse_int_tjc
 
sparse_int_tjd
 
real_tval
 
BooleanType freeMemory
 

Detailed Description

Symmetric sparse matrix class (column compressed format).

Author
Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
Version
3.2
Date
2011-2017

Constructor & Destructor Documentation

◆ SymSparseMat() [1/3]

SymSparseMat::SymSparseMat ( )
inline

Default constructor.

References SparseMatrix::SparseMatrix().

Referenced by duplicateSym().

◆ SymSparseMat() [2/3]

SymSparseMat::SymSparseMat ( int_t nr,
int_t nc,
sparse_int_t * r,
sparse_int_t * c,
real_t * v )
inline

Constructor with arguments.

Parameters
nrNumber of rows.
ncNumber of columns.
rRow indices (length).
cIndices to first entry of columns (nCols+1).
vVector of entries (length).

References real_t, and SparseMatrix::SparseMatrix().

◆ SymSparseMat() [3/3]

SymSparseMat::SymSparseMat ( int_t nr,
int_t nc,
int_t ld,
const real_t *const v )
inline

Constructor from dense matrix.

Parameters
nrNumber of rows.
ncNumber of columns.
ldLeading dimension.
vRow major stored matrix elements.

References real_t, and SparseMatrix::SparseMatrix().

◆ ~SymSparseMat()

virtual SymSparseMat::~SymSparseMat ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ addToDiag()

returnValue SparseMatrix::addToDiag ( real_t alpha)
virtualinherited

Adds given offset to diagonal of matrix.

Returns
SUCCESSFUL_RETURN
RET_NO_DIAGONAL_AVAILABLE
Parameters
alphaDiagonal offset.

Implements Matrix.

References BT_FALSE, ir, isZero(), jd, nCols, nRows, real_t, RET_DIAGONAL_NOT_INITIALISED, RET_NO_DIAGONAL_AVAILABLE, SUCCESSFUL_RETURN, THROWERROR, and val.

◆ bilinear()

returnValue SymSparseMat::bilinear ( const Indexlist *const icols,
int_t xN,
const real_t * x,
int_t xLD,
real_t * y,
int_t yLD ) const
virtual

Compute bilinear form y = x'*H*x using submatrix given by index list.

Returns
SUCCESSFUL_RETURN
Parameters
icolsIndex list specifying columns of x.
xNNumber of vectors to multiply.
xInput vector to be multiplied (uncompressed).
xLDLeading dimension of input x.
yOutput vector of results (compressed).
yLDLeading dimension of output y.

Implements SymmetricMatrix.

References SparseMatrix::ir, Indexlist::iSort, SparseMatrix::jc, SparseMatrix::jd, Indexlist::length, Indexlist::number, real_t, RET_DIAGONAL_NOT_INITIALISED, SUCCESSFUL_RETURN, THROWERROR, and SparseMatrix::val.

Referenced by QProblem::computeProjectedCholesky().

◆ createDiagInfo()

sparse_int_t * SparseMatrix::createDiagInfo ( )
inherited

Create jd field from ir and jc.

Returns
Pointer to jd.

References ir, jc, jd, and nCols.

Referenced by QProblemB::createDiagSparseMat(), solveOqpBenchmark(), and solveOqpBenchmark().

◆ diag()

real_t SparseMatrix::diag ( int_t i) const
virtualinherited

Returns i-th diagonal entry.

Returns
i-th diagonal entry (or INFTY if diagonal does not exist)
Parameters
iIndex.

Implements Matrix.

References INFTY, ir, jc, jd, real_t, RET_DIAGONAL_NOT_INITIALISED, THROWERROR, and val.

◆ doFreeMemory()

◆ doNotFreeMemory()

void Matrix::doNotFreeMemory ( )
inlineinherited

Disables de-allocation of internal memory.

References BT_FALSE, and freeMemory.

Referenced by SparseMatrix::free(), SparseMatrixRow::free(), Matrix(), SparseMatrix::SparseMatrix(), and SparseMatrixRow::SparseMatrixRow().

◆ duplicate()

Matrix * SymSparseMat::duplicate ( ) const
virtual

Returns a deep-copy of the Matrix object.

Returns
Deep-copy of Matrix object

Implements Matrix.

References duplicateSym().

◆ duplicateSym()

SymmetricMatrix * SymSparseMat::duplicateSym ( ) const
virtual

◆ free()

void SparseMatrix::free ( )
virtualinherited

Frees all internal memory.

Implements Matrix.

References Matrix::doNotFreeMemory(), ir, jc, and val.

Referenced by ~SparseMatrix().

◆ full()

real_t * SparseMatrix::full ( ) const
virtualinherited

Allocates and creates dense matrix array in row major format.

Note: Calling function has to free allocated memory!

Returns
Pointer to matrix array.

Implements Matrix.

References ir, jc, nCols, nRows, real_t, and val.

Referenced by print().

◆ getCol()

returnValue SparseMatrix::getCol ( int_t cNum,
const Indexlist *const irows,
real_t alpha,
real_t * col ) const
virtualinherited

Retrieve indexed entries of matrix column multiplied by alpha.

Parameters
cNumColumn number.
irowsIndex list specifying rows.
alphaScalar factor.
colOutput column vector.

Implements Matrix.

References BT_TRUE, ir, isEqual(), Indexlist::iSort, jc, Indexlist::number, real_t, SUCCESSFUL_RETURN, and val.

◆ getNorm()

real_t SparseMatrix::getNorm ( int_t type = 2) const
virtualinherited

Get the N-norm of the matrix

Returns
N-norm of the matrix
Parameters
typeNorm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

References getNorm(), jc, nCols, real_t, REFER_NAMESPACE_QPOASES, and val.

Referenced by getNorm().

◆ getRow()

returnValue SparseMatrix::getRow ( int_t rNum,
const Indexlist *const icols,
real_t alpha,
real_t * row ) const
virtualinherited

Retrieve indexed entries of matrix row multiplied by alpha.

Parameters
rNumRow number.
icolsIndex list specifying columns.
alphaScalar factor.
rowOutput row vector.

Implements Matrix.

References BT_TRUE, ir, isEqual(), Indexlist::iSort, jc, Indexlist::length, nCols, Indexlist::number, real_t, SUCCESSFUL_RETURN, and val.

◆ getRowNorm() [1/2]

real_t SparseMatrix::getRowNorm ( int_t rNum,
int_t type = 2 ) const
virtualinherited

Get the N-norm of a row

Returns
N-norm of row rNum
Parameters
rNumRow number.
typeNorm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

References getAbs(), getSqrt(), INFTY, ir, jc, nCols, real_t, RET_INVALID_ARGUMENTS, THROWERROR, and val.

◆ getRowNorm() [2/2]

returnValue SparseMatrix::getRowNorm ( real_t * norm,
int_t type = 2 ) const
virtualinherited

Get the N-norm of all rows

Returns
SUCCESSFUL_RETURN
Parameters
normNorm of each row.
typeNorm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

References getAbs(), getSqrt(), ir, jc, nCols, nRows, real_t, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and val.

◆ getSparseSubmatrix() [1/4]

BEGIN_NAMESPACE_QPOASES returnValue Matrix::getSparseSubmatrix ( const Indexlist *const irows,
const Indexlist *const icols,
int_t rowoffset,
int_t coloffset,
int_t & numNonzeros,
int_t * irn,
int_t * jcn,
real_t * avals,
BooleanType only_lower_triangular = BT_FALSE ) const
virtualinherited

Retrieve entries of submatrix in Harwell-Boeing sparse format. If irn, jcn, and avals are null, this only counts the number of nonzeros. Otherwise, numNonzeros containts the size of irn, jcn, and avals on entry, and the written number of entries on return.

Returns
SUCCESSFUL_RETURN
Parameters
irowsIndex list specifying rows.
icolsIndex list specifying columns.
rowoffsetOffset for row entries.
coloffsetOffset for row entries.
numNonzerosNumber of nonzeros in submatrix.
irnRow position of entries (as position in irows) plus rowoffset.
jcnColumn position of entries (as position in irows) plus coloffset.
avalsNumerical values of the entries.
only_lower_triangularif true, only the lower triangular portion is returned. This can only be true for symmetric matrices and if irows==jcols.

References Indexlist::getLength(), Indexlist::getNumberArray(), getSparseSubmatrix(), and real_t.

Referenced by getSparseSubmatrix(), getSparseSubmatrix(), and getSparseSubmatrix().

◆ getSparseSubmatrix() [2/4]

returnValue Matrix::getSparseSubmatrix ( const Indexlist *const irows,
int_t idx_icol,
int_t rowoffset,
int_t coloffset,
int_t & numNonzeros,
int_t * irn,
int_t * jcn,
real_t * avals,
BooleanType only_lower_triangular = BT_FALSE ) const
virtualinherited

Retrieve entries of submatrix in Harwell-Boeing sparse format. If irn, jcn, and avals are null, this only counts the number of nonzeros. Otherwise, numNonzeros containts the size of irn, jcn, and avals on entry, and the written number of entries on return. This version retrieves one column.

Returns
SUCCESSFUL_RETURN
Parameters
irowsIndex list specifying rows.
idx_icolIndex list specifying columns.
rowoffsetOffset for row entries.
coloffsetOffset for row entries.
numNonzerosNumber of nonzeros in submatrix.
irnRow position of entries (as position in irows) plus rowoffset.
jcnColumn position of entries (as position in irows) plus coloffset.
avalsNumerical values of the entries.
only_lower_triangularif true, only the lower triangular portion is returned. This can only be true for symmetric matrices and if irows==jcols.

References Indexlist::getLength(), Indexlist::getNumberArray(), getSparseSubmatrix(), and real_t.

◆ getSparseSubmatrix() [3/4]

returnValue Matrix::getSparseSubmatrix ( int_t idx_row,
const Indexlist *const icols,
int_t rowoffset,
int_t coloffset,
int_t & numNonzeros,
int_t * irn,
int_t * jcn,
real_t * avals,
BooleanType only_lower_triangular = BT_FALSE ) const
virtualinherited

Retrieve entries of submatrix in Harwell-Boeing sparse format. If irn, jcn, and avals are null, this only counts the number of nonzeros. Otherwise, numNonzeros containts the size of irn, jcn, and avals on entry, and the written number of entries on return. This version retrieves one row.

Returns
SUCCESSFUL_RETURN
Parameters
idx_rowRow number.
icolsIndex list specifying columns.
rowoffsetOffset for row entries.
coloffsetOffset for row entries.
numNonzerosNumber of nonzeros in submatrix.
irnRow position of entries (as position in irows) plus rowoffset.
jcnColumn position of entries (as position in irows) plus coloffset.
avalsNumerical values of the entries.
only_lower_triangularif true, only the lower triangular portion is returned. This can only be true for symmetric matrices and if irows==jcols.

References Indexlist::getLength(), Indexlist::getNumberArray(), getSparseSubmatrix(), and real_t.

◆ getSparseSubmatrix() [4/4]

returnValue SparseMatrix::getSparseSubmatrix ( int_t irowsLength,
const int_t *const irowsNumber,
int_t icolsLength,
const int_t *const icolsNumber,
int_t rowoffset,
int_t coloffset,
int_t & numNonzeros,
int_t * irn,
int_t * jcn,
real_t * avals,
BooleanType only_lower_triangular = BT_FALSE ) const
virtualinherited

Retrieve entries of submatrix in Harwell-Boeing sparse format. If irn, jcn, and avals are null, this only counts the number of nonzeros. Otherwise, numNonzeros containts the size of irn, jcn, and avals on entry, and the written number of entries on return.

Returns
SUCCESSFUL_RETURN
Parameters
irowsLengthNumber of rows.
irowsNumberArray with row numbers.
icolsLengthNumber of columns.
icolsNumberArray with column numbers.
rowoffsetOffset for row entries.
coloffsetOffset for row entries.
numNonzerosNumber of nonzeros in submatrix.
irnRow position of entries (as position in irows) plus rowoffset.
jcnColumn position of entries (as position in irows) plus coloffset.
avalsNumerical values of the entries.
only_lower_triangularif true, only the lower triangular portion is returned. This can only be true for symmetric matrices and if irows==jcols.

Implements Matrix.

References BT_FALSE, ir, jc, nRows, real_t, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, THROWERROR, and val.

◆ isDiag()

BooleanType SparseMatrix::isDiag ( ) const
virtualinherited

Checks whether matrix is square and diagonal.

Returns
BT_TRUE iff matrix is square and diagonal;
BT_FALSE otherwise.

Implements Matrix.

References BT_FALSE, BT_TRUE, ir, jc, nCols, and nRows.

◆ needToFreeMemory()

BooleanType Matrix::needToFreeMemory ( ) const
inlineinherited

Returns whether internal memory needs to be de-allocated.

Returns
BT_TRUE iff internal memory needs to be de-allocated,
BT_FALSE otherwise

References freeMemory.

Referenced by DenseMatrix::duplicate(), SymDenseMat::duplicateSym(), DenseMatrix::~DenseMatrix(), SparseMatrix::~SparseMatrix(), and SparseMatrixRow::~SparseMatrixRow().

◆ print()

returnValue SparseMatrix::print ( const char * name = 0) const
virtualinherited

Prints matrix to screen.

Returns
SUCCESSFUL_RETURN
Parameters
nameName of matrix.

Implements Matrix.

References full(), nCols, nRows, print(), real_t, and REFER_NAMESPACE_QPOASES.

Referenced by print().

◆ setVal()

void SparseMatrix::setVal ( const real_t * newVal)
virtualinherited

Sets value array.

Thanks to Frank Chuang.

Parameters
newVal...

References jc, nCols, real_t, and val.

◆ times() [1/2]

returnValue SparseMatrix::times ( const Indexlist *const irows,
const Indexlist *const icols,
int_t xN,
real_t alpha,
const real_t * x,
int_t xLD,
real_t beta,
real_t * y,
int_t yLD,
BooleanType yCompr = BT_TRUE ) const
virtualinherited

Evaluate matrix vector product with submatrix given by Indexlist.

Parameters
irowsIndex list specifying rows.
icolsIndex list specifying columns.
xNNumber of vectors to multiply.
alphaScalar factor for matrix vector product.
xInput vector to be multiplied.
xLDLeading dimension of input x.
betaScalar factor for y.
yOutput vector of results.
yLDLeading dimension of output y.
yComprCompressed storage for y.

Implements Matrix.

References BT_FALSE, BT_TRUE, getAbs(), getMax(), ir, isEqual(), Indexlist::iSort, isZero(), jc, Indexlist::length, nCols, nRows, Indexlist::number, real_t, SUCCESSFUL_RETURN, and val.

◆ times() [2/2]

returnValue SparseMatrix::times ( int_t xN,
real_t alpha,
const real_t * x,
int_t xLD,
real_t beta,
real_t * y,
int_t yLD ) const
virtualinherited

Evaluate Y=alpha*A*X + beta*Y.

Parameters
xNNumber of vectors to multiply.
alphaScalar factor for matrix vector product.
xInput vector to be multiplied.
xLDLeading dimension of input x.
betaScalar factor for y.
yOutput vector of results.
yLDLeading dimension of output y.

Implements Matrix.

References BT_FALSE, BT_TRUE, ir, isEqual(), isZero(), jc, nCols, nRows, real_t, SUCCESSFUL_RETURN, and val.

◆ transTimes() [1/2]

returnValue SparseMatrix::transTimes ( const Indexlist *const irows,
const Indexlist *const icols,
int_t xN,
real_t alpha,
const real_t * x,
int_t xLD,
real_t beta,
real_t * y,
int_t yLD ) const
virtualinherited

Evaluate matrix transpose vector product.

Parameters
irowsIndex list specifying rows.
icolsIndex list specifying columns.
xNNumber of vectors to multiply.
alphaScalar factor for matrix vector product.
xInput vector to be multiplied.
xLDLeading dimension of input x.
betaScalar factor for y.
yOutput vector of results.
yLDLeading dimension of output y.

Implements Matrix.

References BT_FALSE, BT_TRUE, ir, isEqual(), Indexlist::iSort, isZero(), jc, Indexlist::length, nRows, Indexlist::number, real_t, SUCCESSFUL_RETURN, and val.

◆ transTimes() [2/2]

returnValue SparseMatrix::transTimes ( int_t xN,
real_t alpha,
const real_t * x,
int_t xLD,
real_t beta,
real_t * y,
int_t yLD ) const
virtualinherited

Evaluate Y=alpha*A'*X + beta*Y.

Parameters
xNNumber of vectors to multiply.
alphaScalar factor for matrix vector product.
xInput vector to be multiplied.
xLDLeading dimension of input x.
betaScalar factor for y.
yOutput vector of results.
yLDLeading dimension of output y.

Implements Matrix.

References BT_FALSE, BT_TRUE, ir, isEqual(), isZero(), jc, nCols, real_t, SUCCESSFUL_RETURN, and val.

◆ writeToFile()

returnValue SparseMatrix::writeToFile ( FILE * output_file,
const char * prefix ) const
virtualinherited

Write matrix to file.

Returns
SUCCESSFUL_RETURN

Implements Matrix.

References ir, jc, nCols, SUCCESSFUL_RETURN, and val.

Member Data Documentation

◆ freeMemory

BooleanType Matrix::freeMemory
protectedinherited

Indicating whether internal memory needs to be de-allocated.

Referenced by doFreeMemory(), doNotFreeMemory(), and needToFreeMemory().

◆ ir

◆ jc

◆ jd

sparse_int_t* SparseMatrix::jd
protectedinherited

Indices to first entry of lower triangle (including diagonal) (nCols).

Referenced by addToDiag(), SymSparseMat::bilinear(), createDiagInfo(), diag(), duplicate(), SymSparseMat::duplicateSym(), SparseMatrix(), SparseMatrix(), SparseMatrix(), and ~SparseMatrix().

◆ nCols

◆ nRows

◆ val


The documentation for this class was generated from the following files: