qpOASES  3.2.1
An Implementation of the Online Active Set Strategy
Functions
example1.cpp File Reference
#include <qpOASES.hpp>

Functions

int main ()
 

Detailed Description

Author
Hans Joachim Ferreau
Version
3.2
Date
2007-2017

Very simple example for testing qpOASES using the QProblem class.

Function Documentation

◆ main()

int main ( )
RET_USING_REGULARISATION
@ RET_USING_REGULARISATION
Definition: MessageHandling.hpp:181
SolutionAnalysis::operator=
SolutionAnalysis & operator=(const SolutionAnalysis &rhs)
Definition: SolutionAnalysis.cpp:78
Bounds::moveFixedToFree
returnValue moveFixedToFree(int_t number)
Definition: Bounds.cpp:187
MessageHandling::warningVisibility
VisibilityStatus warningVisibility
Definition: MessageHandling.hpp:429
HST_POSDEF
@ HST_POSDEF
Definition: Types.hpp:252
QProblem::getNAC
int_t getNAC() const
Definition: QProblem.ipp:83
RET_UNABLE_TO_READ_BENCHMARK
@ RET_UNABLE_TO_READ_BENCHMARK
Definition: MessageHandling.hpp:210
getSqrt
real_t getSqrt(real_t x)
Definition: Utils.ipp:157
Matrices.hpp
SparseMatrixRow::transTimes
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
Definition: Matrices.cpp:1731
Matrix
Abstract base class for interfacing tailored matrix-vector operations.
Definition: Matrices.hpp:59
Bounds::setupAllFree
returnValue setupAllFree()
Definition: Bounds.cpp:160
Options::epsNZCTests
real_t epsNZCTests
Definition: Options.hpp:154
SQProblemSchur::removeConstraint
virtual returnValue removeConstraint(int_t number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
Definition: SQProblemSchur.cpp:1523
RET_NO_EXTERN_SOLVER
@ RET_NO_EXTERN_SOLVER
Definition: MessageHandling.hpp:116
QProblemB::lb
real_t * lb
Definition: QProblemB.hpp:975
QProblem::addBound_checkLI
virtual returnValue addBound_checkLI(int_t number)
Definition: QProblem.cpp:3487
QProblemB::getDualSolution
virtual returnValue getDualSolution(real_t *const yOpt) const
Definition: QProblemB.cpp:799
RET_NO_HESSIAN_SPECIFIED
@ RET_NO_HESSIAN_SPECIFIED
Definition: MessageHandling.hpp:180
QPS_AUXILIARYQPSOLVED
@ QPS_AUXILIARYQPSOLVED
Definition: Types.hpp:238
Options::initialStatusBounds
SubjectToStatus initialStatusBounds
Definition: Options.hpp:147
RET_MATRIX_FACTORISATION_FAILED
@ RET_MATRIX_FACTORISATION_FAILED
Definition: MessageHandling.hpp:173
SQProblemSchur::M_physicallength
int_t M_physicallength
Definition: SQProblemSchur.hpp:407
QProblemB::applyGivens
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
SubjectTo::copy
returnValue copy(const SubjectTo &rhs)
Definition: SubjectTo.cpp:166
real_t
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition: Types.hpp:171
QProblem::dropInfeasibles
returnValue dropInfeasibles(int_t BC_number, SubjectToStatus BC_status, BooleanType BC_isBound, real_t *xiB, real_t *xiC)
Definition: QProblem.cpp:6264
SchurUpdateType
SchurUpdateType
Definition: Types.hpp:283
RET_INDEX_OUT_OF_BOUNDS
@ RET_INDEX_OUT_OF_BOUNDS
Definition: MessageHandling.hpp:70
QProblem::tempC
real_t * tempC
Definition: QProblem.hpp:1069
SQProblem.hpp
RET_RESET_FAILED
@ RET_RESET_FAILED
Definition: MessageHandling.hpp:103
Constraints::getNAC
int_t getNAC() const
Definition: Constraints.ipp:83
QProblem::writeQpWorkspaceIntoMatFile
returnValue writeQpWorkspaceIntoMatFile(const char *const filename)
Definition: QProblem.cpp:6407
SQProblemSchur::Q_
real_t * Q_
Definition: SQProblemSchur.hpp:398
RET_ITERATION_STARTED
@ RET_ITERATION_STARTED
Definition: MessageHandling.hpp:126
SymmetricMatrix
Abstract base class for interfacing matrix-vector operations tailored to symmetric matrices.
Definition: Matrices.hpp:292
Bounds::getNFX
int_t getNFX() const
Definition: Bounds.ipp:91
Bounds::fixed
Indexlist fixed
Definition: Bounds.hpp:243
Options
Manages all user-specified options for solving QPs.
Definition: Options.hpp:56
QProblemB::setupAuxiliaryQPgradient
returnValue setupAuxiliaryQPgradient()
Definition: QProblemB.cpp:2871
QProblem::changeActiveSet
returnValue changeActiveSet(int_t BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound)
Definition: QProblem.cpp:5284
RET_REMOVEBOUND_FAILED
@ RET_REMOVEBOUND_FAILED
Definition: MessageHandling.hpp:152
writeIntoFile
returnValue writeIntoFile(const real_t *const data, int_t nrow, int_t ncol, const char *datafilename, BooleanType append)
Definition: Utils.cpp:388
DenseMatrix::times
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
Definition: Matrices.cpp:304
Bounds::setupAllLower
returnValue setupAllLower()
Definition: Bounds.cpp:169
Options::operator=
Options & operator=(const Options &rhs)
Definition: Options.cpp:76
Constraints::setupConstraint
returnValue setupConstraint(int_t number, SubjectToStatus _status)
Definition: Constraints.cpp:123
QProblemB::removeBound
returnValue removeBound(int_t number, BooleanType updateCholesky)
Definition: QProblemB.cpp:3554
SparseMatrixRow::jr
sparse_int_t * jr
Definition: Matrices.hpp:920
Options::epsRegularisation
real_t epsRegularisation
Definition: Options.hpp:150
SparseMatrixRow::createDiagInfo
sparse_int_t * createDiagInfo()
Definition: Matrices.cpp:2062
RET_OPTIMAL_SOLUTION_FOUND
@ RET_OPTIMAL_SOLUTION_FOUND
Definition: MessageHandling.hpp:130
RET_INDEXLIST_CORRUPTED
@ RET_INDEXLIST_CORRUPTED
Definition: MessageHandling.hpp:83
QProblemB::printProperties
virtual returnValue printProperties()
Definition: QProblemB.cpp:873
Constraints::inactive
Indexlist inactive
Definition: Constraints.hpp:234
Options::maxPrimalJump
real_t maxPrimalJump
Definition: Options.hpp:140
QProblemB::loadQPvectorsFromFile
returnValue loadQPvectorsFromFile(const char *const g_file, const char *const lb_file, const char *const ub_file, real_t *const g_new, real_t *const lb_new, real_t *const ub_new) const
Definition: QProblemB.cpp:1877
SparseMatrixRow::getSparseSubmatrix
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
Definition: Matrices.cpp:1682
Indexlist::swapNumbers
returnValue swapNumbers(int_t number1, int_t number2)
Definition: Indexlist.cpp:217
MatMatrixHeader::numericFormat
long numericFormat
Definition: Types.hpp:330
QProblem::determineDataShift
returnValue determineDataShift(const real_t *const g_new, const real_t *const lbA_new, const real_t *const ubA_new, const real_t *const lb_new, const real_t *const ub_new, real_t *const delta_g, real_t *const delta_lbA, real_t *const delta_ubA, real_t *const delta_lb, real_t *const delta_ub, BooleanType &Delta_bC_isZero, BooleanType &Delta_bB_isZero)
Definition: QProblem.cpp:4571
QProblem::lbA
real_t * lbA
Definition: QProblem.hpp:1044
SparseMatrixRow::val
real_t * val
Definition: Matrices.hpp:923
SQProblemSchur::setupAuxiliaryQP
virtual returnValue setupAuxiliaryQP(SymmetricMatrix *H_new, Matrix *A_new, const real_t *lb_new, const real_t *ub_new, const real_t *lbA_new, const real_t *ubA_new)
Definition: SQProblemSchur.cpp:312
SubjectTo.hpp
getMin
int_t getMin(int_t x, int_t y)
Definition: Utils.ipp:99
QProblemB::getStatus
QProblemStatus getStatus() const
Definition: QProblemB.ipp:100
DenseMatrix::addToDiag
virtual returnValue addToDiag(real_t alpha)
Definition: Matrices.cpp:572
Matrix::diag
virtual real_t diag(int_t i) const =0
SparseMatrix::isDiag
virtual BooleanType isDiag() const
Definition: Matrices.cpp:780
SQProblemSchur::boundsFreeStart
Indexlist boundsFreeStart
Definition: SQProblemSchur.hpp:412
SQProblemSchur::addBound_ensureLI
virtual returnValue addBound_ensureLI(int_t number, SubjectToStatus B_status)
Definition: SQProblemSchur.cpp:1357
Options::maxDualJump
real_t maxDualJump
Definition: Options.hpp:141
QProblemB::setupAuxiliaryQPsolution
returnValue setupAuxiliaryQPsolution(const real_t *const xOpt, const real_t *const yOpt)
Definition: QProblemB.cpp:2830
Matrix::getRow
virtual returnValue getRow(int_t rNum, const Indexlist *const icols, real_t alpha, real_t *row) const =0
DenseMatrix::getSparseSubmatrix
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
Definition: Matrices.cpp:225
Flipper::Flipper
Flipper()
Definition: Flipper.cpp:50
END_NAMESPACE_QPOASES
#define END_NAMESPACE_QPOASES
Definition: Types.hpp:110
QProblemB::isBlocking
BooleanType isBlocking(real_t num, real_t den, real_t epsNum, real_t epsDen, real_t &t) const
Definition: QProblemB.ipp:474
SUT_ConAdded
@ SUT_ConAdded
Definition: Types.hpp:287
strcon_
void strcon_(const char *NORM, const char *UPLO, const char *DIAG, const la_uint_t *N, float *A, const la_uint_t *LDA, float *RCOND, float *WORK, const la_uint_t *IWORK, la_int_t *INFO)
Definition: LAPACKReplacement.cpp:145
Indexlist::iSort
int_t * iSort
Definition: Indexlist.hpp:181
DenseMatrix::DenseMatrix
DenseMatrix()
Definition: Matrices.hpp:332
SolutionAnalysis::SolutionAnalysis
SolutionAnalysis()
Definition: SolutionAnalysis.cpp:51
QProblemB::ramp0
real_t ramp0
Definition: QProblemB.hpp:1000
Constraints::setupAllLower
returnValue setupAllLower()
Definition: Constraints.cpp:168
TabularOutput::idxRemB
int_t idxRemB
Definition: Types.hpp:304
BooleanType
BooleanType
Definition: Types.hpp:203
SQProblem::~SQProblem
virtual ~SQProblem()
Definition: SQProblem.cpp:76
QProblemB::getNZ
virtual int_t getNZ() const
Definition: QProblemB.cpp:690
SQProblemSchur::computeInitialCholesky
virtual returnValue computeInitialCholesky()
Definition: SQProblemSchur.cpp:630
SparseSolver::copy
returnValue copy(const SparseSolver &rhs)
Definition: SparseSolver.cpp:143
DenseMatrix::nRows
int_t nRows
Definition: Matrices.hpp:495
Bounds::operator=
Bounds & operator=(const Bounds &rhs)
Definition: Bounds.cpp:85
RET_ENSURELI_DROPPED
@ RET_ENSURELI_DROPPED
Definition: MessageHandling.hpp:219
SUT_ConRemoved
@ SUT_ConRemoved
Definition: Types.hpp:288
QProblem::addConstraint_ensureLI
virtual returnValue addConstraint_ensureLI(int_t number, SubjectToStatus C_status)
Definition: QProblem.cpp:3117
SparseSolver::getRank
virtual int_t getRank()
Definition: SparseSolver.cpp:111
SQProblem::hotstart
returnValue hotstart(SymmetricMatrix *H_new, const real_t *const g_new, Matrix *A_new, const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new, int_t &nWSR, real_t *const cputime=0, const Bounds *const guessedBounds=0, const Constraints *const guessedConstraints=0)
Definition: SQProblem.cpp:99
QProblem::setConstraintProduct
returnValue setConstraintProduct(ConstraintProduct *const _constraintProduct)
Definition: QProblem.cpp:885
Options::print
returnValue print() const
Definition: Options.cpp:375
Bounds::swapFree
returnValue swapFree(int_t number1, int_t number2)
Definition: Bounds.cpp:249
stdFile
BEGIN_NAMESPACE_QPOASES FILE * stdFile
Definition: MessageHandling.cpp:49
__FILE__
#define __FILE__
Definition: MessageHandling.hpp:440
SparseMatrix::diag
virtual real_t diag(int_t i) const
Definition: Matrices.cpp:767
SparseSolver::getZeroPivots
virtual returnValue getZeroPivots(int_t *&zeroPivots)
Definition: SparseSolver.cpp:119
Flipper::T
real_t * T
Definition: Flipper.hpp:143
QProblemB::bounds
Bounds bounds
Definition: QProblemB.hpp:978
Matrix::addToDiag
virtual returnValue addToDiag(real_t alpha)=0
ZERO
const real_t ZERO
Definition: Constants.hpp:57
QProblem::setupTQfactorisation
virtual returnValue setupTQfactorisation()
Definition: QProblem.cpp:2169
QProblemB::backsolveR
virtual returnValue backsolveR(const real_t *const b, BooleanType transposed, real_t *const a) const
Definition: QProblemB.cpp:1623
RET_HESSIAN_ALREADY_REGULARISED
@ RET_HESSIAN_ALREADY_REGULARISED
Definition: MessageHandling.hpp:184
dpotrf_
void dpotrf_(const char *uplo, const la_uint_t *_n, double *a, const la_uint_t *_lda, la_int_t *info)
Definition: LAPACKReplacement.cpp:38
PL_HIGH
@ PL_HIGH
Definition: Types.hpp:219
SQProblemSchur::nSmax
int_t nSmax
Definition: SQProblemSchur.hpp:396
MessageHandling::outputFile
FILE * outputFile
Definition: MessageHandling.hpp:432
Indexlist::number
int_t * number
Definition: Indexlist.hpp:180
RET_QP_SOLUTION_STARTED
@ RET_QP_SOLUTION_STARTED
Definition: MessageHandling.hpp:213
RR
#define RR(I, J)
Definition: Types.hpp:141
SubjectTo::swapIndex
returnValue swapIndex(Indexlist *const indexlist, int_t number1, int_t number2)
Definition: SubjectTo.cpp:253
QProblem::Ax_l
real_t * Ax_l
Definition: QProblem.hpp:1055
Options.hpp
MessageHandling::setInfoVisibilityStatus
void setInfoVisibilityStatus(VisibilityStatus _infoVisibility)
Definition: MessageHandling.ipp:109
RET_INDEXLIST_ADD_FAILED
@ RET_INDEXLIST_ADD_FAILED
Definition: MessageHandling.hpp:85
QProblemB::clear
returnValue clear()
Definition: QProblemB.cpp:1024
convertPrintLevelToString
returnValue convertPrintLevelToString(PrintLevel value, char *const string)
Definition: Utils.cpp:870
QProblemStatus
QProblemStatus
Definition: Types.hpp:233
RET_ENSURELI_FAILED_NOINDEX
@ RET_ENSURELI_FAILED_NOINDEX
Definition: MessageHandling.hpp:164
TRTRS
#define TRTRS
Definition: LapackBlasReplacement.hpp:76
QProblemB.hpp
RET_INIT_FAILED_TQ
@ RET_INIT_FAILED_TQ
Definition: MessageHandling.hpp:105
RET_UNABLE_TO_ANALYSE_QPROBLEM
@ RET_UNABLE_TO_ANALYSE_QPROBLEM
Definition: MessageHandling.hpp:207
HessianType
HessianType
Definition: Types.hpp:248
MatMatrixHeader::imaginaryPart
long imaginaryPart
Definition: Types.hpp:333
Indexlist::physicallength
int_t physicallength
Definition: Indexlist.hpp:187
Constraints
Manages working sets of constraints.
Definition: Constraints.hpp:56
SQProblem::setupNewAuxiliaryQP
virtual returnValue setupNewAuxiliaryQP(SymmetricMatrix *H_new, Matrix *A_new, const real_t *lb_new, const real_t *ub_new, const real_t *lbA_new, const real_t *ubA_new)
Definition: SQProblem.cpp:335
QProblemB::tau
real_t tau
Definition: QProblemB.hpp:986
strtrs_
void strtrs_(const char *UPLO, const char *TRANS, const char *DIAG, const la_uint_t *N, const la_uint_t *NRHS, float *A, const la_uint_t *LDA, float *B, const la_uint_t *LDB, la_int_t *INFO)
Definition: LAPACKReplacement.cpp:129
SparseMatrix::addToDiag
virtual returnValue addToDiag(real_t alpha)
Definition: Matrices.cpp:1340
Indexlist::~Indexlist
~Indexlist()
Definition: Indexlist.cpp:83
QProblemB::QProblemB
QProblemB()
Definition: QProblemB.cpp:51
RET_REMOVECONSTRAINT_FAILED
@ RET_REMOVECONSTRAINT_FAILED
Definition: MessageHandling.hpp:151
SQProblemSchur::backsolveSchurQR
returnValue backsolveSchurQR(int_t dimS, const real_t *const rhs, int_t dimRhs, real_t *const sol)
Definition: SQProblemSchur.cpp:2423
SymSparseMat::duplicateSym
virtual SymmetricMatrix * duplicateSym() const
Definition: Matrices.cpp:2116
QProblem::ZFR_delta_xFRz
real_t * ZFR_delta_xFRz
Definition: QProblem.hpp:1064
BEGIN_NAMESPACE_QPOASES
#define BEGIN_NAMESPACE_QPOASES
Definition: Types.hpp:107
Options::enableDriftCorrection
int_t enableDriftCorrection
Definition: Options.hpp:130
SubjectToType
SubjectToType
Definition: Types.hpp:261
Flipper::operator=
Flipper & operator=(const Flipper &rhs)
Definition: Flipper.cpp:100
RET_SETUPSUBJECTTOTYPE_FAILED
@ RET_SETUPSUBJECTTOTYPE_FAILED
Definition: MessageHandling.hpp:146
Bounds::setupAll
returnValue setupAll(SubjectToStatus _status)
Definition: Bounds.cpp:461
Bounds::Bounds
Bounds()
Definition: Bounds.cpp:50
SparseMatrixRow::ic
sparse_int_t * ic
Definition: Matrices.hpp:921
SparseMatrix::jc
sparse_int_t * jc
Definition: Matrices.hpp:736
RET_QP_INFEASIBLE
@ RET_QP_INFEASIBLE
Definition: MessageHandling.hpp:118
Bounds::getFixed
Indexlist * getFixed()
Definition: Bounds.ipp:109
SQProblem::SQProblem
SQProblem()
Definition: SQProblem.cpp:51
Constraints::rotate
virtual returnValue rotate(int_t offset)
Definition: Constraints.cpp:309
la_int_t
long la_int_t
Definition: Types.hpp:161
RET_ENSURELI_FAILED
@ RET_ENSURELI_FAILED
Definition: MessageHandling.hpp:162
Options::boundTolerance
real_t boundTolerance
Definition: Options.hpp:135
RET_NO_REGSTEP_NWSR
@ RET_NO_REGSTEP_NWSR
Definition: MessageHandling.hpp:187
QProblemB::areBoundsConsistent
returnValue areBoundsConsistent(const real_t *const lb, const real_t *const ub) const
Definition: QProblemB.cpp:1954
SQProblemSchur::reset
virtual returnValue reset()
Definition: SQProblemSchur.cpp:191
Bounds
Manages working sets of bounds (i.e. box constraints).
Definition: Bounds.hpp:56
QProblemB::solveRegularisedQP
returnValue solveRegularisedQP(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, int_t &nWSR, real_t *const cputime, int_t nWSRperformed=0, BooleanType isFirstCall=BT_TRUE)
Definition: QProblemB.cpp:2654
RET_QP_ALREADY_INITIALISED
@ RET_QP_ALREADY_INITIALISED
Definition: MessageHandling.hpp:101
dgemm_
void dgemm_(const char *TRANSA, const char *TRANSB, const la_uint_t *M, const la_uint_t *N, const la_uint_t *K, const double *ALPHA, const double *A, const la_uint_t *LDA, const double *B, const la_uint_t *LDB, const double *BETA, double *C, const la_uint_t *LDC)
Definition: BLASReplacement.cpp:38
QProblem::clear
returnValue clear()
Definition: QProblem.cpp:1082
ST_INACTIVE
@ ST_INACTIVE
Definition: Types.hpp:275
SubjectTo::setNoLower
void setNoLower(BooleanType _status)
Definition: SubjectTo.ipp:120
Constraints::clear
returnValue clear()
Definition: Constraints.cpp:422
RET_PRINT_ITERATION_FAILED
@ RET_PRINT_ITERATION_FAILED
Definition: MessageHandling.hpp:174
SubjectTo::setStatus
returnValue setStatus(int_t i, SubjectToStatus value)
Definition: SubjectTo.ipp:105
SparseMatrix
Interfaces matrix-vector operations tailored to general sparse matrices.
Definition: Matrices.hpp:557
SparseSolver::factorize
virtual returnValue factorize()=0
QProblemB::freeHessian
BooleanType freeHessian
Definition: QProblemB.hpp:971
SubjectTo::hasNoLower
BooleanType hasNoLower() const
Definition: SubjectTo.ipp:138
QProblemB::performRatioTest
returnValue performRatioTest(int_t nIdx, const int_t *const idxList, const SubjectTo *const subjectTo, const real_t *const num, const real_t *const den, real_t epsNum, real_t epsDen, real_t &t, int_t &BC_idx) const
Definition: QProblemB.cpp:2065
MessageHandling::infoVisibility
VisibilityStatus infoVisibility
Definition: MessageHandling.hpp:430
RET_BENCHMARK_ABORTED
@ RET_BENCHMARK_ABORTED
Definition: MessageHandling.hpp:211
MessageHandling.hpp
RET_UPDATEMATRICES_FAILED
@ RET_UPDATEMATRICES_FAILED
Definition: MessageHandling.hpp:197
Constraints::setupAllInactive
returnValue setupAllInactive()
Definition: Constraints.cpp:159
RET_INITIAL_BOUNDS_STATUS_NYI
@ RET_INITIAL_BOUNDS_STATUS_NYI
Definition: MessageHandling.hpp:192
SparseMatrixRow::duplicate
virtual Matrix * duplicate() const
Definition: Matrices.cpp:1478
RET_HOTSTART_FAILED
@ RET_HOTSTART_FAILED
Definition: MessageHandling.hpp:123
RET_MATRIX_SHIFT_FAILED
@ RET_MATRIX_SHIFT_FAILED
Definition: MessageHandling.hpp:172
QProblem::areBoundsConsistent
returnValue areBoundsConsistent(const real_t *const lb, const real_t *const ub, const real_t *const lbA, const real_t *const ubA) const
Definition: QProblem.cpp:2647
Constraints::getNC
int_t getNC() const
Definition: Constraints.ipp:47
Options::epsNum
real_t epsNum
Definition: Options.hpp:138
Flipper::R
real_t * R
Definition: Flipper.hpp:141
Constraints::active
Indexlist active
Definition: Constraints.hpp:233
Indexlist::getIndex
int_t getIndex(int_t givennumber) const
Definition: Indexlist.cpp:157
Constraints::~Constraints
virtual ~Constraints()
Definition: Constraints.cpp:76
RET_WORKINGSET_UPDATE_FAILED
@ RET_WORKINGSET_UPDATE_FAILED
Definition: MessageHandling.hpp:134
BT_TRUE
@ BT_TRUE
Definition: Types.hpp:206
MatMatrixHeader::nRows
long nRows
Definition: Types.hpp:331
SolutionAnalysis::getVarianceCovariance
returnValue getVarianceCovariance(QProblemB *const qp, const real_t *const g_b_bA_VAR, real_t *const Primal_Dual_VAR) const
Definition: SolutionAnalysis.cpp:265
Matrix::times
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 =0
QProblemB::isUnbounded
BooleanType isUnbounded() const
Definition: QProblemB.ipp:142
SQProblemSchur::addBound_checkLI
virtual returnValue addBound_checkLI(int_t number)
Definition: SQProblemSchur.cpp:1250
SQProblem
Implements the online active set strategy for QPs with varying matrices.
Definition: SQProblem.hpp:59
TabularOutput::excAddB
int_t excAddB
Definition: Types.hpp:307
SQProblemSchur::SQProblemSchur
SQProblemSchur()
Definition: SQProblemSchur.cpp:68
QProblem::removeBound
virtual returnValue removeBound(int_t number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
Definition: QProblem.cpp:4018
RET_ADDCONSTRAINT_FAILED
@ RET_ADDCONSTRAINT_FAILED
Definition: MessageHandling.hpp:147
Constraints::getNUC
int_t getNUC() const
Definition: Constraints.ipp:74
getSqrt
real_t getSqrt(real_t x)
Definition: Utils.ipp:157
QProblem::Ax_u
real_t * Ax_u
Definition: QProblem.hpp:1057
Flipper::init
returnValue init(uint_t _nV=0, uint_t _nC=0)
Definition: Flipper.cpp:116
QProblemB::changeActiveSet
returnValue changeActiveSet(int_t BC_idx, SubjectToStatus BC_status)
Definition: QProblemB.cpp:3354
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
@ RET_ADDCONSTRAINT_FAILED_INFEASIBILITY
Definition: MessageHandling.hpp:148
SparseSolver.hpp
QProblemB::count
uint_t count
Definition: QProblemB.hpp:996
RET_USE_REGULARISATION_FOR_LP
@ RET_USE_REGULARISATION_FOR_LP
Definition: MessageHandling.hpp:195
SparseSolver::getNegativeEigenvalues
virtual int_t getNegativeEigenvalues()
Definition: SparseSolver.cpp:103
Options::ensureConsistency
returnValue ensureConsistency()
Definition: Options.cpp:234
RET_CONSTRAINTS_ARE_NOT_SCALED
@ RET_CONSTRAINTS_ARE_NOT_SCALED
Definition: MessageHandling.hpp:191
RET_LI_RESOLVED
@ RET_LI_RESOLVED
Definition: MessageHandling.hpp:161
DenseMatrix::nCols
int_t nCols
Definition: Matrices.hpp:496
QProblem::getNIAC
int_t getNIAC() const
Definition: QProblem.ipp:92
SparseMatrixRow::nCols
int_t nCols
Definition: Matrices.hpp:919
RET_INDEXLIST_EXCEEDS_MAX_LENGTH
@ RET_INDEXLIST_EXCEEDS_MAX_LENGTH
Definition: MessageHandling.hpp:82
RET_SIMPLE_STATUS_M1
@ RET_SIMPLE_STATUS_M1
Definition: MessageHandling.hpp:228
SparseMatrixRow::SparseMatrixRow
SparseMatrixRow()
Definition: Matrices.cpp:1422
SQProblemSchur::schurUpdateIndex
int_t * schurUpdateIndex
Definition: SQProblemSchur.hpp:404
Indexlist::getLength
int_t getLength() const
Definition: Indexlist.ipp:60
Matrix::getSparseSubmatrix
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
Definition: Matrices.cpp:47
SubjectTo::~SubjectTo
virtual ~SubjectTo()
Definition: SubjectTo.cpp:83
RET_REMOVE_FROM_ACTIVESET
@ RET_REMOVE_FROM_ACTIVESET
Definition: MessageHandling.hpp:153
Matrix::full
virtual real_t * full() const =0
QProblemB
Implements the online active set strategy for box-constrained QPs.
Definition: QProblemB.hpp:63
getSign
real_t getSign(real_t arg)
Definition: Utils.ipp:74
RET_SETUP_CONSTRAINT_FAILED
@ RET_SETUP_CONSTRAINT_FAILED
Definition: MessageHandling.hpp:94
QProblemB::ub
real_t * ub
Definition: QProblemB.hpp:976
SQProblemSchur::constraintsActiveStart
Indexlist constraintsActiveStart
Definition: SQProblemSchur.hpp:413
isZero
BooleanType isZero(real_t x, real_t TOL=ZERO)
Definition: Utils.ipp:60
QProblem::T
real_t * T
Definition: QProblem.hpp:1049
SQProblemSchur::addBound
virtual returnValue addBound(int_t number, SubjectToStatus B_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
Definition: SQProblemSchur.cpp:1115
MAX_STRING_LENGTH
const uint_t MAX_STRING_LENGTH
Definition: Constants.hpp:66
Bounds::rotate
virtual returnValue rotate(int_t offset)
Definition: Bounds.cpp:325
QProblem::setupAuxiliaryQPbounds
returnValue setupAuxiliaryQPbounds(const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType useRelaxation)
Definition: QProblem.cpp:2668
QProblem::getNC
int_t getNC() const
Definition: QProblem.ipp:65
ConstraintProduct
Interface for specifying user-defined evaluations of constraint products.
Definition: ConstraintProduct.hpp:57
RET_STEPLENGTH_DETERMINATION_FAILED
@ RET_STEPLENGTH_DETERMINATION_FAILED
Definition: MessageHandling.hpp:129
QProblemB::H
SymmetricMatrix * H
Definition: QProblemB.hpp:972
RET_INIT_SUCCESSFUL
@ RET_INIT_SUCCESSFUL
Definition: MessageHandling.hpp:111
Options::copy
returnValue copy(const Options &rhs)
Definition: Options.cpp:510
RET_MOVING_BOUND_FAILED
@ RET_MOVING_BOUND_FAILED
Definition: MessageHandling.hpp:95
SQProblemSchur::determineStepDirection2
virtual returnValue determineStepDirection2(const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yAC, real_t *const delta_yFX)
Definition: SQProblemSchur.cpp:2841
QProblemB::flipper
Flipper flipper
Definition: QProblemB.hpp:1006
MessageHandling::getOutputFile
FILE * getOutputFile() const
Definition: MessageHandling.ipp:73
SQProblemSchur::M_ir
sparse_int_t * M_ir
Definition: SQProblemSchur.hpp:409
convertBooleanTypeToString
returnValue convertBooleanTypeToString(BooleanType value, char *const string)
Definition: Utils.cpp:812
QProblem::sizeT
int_t sizeT
Definition: QProblem.hpp:1051
Matrix::needToFreeMemory
BooleanType needToFreeMemory() const
Definition: Matrices.hpp:267
QProblemB::setupQPdataFromFile
returnValue setupQPdataFromFile(const char *const H_file, const char *const g_file, const char *const lb_file, const char *const ub_file)
Definition: QProblemB.cpp:1805
SolutionAnalysis
Provides additional tools for analysing QP solutions.
Definition: SolutionAnalysis.hpp:57
QProblem::printIteration
returnValue printIteration(int_t iter, int_t BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound, real_t homotopyLength, BooleanType isFirstCall=BT_TRUE)
Definition: QProblem.cpp:6011
ST_UNDEFINED
@ ST_UNDEFINED
Definition: Types.hpp:279
SparseMatrixRow::diag
virtual real_t diag(int_t i) const
Definition: Matrices.cpp:1508
QProblemB::computeGivens
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
Flipper::getDimT
uint_t getDimT() const
Definition: Flipper.cpp:245
getCPUtime
real_t getCPUtime()
Definition: Utils.cpp:581
Options::enableFlippingBounds
BooleanType enableFlippingBounds
Definition: Options.hpp:126
QProblem::setupSubjectToType
virtual returnValue setupSubjectToType()
Definition: QProblem.cpp:1935
SymSparseMat::SymSparseMat
SymSparseMat()
Definition: Matrices.hpp:940
RET_FIX_BOUNDS_FOR_LP
@ RET_FIX_BOUNDS_FOR_LP
Definition: MessageHandling.hpp:194
Indexlist::addNumber
returnValue addNumber(int_t addnumber)
Definition: Indexlist.cpp:167
QProblem::updateActivitiesForHotstart
virtual returnValue updateActivitiesForHotstart(const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new)
Definition: QProblem.cpp:1861
SparseMatrix::getRowNorm
virtual real_t getRowNorm(int_t rNum, int_t type=2) const
Definition: Matrices.cpp:809
SQProblemSchur::M_vals
real_t * M_vals
Definition: SQProblemSchur.hpp:408
Bounds::copy
returnValue copy(const Bounds &rhs)
Definition: Bounds.cpp:447
Bounds::setupAllUpper
returnValue setupAllUpper()
Definition: Bounds.cpp:178
RET_BOUND_NOT_ACTIVE
@ RET_BOUND_NOT_ACTIVE
Definition: MessageHandling.hpp:169
QPS_PREPARINGAUXILIARYQP
@ QPS_PREPARINGAUXILIARYQP
Definition: Types.hpp:236
SymSparseMat
Interfaces matrix-vector operations tailored to symmetric sparse matrices.
Definition: Matrices.hpp:936
SparseSolver::operator=
virtual SparseSolver & operator=(const SparseSolver &rhs)
Definition: SparseSolver.cpp:81
SUT_VarFixed
@ SUT_VarFixed
Definition: Types.hpp:285
QProblemB::getBounds
returnValue getBounds(Bounds &_bounds) const
Definition: QProblemB.ipp:48
QProblemB::computeCholesky
virtual returnValue computeCholesky()
Definition: QProblemB.cpp:1366
Flipper::nV
uint_t nV
Definition: Flipper.hpp:135
QProblemB::setupAuxiliaryQPbounds
returnValue setupAuxiliaryQPbounds(BooleanType useRelaxation)
Definition: QProblemB.cpp:2911
DenseMatrix::writeToFile
virtual returnValue writeToFile(FILE *output_file, const char *prefix) const
Definition: Matrices.cpp:582
QProblemB::x
real_t * x
Definition: QProblemB.hpp:983
QProblem::solveCurrentEQP
returnValue solveCurrentEQP(const int_t n_rhs, const real_t *g_in, const real_t *lb_in, const real_t *ub_in, const real_t *lbA_in, const real_t *ubA_in, real_t *x_out, real_t *y_out)
Definition: QProblem.cpp:718
RET_NOT_YET_IMPLEMENTED
@ RET_NOT_YET_IMPLEMENTED
Definition: MessageHandling.hpp:79
RET_HOMOTOPY_STEP_FAILED
@ RET_HOMOTOPY_STEP_FAILED
Definition: MessageHandling.hpp:131
POTRF
#define POTRF
Definition: LapackBlasReplacement.hpp:69
SubjectTo::status
SubjectToStatus * status
Definition: SubjectTo.hpp:213
QProblem::solveRegularisedQP
returnValue solveRegularisedQP(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new, int_t &nWSR, real_t *const cputime, int_t nWSRperformed=0, BooleanType isFirstCall=BT_TRUE)
Definition: QProblem.cpp:1753
QProblemB::determineDataShift
returnValue determineDataShift(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, real_t *const delta_g, real_t *const delta_lb, real_t *const delta_ub, BooleanType &Delta_bB_isZero)
Definition: QProblemB.cpp:1694
QProblem::performRamping
virtual returnValue performRamping()
Definition: QProblem.cpp:5416
DenseMatrix::free
virtual void free()
Definition: Matrices.cpp:107
QProblemB::copy
returnValue copy(const QProblemB &rhs)
Definition: QProblemB.cpp:1081
QProblem::addConstraint
virtual returnValue addConstraint(int_t number, SubjectToStatus C_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
Definition: QProblem.cpp:2819
QProblem::QProblem
QProblem()
Definition: QProblem.cpp:51
Constraints::setupAll
returnValue setupAll(SubjectToStatus _status)
Definition: Constraints.cpp:445
SQProblemSchur::computeProjectedCholesky
virtual returnValue computeProjectedCholesky()
Definition: SQProblemSchur.cpp:621
SymDenseMat::duplicateSym
virtual SymmetricMatrix * duplicateSym() const
Definition: Matrices.cpp:609
Options::numRegularisationSteps
int_t numRegularisationSteps
Definition: Options.hpp:149
SparseMatrix::print
virtual returnValue print(const char *name=0) const
Definition: Matrices.cpp:1397
QPS_NOTINITIALISED
@ QPS_NOTINITIALISED
Definition: Types.hpp:235
readOqpDimensions
BEGIN_NAMESPACE_QPOASES returnValue readOqpDimensions(const char *path, int_t &nQP, int_t &nV, int_t &nC, int_t &nEC)
Definition: OQPinterface.cpp:49
RET_ERROR_UNDEFINED
@ RET_ERROR_UNDEFINED
Definition: MessageHandling.hpp:72
QProblemB::performRamping
virtual returnValue performRamping()
Definition: QProblemB.cpp:2163
SparseMatrix::jd
sparse_int_t * jd
Definition: Matrices.hpp:737
INFTY
const real_t INFTY
Definition: Constants.hpp:61
DenseMatrix
Interfaces matrix-vector operations tailored to general dense matrices.
Definition: Matrices.hpp:328
RET_ALL_BOUNDS_ACTIVE
@ RET_ALL_BOUNDS_ACTIVE
Definition: MessageHandling.hpp:167
BT_FALSE
@ BT_FALSE
Definition: Types.hpp:205
QProblem
Implements the online active set strategy for QPs with general constraints.
Definition: QProblem.hpp:61
print
BEGIN_NAMESPACE_QPOASES returnValue print(const real_t *const v, int_t n, const char *name)
Definition: Utils.cpp:76
QProblemB::init
returnValue init(SymmetricMatrix *_H, const real_t *const _g, const real_t *const _lb, const real_t *const _ub, int_t &nWSR, real_t *const cputime=0, const real_t *const xOpt=0, const real_t *const yOpt=0, const Bounds *const guessedBounds=0, const real_t *const _R=0)
Definition: QProblemB.cpp:253
RET_SETUP_WORKINGSET_FAILED
@ RET_SETUP_WORKINGSET_FAILED
Definition: MessageHandling.hpp:113
RET_QP_SOLVED
@ RET_QP_SOLVED
Definition: MessageHandling.hpp:120
MessageHandling::ReturnValueList::data
const char * data
Definition: MessageHandling.hpp:259
QProblem::getWorkingSetBounds
virtual returnValue getWorkingSetBounds(real_t *workingSetB)
Definition: QProblem.cpp:814
DenseMatrix::full
virtual real_t * full() const
Definition: Matrices.cpp:588
RET_NO_CHOLESKY_WITH_INITIAL_GUESS
@ RET_NO_CHOLESKY_WITH_INITIAL_GUESS
Definition: MessageHandling.hpp:115
SymSparseMat::bilinear
virtual returnValue bilinear(const Indexlist *const icols, int_t xN, const real_t *x, int_t xLD, real_t *y, int_t yLD) const
Definition: Matrices.cpp:2146
QProblemB::R
real_t * R
Definition: QProblemB.hpp:980
RET_CONSTRAINT_NOT_ACTIVE
@ RET_CONSTRAINT_NOT_ACTIVE
Definition: MessageHandling.hpp:168
RET_SIMPLE_STATUS_P1
@ RET_SIMPLE_STATUS_P1
Definition: MessageHandling.hpp:226
Indexlist::init
returnValue init(int_t n=0)
Definition: Indexlist.cpp:108
QProblem::tempB
real_t * tempB
Definition: QProblem.hpp:1063
RET_SWAPINDEX_FAILED
@ RET_SWAPINDEX_FAILED
Definition: MessageHandling.hpp:91
Options::printLevel
PrintLevel printLevel
Definition: Options.hpp:122
Constraints::copy
returnValue copy(const Constraints &rhs)
Definition: Constraints.cpp:431
QProblem::setupAuxiliaryQPgradient
returnValue setupAuxiliaryQPgradient()
Definition: QProblem.cpp:2602
RET_ADDINDEX_FAILED
@ RET_ADDINDEX_FAILED
Definition: MessageHandling.hpp:89
DenseMatrix::diag
virtual real_t diag(int_t i) const
Definition: Matrices.cpp:133
DenseMatrix::leaDim
int_t leaDim
Definition: Matrices.hpp:497
RET_INDEX_ALREADY_OF_DESIRED_STATUS
@ RET_INDEX_ALREADY_OF_DESIRED_STATUS
Definition: MessageHandling.hpp:88
SubjectTo
Base class for managing working sets of bounds and constraints.
Definition: SubjectTo.hpp:56
RET_NO_DIAGONAL_AVAILABLE
@ RET_NO_DIAGONAL_AVAILABLE
Definition: MessageHandling.hpp:216
QProblemB::y
real_t * y
Definition: QProblemB.hpp:984
MessageHandling
Handles all kind of error messages, warnings and other information.
Definition: MessageHandling.hpp:244
RET_MAX_NWSR_REACHED
@ RET_MAX_NWSR_REACHED
Definition: MessageHandling.hpp:135
VS_VISIBLE
@ VS_VISIBLE
Definition: Types.hpp:227
spotrf_
void spotrf_(const char *uplo, const la_uint_t *_n, float *a, const la_uint_t *_lda, la_int_t *info)
Definition: LAPACKReplacement.cpp:80
QProblem::setLBA
returnValue setLBA(const real_t *const lbA_new)
Definition: QProblem.ipp:186
SQProblemSchur::M_jc
sparse_int_t * M_jc
Definition: SQProblemSchur.hpp:410
PL_DEBUG_ITER
@ PL_DEBUG_ITER
Definition: Types.hpp:214
SparseMatrix::times
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
Definition: Matrices.cpp:1049
SQProblemSchur::addConstraint_checkLISchur
returnValue addConstraint_checkLISchur(int_t number, real_t *const xiC, real_t *const xiX)
Definition: SQProblemSchur.cpp:855
fint_t
int fint_t
Definition: Types.hpp:189
SparseMatrixRow::jd
sparse_int_t * jd
Definition: Matrices.hpp:922
QProblem.hpp
TabularOutput::idxAddB
int_t idxAddB
Definition: Types.hpp:303
THROWWARNING
#define THROWWARNING(retval)
Definition: MessageHandling.hpp:459
Indexlist::findInsert
int_t findInsert(int_t i) const
Definition: Indexlist.cpp:295
RET_NO_SPARSE_SOLVER
@ RET_NO_SPARSE_SOLVER
Definition: MessageHandling.hpp:224
QProblem::Ax
real_t * Ax
Definition: QProblem.hpp:1053
RET_ALREADY_DISABLED
@ RET_ALREADY_DISABLED
Definition: MessageHandling.hpp:179
Indexlist::length
int_t length
Definition: Indexlist.hpp:183
QProblem::A
Matrix * A
Definition: QProblem.hpp:1042
MessageHandling::listAllMessages
returnValue listAllMessages()
Definition: MessageHandling.cpp:432
Options::~Options
~Options()
Definition: Options.cpp:68
MessageHandling::getErrorCodeMessage
static const char * getErrorCodeMessage(const returnValue _returnValue)
Definition: MessageHandling.cpp:570
dtrtrs_
void dtrtrs_(const char *UPLO, const char *TRANS, const char *DIAG, const la_uint_t *N, const la_uint_t *NRHS, double *A, const la_uint_t *LDA, double *B, const la_uint_t *LDB, la_int_t *INFO)
Definition: LAPACKReplacement.cpp:121
RET_UNABLE_TO_WRITE_FILE
@ RET_UNABLE_TO_WRITE_FILE
Definition: MessageHandling.hpp:201
SQProblemSchur
Implements the online active set strategy for QPs with varying, sparse matrices.
Definition: SQProblemSchur.hpp:61
SQProblemSchur::numFactorizations
int_t numFactorizations
Definition: SQProblemSchur.hpp:402
RET_FEWER_REGSTEPS_NWSR
@ RET_FEWER_REGSTEPS_NWSR
Definition: MessageHandling.hpp:188
QProblemB::status
QProblemStatus status
Definition: QProblemB.hpp:988
Options::epsLITests
real_t epsLITests
Definition: Options.hpp:153
getMin
int_t getMin(int_t x, int_t y)
Definition: Utils.ipp:99
runOqpBenchmark
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)
Definition: OQPinterface.cpp:569
TabularOutput::idxRemC
int_t idxRemC
Definition: Types.hpp:306
Options::initialRamping
real_t initialRamping
Definition: Options.hpp:143
Options::growFarBounds
real_t growFarBounds
Definition: Options.hpp:146
Bounds::flipFixed
returnValue flipFixed(int_t number)
Definition: Bounds.cpp:228
SQProblemSchur::setupAuxiliaryWorkingSet
virtual returnValue setupAuxiliaryWorkingSet(const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType setupAfresh)
Definition: SQProblemSchur.cpp:512
QProblem::addBound_ensureLI
virtual returnValue addBound_ensureLI(int_t number, SubjectToStatus B_status)
Definition: QProblem.cpp:3596
SQProblem::operator=
virtual SQProblem & operator=(const SQProblem &rhs)
Definition: SQProblem.cpp:84
QProblem::tempA
real_t * tempA
Definition: QProblem.hpp:1062
RET_HOTSTART_STOPPED_UNBOUNDEDNESS
@ RET_HOTSTART_STOPPED_UNBOUNDEDNESS
Definition: MessageHandling.hpp:133
QProblemB::setUB
returnValue setUB(const real_t *const ub_new)
Definition: QProblemB.ipp:360
QProblem::hotstart
returnValue hotstart(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new, int_t &nWSR, real_t *const cputime=0, const Bounds *const guessedBounds=0, const Constraints *const guessedConstraints=0)
Definition: QProblem.cpp:446
QProblemB::determineStepDirection
returnValue determineStepDirection(const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yFX)
Definition: QProblemB.cpp:3042
QProblem::getWorkingSet
virtual returnValue getWorkingSet(real_t *workingSet)
Definition: QProblem.cpp:794
QProblemB::printOptions
returnValue printOptions() const
Definition: QProblemB.cpp:1010
SQProblemSchur::addConstraint_checkLI
virtual returnValue addConstraint_checkLI(int_t number)
Definition: SQProblemSchur.cpp:834
Options::epsFlipping
real_t epsFlipping
Definition: Options.hpp:148
SubjectTo::init
returnValue init(int_t _n=0)
Definition: SubjectTo.cpp:107
RET_OBTAINING_WORKINGSET_FAILED
@ RET_OBTAINING_WORKINGSET_FAILED
Definition: MessageHandling.hpp:112
QProblem::init
returnValue init(SymmetricMatrix *_H, const real_t *const _g, Matrix *_A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA, int_t &nWSR, real_t *const cputime=0, const real_t *const xOpt=0, const real_t *const yOpt=0, const Bounds *const guessedBounds=0, const Constraints *const guessedConstraints=0, const real_t *const _R=0)
Definition: QProblem.cpp:258
RET_INIT_FAILED_INFEASIBILITY
@ RET_INIT_FAILED_INFEASIBILITY
Definition: MessageHandling.hpp:108
QProblemB::g
real_t * g
Definition: QProblemB.hpp:974
RET_NO_INIT_WITH_STANDARD_SOLVER
@ RET_NO_INIT_WITH_STANDARD_SOLVER
Definition: MessageHandling.hpp:102
QProblemB::getWorkingSet
virtual returnValue getWorkingSet(real_t *workingSet)
Definition: QProblemB.cpp:644
RET_CANNOT_REGULARISE_IDENTITY
@ RET_CANNOT_REGULARISE_IDENTITY
Definition: MessageHandling.hpp:185
QProblem::ensureNonzeroCurvature
returnValue ensureNonzeroCurvature(BooleanType removeBoundNotConstraint, int_t remIdx, BooleanType &exchangeHappened, BooleanType &addBoundNotConstraint, int_t &addIdx, SubjectToStatus &addStatus)
Definition: QProblem.cpp:4278
RET_QP_UNBOUNDED
@ RET_QP_UNBOUNDED
Definition: MessageHandling.hpp:117
solveOqpBenchmark
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)
Definition: OQPinterface.cpp:230
SparseMatrixRow::addToDiag
virtual returnValue addToDiag(real_t alpha)
Definition: Matrices.cpp:2040
Bounds.hpp
MessageHandling::errorCount
int_t errorCount
Definition: MessageHandling.hpp:434
SQProblemSchur::computeMTimes
returnValue computeMTimes(real_t alpha, const real_t *const x, real_t beta, real_t *const y)
Definition: SQProblemSchur.cpp:3116
Bounds::getFree
Indexlist * getFree()
Definition: Bounds.ipp:100
writeIntoMatFile
returnValue writeIntoMatFile(FILE *const matFile, const real_t *const data, int_t nRows, int_t nCols, const char *name)
Definition: Utils.cpp:507
sgemm_
void sgemm_(const char *TRANSA, const char *TRANSB, const la_uint_t *M, const la_uint_t *N, const la_uint_t *K, const float *ALPHA, const float *A, const la_uint_t *LDA, const float *B, const la_uint_t *LDB, const float *BETA, float *C, const la_uint_t *LDC)
Definition: BLASReplacement.cpp:93
__LINE__
#define __LINE__
Definition: MessageHandling.hpp:445
Bounds::moveFreeToFixed
returnValue moveFreeToFixed(int_t number, SubjectToStatus _status)
Definition: Bounds.cpp:207
RET_ENSURELI_FAILED_CYCLING
@ RET_ENSURELI_FAILED_CYCLING
Definition: MessageHandling.hpp:165
SubjectToStatus
SubjectToStatus
Definition: Types.hpp:272
SymDenseMat::SymDenseMat
SymDenseMat()
Definition: Matrices.hpp:515
SQProblemSchur::repairSingularWorkingSet
returnValue repairSingularWorkingSet()
Definition: SQProblemSchur.cpp:3525
convertSubjectToStatusToString
returnValue convertSubjectToStatusToString(SubjectToStatus value, char *const string)
Definition: Utils.cpp:828
RET_INIT_FAILED_REGULARISATION
@ RET_INIT_FAILED_REGULARISATION
Definition: MessageHandling.hpp:110
Bounds::freee
Indexlist freee
Definition: Bounds.hpp:242
RET_STEPDIRECTION_FAILED_TQ
@ RET_STEPDIRECTION_FAILED_TQ
Definition: MessageHandling.hpp:139
SQProblemSchur::correctInertia
returnValue correctInertia()
Definition: SQProblemSchur.cpp:3428
RET_CYCLING_DETECTED
@ RET_CYCLING_DETECTED
Definition: MessageHandling.hpp:141
DenseMatrix::print
virtual returnValue print(const char *name=0) const
Definition: Matrices.cpp:596
returnValue
returnValue
Defines all symbols for global return values.
Definition: MessageHandling.hpp:64
SparseMatrix::setVal
virtual void setVal(const real_t *newVal)
Definition: Matrices.cpp:757
Constraints::moveInactiveToActive
returnValue moveInactiveToActive(int_t number, SubjectToStatus _status)
Definition: Constraints.cpp:206
SQProblemSchur::resetSchurComplement
returnValue resetSchurComplement(BooleanType allowInertiaCorrection)
Definition: SQProblemSchur.cpp:2984
SQProblemSchur::determineStepDirection
virtual returnValue determineStepDirection(const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yAC, real_t *const delta_yFX)
Definition: SQProblemSchur.cpp:2810
RET_LINEARLY_DEPENDENT
@ RET_LINEARLY_DEPENDENT
Definition: MessageHandling.hpp:159
QProblem::getFreeVariablesFlags
returnValue getFreeVariablesFlags(BooleanType *varIsFree)
Definition: QProblem.cpp:1058
RET_STEPDIRECTION_DETERMINATION_FAILED
@ RET_STEPDIRECTION_DETERMINATION_FAILED
Definition: MessageHandling.hpp:128
DenseMatrix::isDiag
virtual BooleanType isDiag() const
Definition: Matrices.cpp:139
MessageHandling::throwWarning
returnValue throwWarning(returnValue Wnumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus)
Definition: MessageHandling.cpp:370
Options::dropIneqConPriority
int_t dropIneqConPriority
Definition: Options.hpp:162
SparseMatrixRow::getNorm
virtual real_t getNorm(int_t type=2) const
Definition: Matrices.cpp:1542
SubjectTo::type
SubjectToType * type
Definition: SubjectTo.hpp:212
RET_UNABLE_TO_SAVE_QPDATA
@ RET_UNABLE_TO_SAVE_QPDATA
Definition: MessageHandling.hpp:138
RET_SIMPLE_STATUS_P0
@ RET_SIMPLE_STATUS_P0
Definition: MessageHandling.hpp:227
Constraints::flipFixed
returnValue flipFixed(int_t number)
Definition: Constraints.cpp:227
SQProblemSchur::undoDeleteFromSchurComplement
returnValue undoDeleteFromSchurComplement(int_t idx)
Definition: SQProblemSchur.cpp:3343
SQProblemSchur::computeMTransTimes
returnValue computeMTransTimes(real_t alpha, const real_t *const x, real_t beta, real_t *const y)
Definition: SQProblemSchur.cpp:3133
Flipper::clear
returnValue clear()
Definition: Flipper.cpp:211
Indexlist::getISortArray
returnValue getISortArray(int_t **const iSortArray) const
Definition: Indexlist.cpp:146
__FUNC__
#define __FUNC__
Definition: MessageHandling.hpp:450
MessageHandling::~MessageHandling
~MessageHandling()
Definition: MessageHandling.cpp:316
SubjectTo::clear
returnValue clear()
Definition: SubjectTo.cpp:145
SparseMatrixRow::getRow
virtual returnValue getRow(int_t rNum, const Indexlist *const icols, real_t alpha, real_t *row) const
Definition: Matrices.cpp:1570
QProblem::solveInitialQP
returnValue solveInitialQP(const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, const real_t *const _R, int_t &nWSR, real_t *const cputime)
Definition: QProblem.cpp:1301
Options::enableNZCTests
BooleanType enableNZCTests
Definition: Options.hpp:129
QProblem::removeConstraint
virtual returnValue removeConstraint(int_t number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
Definition: QProblem.cpp:3782
ST_EQUALITY
@ ST_EQUALITY
Definition: Types.hpp:265
QProblemB::obtainAuxiliaryWorkingSet
returnValue obtainAuxiliaryWorkingSet(const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, Bounds *auxiliaryBounds) const
Definition: QProblemB.cpp:1479
SQProblemSchur::operator=
virtual SQProblemSchur & operator=(const SQProblemSchur &rhs)
Definition: SQProblemSchur.cpp:176
RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED
@ RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED
Definition: MessageHandling.hpp:198
SparseSolver
Base class for linear solvers that are used in a Schur-complement implementation in qpOASES.
Definition: SparseSolver.hpp:52
RET_SIMPLE_STATUS_M3
@ RET_SIMPLE_STATUS_M3
Definition: MessageHandling.hpp:230
Matrix::doNotFreeMemory
void doNotFreeMemory()
Definition: Matrices.hpp:273
readOqpData
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)
Definition: OQPinterface.cpp:79
Options::setToMPC
returnValue setToMPC()
Definition: Options.cpp:191
TabularOutput::excRemC
int_t excRemC
Definition: Types.hpp:310
QProblemB::performDriftCorrection
virtual returnValue performDriftCorrection()
Definition: QProblemB.cpp:3405
Indexlist::copy
returnValue copy(const Indexlist &rhs)
Definition: Indexlist.cpp:269
TabularOutput::excAddC
int_t excAddC
Definition: Types.hpp:309
QProblem::constraints
Constraints constraints
Definition: QProblem.hpp:1047
DenseMatrix::val
real_t * val
Definition: Matrices.hpp:498
SparseMatrix::getSparseSubmatrix
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
Definition: Matrices.cpp:955
SQProblemSchur::calcDetSchur
real_t calcDetSchur(int_t idxDel)
Definition: SQProblemSchur.cpp:2191
RET_AVAILABLE_WITH_LINUX_ONLY
@ RET_AVAILABLE_WITH_LINUX_ONLY
Definition: MessageHandling.hpp:76
QProblemB::determineHessianType
returnValue determineHessianType()
Definition: QProblemB.cpp:1176
QProblemB::setupInitialCholesky
virtual returnValue setupInitialCholesky()
Definition: QProblemB.cpp:1447
RET_HOTSTART_STOPPED_INFEASIBILITY
@ RET_HOTSTART_STOPPED_INFEASIBILITY
Definition: MessageHandling.hpp:132
RET_REMOVEINDEX_FAILED
@ RET_REMOVEINDEX_FAILED
Definition: MessageHandling.hpp:90
SparseMatrixRow::times
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
Definition: Matrices.cpp:1693
MessageHandling::operator=
MessageHandling & operator=(const MessageHandling &rhs)
Definition: MessageHandling.cpp:328
Options::enableFullLITests
BooleanType enableFullLITests
Definition: Options.hpp:128
SparseMatrixRow::full
virtual real_t * full() const
Definition: Matrices.cpp:2080
QProblemB::operator=
virtual QProblemB & operator=(const QProblemB &rhs)
Definition: QProblemB.cpp:195
SQProblemSchur::copy
returnValue copy(const SQProblemSchur &rhs)
Definition: SQProblemSchur.cpp:235
SQProblemSchur::addToSchurComplement
returnValue addToSchurComplement(int_t number, SchurUpdateType update, int_t numNonzerosM, const sparse_int_t *M_pos, const real_t *const M_vals, int_t numNonzerosN, const sparse_int_t *Npos, const real_t *const Nvals, real_t N_diag)
Definition: SQProblemSchur.cpp:3162
SymmetricMatrix::bilinear
virtual returnValue bilinear(const Indexlist *const icols, int_t xN, const real_t *x, int_t xLD, real_t *y, int_t yLD) const =0
MessageHandling::setErrorCount
returnValue setErrorCount(int_t _errorCount)
Definition: MessageHandling.ipp:127
QProblem::delta_xFRy
real_t * delta_xFRy
Definition: QProblem.hpp:1065
DenseMatrix::getNorm
virtual real_t getNorm(int_t type=2) const
Definition: Matrices.cpp:155
Utils.hpp
Options::setToFast
returnValue setToFast()
Definition: Options.cpp:224
SQProblemSchur::nS
int_t nS
Definition: SQProblemSchur.hpp:395
QProblem::getNEC
int_t getNEC() const
Definition: QProblem.ipp:74
Matrix::writeToFile
virtual returnValue writeToFile(FILE *output_file, const char *prefix) const =0
SubjectTo::noUpper
BooleanType noUpper
Definition: SubjectTo.hpp:216
QProblemB::addBound
returnValue addBound(int_t number, SubjectToStatus B_status, BooleanType updateCholesky)
Definition: QProblemB.cpp:3484
RET_CONSTRAINTS_NOT_SPECIFIED
@ RET_CONSTRAINTS_NOT_SPECIFIED
Definition: MessageHandling.hpp:136
Options::enableEqualities
BooleanType enableEqualities
Definition: Options.hpp:132
Bounds::shift
virtual returnValue shift(int_t offset)
Definition: Bounds.cpp:264
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
@ RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED
Definition: MessageHandling.hpp:125
getMax
int_t getMax(int_t x, int_t y)
Definition: Utils.ipp:88
QProblem::performStep
returnValue performStep(const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yAC, const real_t *const delta_yFX, int_t &BC_idx, SubjectToStatus &BC_status, BooleanType &BC_isBound)
Definition: QProblem.cpp:4981
RET_STEPSIZE
@ RET_STEPSIZE
Definition: MessageHandling.hpp:144
QProblemB::setupQPdata
returnValue setupQPdata(SymmetricMatrix *_H, const real_t *const _g, const real_t *const _lb, const real_t *const _ub)
Definition: QProblemB.cpp:1757
QProblem::solveQP
returnValue solveQP(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new, int_t &nWSR, real_t *const cputime, int_t nWSRperformed=0, BooleanType isFirstCall=BT_TRUE)
Definition: QProblem.cpp:1477
LapackBlasReplacement.hpp
Flipper::copy
returnValue copy(const Flipper &rhs)
Definition: Flipper.cpp:238
Indexlist.hpp
MessageHandling::throwMessage
returnValue throwMessage(returnValue RETnumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus, const char *RETstring)
Definition: MessageHandling.cpp:461
RET_INFO_UNDEFINED
@ RET_INFO_UNDEFINED
Definition: MessageHandling.hpp:74
Options::boundRelaxation
real_t boundRelaxation
Definition: Options.hpp:137
Matrix::transTimes
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 =0
QProblemB::unbounded
BooleanType unbounded
Definition: QProblemB.hpp:991
DenseMatrix::duplicate
virtual Matrix * duplicate() const
Definition: Matrices.cpp:114
QProblem::addBound
virtual returnValue addBound(int_t number, SubjectToStatus B_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
Definition: QProblem.cpp:3307
RET_INVALID_ARGUMENTS
@ RET_INVALID_ARGUMENTS
Definition: MessageHandling.hpp:71
RET_ENSURELI_FAILED_TQ
@ RET_ENSURELI_FAILED_TQ
Definition: MessageHandling.hpp:163
QProblemB::setOptions
returnValue setOptions(const Options &_options)
Definition: QProblemB.ipp:191
SubjectTo::removeIndex
returnValue removeIndex(Indexlist *const indexlist, int_t removenumber)
Definition: SubjectTo.cpp:229
RET_ROTATING_FAILED
@ RET_ROTATING_FAILED
Definition: MessageHandling.hpp:98
QPS_HOMOTOPYQPSOLVED
@ QPS_HOMOTOPYQPSOLVED
Definition: Types.hpp:242
SQProblemSchur::~SQProblemSchur
virtual ~SQProblemSchur()
Definition: SQProblemSchur.cpp:165
Flipper.hpp
SQProblemSchur::sparseSolver
SparseSolver * sparseSolver
Definition: SQProblemSchur.hpp:392
QProblemB::isInfeasible
BooleanType isInfeasible() const
Definition: QProblemB.ipp:133
Options::Options
Options()
Definition: Options.cpp:50
Options::setToDefault
returnValue setToDefault()
Definition: Options.cpp:91
DenseMatrix::transTimes
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
Definition: Matrices.cpp:318
TabularOutput::excRemB
int_t excRemB
Definition: Types.hpp:308
QProblemB::performStep
returnValue performStep(const real_t *const delta_g, const real_t *const delta_lb, const real_t *const delta_ub, const real_t *const delta_xFX, const real_t *const delta_xFR, const real_t *const delta_yFX, int_t &BC_idx, SubjectToStatus &BC_status)
Definition: QProblemB.cpp:3209
RET_INIT_FAILED_HOTSTART
@ RET_INIT_FAILED_HOTSTART
Definition: MessageHandling.hpp:107
RET_DIAGONAL_NOT_INITIALISED
@ RET_DIAGONAL_NOT_INITIALISED
Definition: MessageHandling.hpp:217
SparseMatrix::SparseMatrix
SparseMatrix()
Definition: Matrices.cpp:671
QPS_SOLVED
@ QPS_SOLVED
Definition: Types.hpp:243
RET_INITIAL_QP_SOLVED
@ RET_INITIAL_QP_SOLVED
Definition: MessageHandling.hpp:212
Options::enableRamping
BooleanType enableRamping
Definition: Options.hpp:124
MessageHandling::ReturnValueList
Data structure for entries in global message list.
Definition: MessageHandling.hpp:257
printCopyrightNotice
returnValue printCopyrightNotice()
Definition: Utils.cpp:255
QPS_PERFORMINGHOMOTOPY
@ QPS_PERFORMINGHOMOTOPY
Definition: Types.hpp:240
SubjectTo::n
int_t n
Definition: SubjectTo.hpp:210
SQProblemSchur::removeBound
virtual returnValue removeBound(int_t number, BooleanType updateCholesky, BooleanType allowFlipping=BT_FALSE, BooleanType ensureNZC=BT_FALSE)
Definition: SQProblemSchur.cpp:1798
SparseMatrixRow::isDiag
virtual BooleanType isDiag() const
Definition: Matrices.cpp:1521
QProblemB::solveInitialQP
returnValue solveInitialQP(const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const real_t *const _R, int_t &nWSR, real_t *const cputime)
Definition: QProblemB.cpp:2259
SQProblemSchur.hpp
Constraints::shift
virtual returnValue shift(int_t offset)
Definition: Constraints.cpp:248
Flipper
Auxiliary class for storing a copy of the current matrix factorisations.
Definition: Flipper.hpp:57
RET_UNABLE_TO_SOLVE_QP
@ RET_UNABLE_TO_SOLVE_QP
Definition: MessageHandling.hpp:121
SparseMatrix::getRow
virtual returnValue getRow(int_t rNum, const Indexlist *const icols, real_t alpha, real_t *row) const
Definition: Matrices.cpp:864
QQ
#define QQ(I, J)
Definition: Types.hpp:144
PL_MEDIUM
@ PL_MEDIUM
Definition: Types.hpp:218
Constraints::Constraints
Constraints()
Definition: Constraints.cpp:50
SQProblemSchur::addConstraint_ensureLI
virtual returnValue addConstraint_ensureLI(int_t number, SubjectToStatus C_status)
Definition: SQProblemSchur.cpp:947
ST_INFEASIBLE_LOWER
@ ST_INFEASIBLE_LOWER
Definition: Types.hpp:277
RET_UNABLE_TO_READ_FILE
@ RET_UNABLE_TO_READ_FILE
Definition: MessageHandling.hpp:202
Indexlist::getNumber
int_t getNumber(int_t physicalindex) const
Definition: Indexlist.ipp:47
SQProblemSchur::updateSchurQR
returnValue updateSchurQR(int_t idxDel)
Definition: SQProblemSchur.cpp:2284
ST_INFEASIBLE_UPPER
@ ST_INFEASIBLE_UPPER
Definition: Types.hpp:278
RET_QP_NOT_SOLVED
@ RET_QP_NOT_SOLVED
Definition: MessageHandling.hpp:119
SparseMatrixRow::getCol
virtual returnValue getCol(int_t cNum, const Indexlist *const irows, real_t alpha, real_t *col) const
Definition: Matrices.cpp:1627
RET_ADDBOUND_FAILED_INFEASIBILITY
@ RET_ADDBOUND_FAILED_INFEASIBILITY
Definition: MessageHandling.hpp:150
SQProblemSchur::backsolveT
virtual returnValue backsolveT(const real_t *const b, BooleanType transposed, real_t *const a) const
Definition: SQProblemSchur.cpp:2164
Flipper::Q
real_t * Q
Definition: Flipper.hpp:142
SparseMatrixRow
Interfaces matrix-vector operations tailored to general sparse matrices.
Definition: Matrices.hpp:751
RET_ADD_TO_ACTIVESET
@ RET_ADD_TO_ACTIVESET
Definition: MessageHandling.hpp:154
Bounds::print
returnValue print()
Definition: Bounds.cpp:400
Options::enableInertiaCorrection
BooleanType enableInertiaCorrection
Definition: Options.hpp:157
SQProblemSchur::R_
real_t * R_
Definition: SQProblemSchur.hpp:399
QProblem::setupInitialCholesky
virtual returnValue setupInitialCholesky()
Definition: QProblem.cpp:2135
Indexlist::operator=
Indexlist & operator=(const Indexlist &rhs)
Definition: Indexlist.cpp:92
RET_ALREADY_ENABLED
@ RET_ALREADY_ENABLED
Definition: MessageHandling.hpp:178
Options::rcondSMin
real_t rcondSMin
Definition: Options.hpp:156
QProblemB::getObjVal
real_t getObjVal() const
Definition: QProblemB.cpp:700
Flipper::set
returnValue set(const Bounds *const _bounds, const real_t *const _R, const Constraints *const _constraints=0, const real_t *const _Q=0, const real_t *const _T=0)
Definition: Flipper.cpp:162
Constraints::getNIAC
int_t getNIAC() const
Definition: Constraints.ipp:92
SparseSolver::~SparseSolver
virtual ~SparseSolver()
Definition: SparseSolver.cpp:72
QProblemB::getHessianType
HessianType getHessianType() const
Definition: QProblemB.ipp:151
MessageHandling::setWarningVisibilityStatus
void setWarningVisibilityStatus(VisibilityStatus _warningVisibility)
Definition: MessageHandling.ipp:100
SparseMatrixRow::print
virtual returnValue print(const char *name=0) const
Definition: Matrices.cpp:2096
getKktViolation
returnValue getKktViolation(int_t nV, int_t nC, 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, const real_t *const x, const real_t *const y, real_t &stat, real_t &feas, real_t &cmpl, const real_t *const workingSetB, const real_t *const workingSetC, BooleanType hasIdentityHessian)
Definition: Utils.cpp:631
SubjectTo::hasNoUpper
BooleanType hasNoUpper() const
Definition: SubjectTo.ipp:147
isZero
BooleanType isZero(real_t x, real_t TOL)
Definition: Utils.ipp:60
QProblemB::shallRefactorise
BooleanType shallRefactorise(const Bounds *const guessedBounds) const
Definition: QProblemB.cpp:3456
SparseSolver::reset
virtual returnValue reset()
Definition: SparseSolver.cpp:95
RET_UNKNOWN_BUG
@ RET_UNKNOWN_BUG
Definition: MessageHandling.hpp:77
normaliseConstraints
returnValue normaliseConstraints(int_t nV, int_t nC, real_t *A, real_t *lbA, real_t *ubA, int_t type)
Definition: Utils.cpp:963
RET_NWSR_SET_TO_ONE
@ RET_NWSR_SET_TO_ONE
Definition: MessageHandling.hpp:209
RET_STEPDIRECTION_FAILED_CHOLESKY
@ RET_STEPDIRECTION_FAILED_CHOLESKY
Definition: MessageHandling.hpp:140
QProblemB::setupSubjectToType
virtual returnValue setupSubjectToType()
Definition: QProblemB.cpp:1281
RET_INVALID_FACTORISATION_FLAG
@ RET_INVALID_FACTORISATION_FLAG
Definition: MessageHandling.hpp:137
Constraints::getInactive
Indexlist * getInactive()
Definition: Constraints.ipp:111
Constraints.hpp
QProblemB::rampOffset
int_t rampOffset
Definition: QProblemB.hpp:1002
SUCCESSFUL_RETURN
@ SUCCESSFUL_RETURN
Definition: MessageHandling.hpp:68
QProblem::Q
real_t * Q
Definition: QProblem.hpp:1050
HST_SEMIDEF
@ HST_SEMIDEF
Definition: Types.hpp:254
QProblem::constraintProduct
ConstraintProduct * constraintProduct
Definition: QProblem.hpp:1060
MessageHandling::errorVisibility
VisibilityStatus errorVisibility
Definition: MessageHandling.hpp:428
QProblem::setUBA
returnValue setUBA(const real_t *const ubA_new)
Definition: QProblem.ipp:234
RET_CYCLING_RESOLVED
@ RET_CYCLING_RESOLVED
Definition: MessageHandling.hpp:143
RET_WARNING_UNDEFINED
@ RET_WARNING_UNDEFINED
Definition: MessageHandling.hpp:73
QProblemB::getWorkingSetConstraints
virtual returnValue getWorkingSetConstraints(real_t *workingSetC)
Definition: QProblemB.cpp:678
QProblemB::getNV
int_t getNV() const
Definition: QProblemB.ipp:64
ST_UPPER
@ ST_UPPER
Definition: Types.hpp:276
THROWERROR
#define THROWERROR(retval)
Definition: MessageHandling.hpp:456
RET_NO_GLOBAL_MESSAGE_OUTPUTFILE
@ RET_NO_GLOBAL_MESSAGE_OUTPUTFILE
Definition: MessageHandling.hpp:175
RET_INDEXLIST_MUST_BE_REORDERD
@ RET_INDEXLIST_MUST_BE_REORDERD
Definition: MessageHandling.hpp:81
Options::epsIterRef
real_t epsIterRef
Definition: Options.hpp:152
Constraints::moveActiveToInactive
returnValue moveActiveToInactive(int_t number)
Definition: Constraints.cpp:186
SolutionAnalysis.hpp
Flipper::nC
uint_t nC
Definition: Flipper.hpp:136
SparseMatrixRow::getRowNorm
virtual real_t getRowNorm(int_t rNum, int_t type=2) const
Definition: Matrices.cpp:1551
GEMM
#define GEMM
Definition: LapackBlasReplacement.hpp:63
HST_INDEF
@ HST_INDEF
Definition: Types.hpp:255
ST_UNKNOWN
@ ST_UNKNOWN
Definition: Types.hpp:267
Options::dropBoundPriority
int_t dropBoundPriority
Definition: Options.hpp:160
QProblemB::tabularOutput
TabularOutput tabularOutput
Definition: QProblemB.hpp:1008
TRCON
#define TRCON
Definition: LapackBlasReplacement.hpp:78
RET_REGSTEPS_MUST_BE_POSITVE
@ RET_REGSTEPS_MUST_BE_POSITVE
Definition: MessageHandling.hpp:183
SymDenseMat::bilinear
virtual returnValue bilinear(const Indexlist *const icols, int_t xN, const real_t *x, int_t xLD, real_t *y, int_t yLD) const
Definition: Matrices.cpp:630
MessageHandling::setOutputFile
void setOutputFile(FILE *_outputFile)
Definition: MessageHandling.ipp:118
SubjectTo::setNoUpper
void setNoUpper(BooleanType _status)
Definition: SubjectTo.ipp:129
QProblem::addConstraint_checkLI
virtual returnValue addConstraint_checkLI(int_t number)
Definition: QProblem.cpp:2982
SparseMatrix::getNorm
virtual real_t getNorm(int_t type=2) const
Definition: Matrices.cpp:801
RET_MOVING_CONSTRAINT_FAILED
@ RET_MOVING_CONSTRAINT_FAILED
Definition: MessageHandling.hpp:96
SUT_UNDEFINED
@ SUT_UNDEFINED
Definition: Types.hpp:289
QProblem::operator=
virtual QProblem & operator=(const QProblem &rhs)
Definition: QProblem.cpp:203
Constraints::getActive
Indexlist * getActive()
Definition: Constraints.ipp:102
RET_INIT_FAILED
@ RET_INIT_FAILED
Definition: MessageHandling.hpp:104
Matrix::duplicate
virtual Matrix * duplicate() const =0
ST_LOWER
@ ST_LOWER
Definition: Types.hpp:274
RET_DISABLECONSTRAINTS_FAILED
@ RET_DISABLECONSTRAINTS_FAILED
Definition: MessageHandling.hpp:176
RET_SHIFT_DETERMINATION_FAILED
@ RET_SHIFT_DETERMINATION_FAILED
Definition: MessageHandling.hpp:127
SparseMatrix::ir
sparse_int_t * ir
Definition: Matrices.hpp:735
RET_SIMPLE_STATUS_M2
@ RET_SIMPLE_STATUS_M2
Definition: MessageHandling.hpp:229
getAbs
real_t getAbs(real_t x)
Definition: Utils.ipp:143
QProblemB::usingRegularisation
BooleanType usingRegularisation() const
Definition: QProblemB.ipp:170
QProblem::delta_xFRz
real_t * delta_xFRz
Definition: QProblem.hpp:1066
Constraints::setupAllUpper
returnValue setupAllUpper()
Definition: Constraints.cpp:177
QProblem::freeConstraintMatrix
BooleanType freeConstraintMatrix
Definition: QProblem.hpp:1041
QProblemB::setPrintLevel
returnValue setPrintLevel(PrintLevel _printlevel)
Definition: QProblemB.cpp:824
TabularOutput::idxAddC
int_t idxAddC
Definition: Types.hpp:305
PL_TABULAR
@ PL_TABULAR
Definition: Types.hpp:215
SubjectTo::noLower
BooleanType noLower
Definition: SubjectTo.hpp:215
RET_HOTSTART_FAILED_TO_INIT
@ RET_HOTSTART_FAILED_TO_INIT
Definition: MessageHandling.hpp:124
DenseMatrix::getRow
virtual returnValue getRow(int_t rNum, const Indexlist *const icols, real_t alpha, real_t *row) const
Definition: Matrices.cpp:177
ST_DISABLED
@ ST_DISABLED
Definition: Types.hpp:266
SparseMatrix::free
virtual void free()
Definition: Matrices.cpp:715
Options::initialFarBounds
real_t initialFarBounds
Definition: Options.hpp:145
myPrintf
returnValue myPrintf(const char *s)
Definition: Utils.cpp:225
Flipper::constraints
Constraints constraints
Definition: Flipper.hpp:139
QProblemB::setLB
returnValue setLB(const real_t *const lb_new)
Definition: QProblemB.ipp:312
Options::enableRegularisation
BooleanType enableRegularisation
Definition: Options.hpp:127
ST_UNBOUNDED
@ ST_UNBOUNDED
Definition: Types.hpp:263
QProblemB::hessianType
HessianType hessianType
Definition: QProblemB.hpp:993
Indexlist::getLastNumber
int_t getLastNumber() const
Definition: Indexlist.ipp:69
QProblemB::haveCholesky
BooleanType haveCholesky
Definition: QProblemB.hpp:981
isEqual
BooleanType isEqual(real_t x, real_t y, real_t TOL=ZERO)
Definition: Utils.ipp:45
SQProblemSchur::S
real_t * S
Definition: SQProblemSchur.hpp:394
Flipper::~Flipper
~Flipper()
Definition: Flipper.cpp:91
QProblem::ubA
real_t * ubA
Definition: QProblem.hpp:1045
RET_STEPSIZE_NONPOSITIVE
@ RET_STEPSIZE_NONPOSITIVE
Definition: MessageHandling.hpp:145
QProblemB::regulariseHessian
returnValue regulariseHessian()
Definition: QProblemB.cpp:1999
SparseMatrix::writeToFile
virtual returnValue writeToFile(FILE *output_file, const char *prefix) const
Definition: Matrices.cpp:1406
Bounds::init
returnValue init(int_t _n=0)
Definition: Bounds.cpp:102
Indexlist::getNumberArray
returnValue getNumberArray(int_t **const numberarray) const
Definition: Indexlist.cpp:132
RET_ADD_TO_ACTIVESET_FAILED
@ RET_ADD_TO_ACTIVESET_FAILED
Definition: MessageHandling.hpp:156
RET_INERTIA_CORRECTION_FAILED
@ RET_INERTIA_CORRECTION_FAILED
Definition: MessageHandling.hpp:223
Indexlist::clear
returnValue clear()
Definition: Indexlist.cpp:248
TT
#define TT(I, J)
Definition: Types.hpp:147
HST_ZERO
@ HST_ZERO
Definition: Types.hpp:250
SubjectTo::getStatus
SubjectToStatus getStatus(int_t i) const
Definition: SubjectTo.ipp:78
SparseMatrix::duplicate
virtual Matrix * duplicate() const
Definition: Matrices.cpp:728
QProblem::writeQpDataIntoMatFile
returnValue writeQpDataIntoMatFile(const char *const filename) const
Definition: QProblem.cpp:6363
QProblemB::getRelativeHomotopyLength
real_t getRelativeHomotopyLength(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new)
Definition: QProblemB.cpp:2113
RET_EPS_MUST_BE_POSITVE
@ RET_EPS_MUST_BE_POSITVE
Definition: MessageHandling.hpp:182
QProblemB::printIteration
returnValue printIteration(int_t iter, int_t BC_idx, SubjectToStatus BC_status, real_t homotopyLength, BooleanType isFirstCall=BT_TRUE)
Definition: QProblemB.cpp:3692
TERMINAL_LIST_ELEMENT
@ TERMINAL_LIST_ELEMENT
Definition: MessageHandling.hpp:66
SQProblemSchur::setupTQfactorisation
virtual returnValue setupTQfactorisation()
Definition: SQProblemSchur.cpp:639
RET_NOTHING_TO_DO
@ RET_NOTHING_TO_DO
Definition: MessageHandling.hpp:92
MatMatrixHeader::nCharName
long nCharName
Definition: Types.hpp:334
QProblemB::delta_xFR_TMP
real_t * delta_xFR_TMP
Definition: QProblemB.hpp:998
SparseMatrix::createDiagInfo
sparse_int_t * createDiagInfo()
Definition: Matrices.cpp:1362
QProblemB::getPrimalSolution
returnValue getPrimalSolution(real_t *const xOpt) const
Definition: QProblemB.cpp:774
Bounds::~Bounds
virtual ~Bounds()
Definition: Bounds.cpp:76
QProblem::~QProblem
virtual ~QProblem()
Definition: QProblem.cpp:194
QProblemB::infeasible
BooleanType infeasible
Definition: QProblemB.hpp:990
QProblemB::regVal
real_t regVal
Definition: QProblemB.hpp:994
QProblem::setupAuxiliaryQPsolution
returnValue setupAuxiliaryQPsolution(const real_t *const xOpt, const real_t *const yOpt)
Definition: QProblem.cpp:2545
Options::terminationTolerance
real_t terminationTolerance
Definition: Options.hpp:134
SQProblemSchur::clear
returnValue clear()
Definition: SQProblemSchur.cpp:211
RET_BOUND_ALREADY_ACTIVE
@ RET_BOUND_ALREADY_ACTIVE
Definition: MessageHandling.hpp:166
SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints
returnValue checkCurvatureOnStronglyActiveConstraints(SQProblemSchur *qp)
Definition: SolutionAnalysis.cpp:534
QProblemB::createDiagSparseMat
SymSparseMat * createDiagSparseMat(int_t n, real_t diagVal=1.0)
Definition: QProblemB.cpp:2038
HST_IDENTITY
@ HST_IDENTITY
Definition: Types.hpp:251
MessageHandling::throwInfo
returnValue throwInfo(returnValue Inumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus)
Definition: MessageHandling.cpp:393
SQProblemSchur::addConstraint
virtual returnValue addConstraint(int_t number, SubjectToStatus C_status, BooleanType updateCholesky, BooleanType ensureLI=BT_TRUE)
Definition: SQProblemSchur.cpp:648
DenseMatrix::getRowNorm
virtual real_t getRowNorm(int_t rNum, int_t type=2) const
Definition: Matrices.cpp:162
Options::setToReliable
returnValue setToReliable()
Definition: Options.cpp:171
RET_LINEARLY_INDEPENDENT
@ RET_LINEARLY_INDEPENDENT
Definition: MessageHandling.hpp:160
QProblemB::updateFarBounds
returnValue updateFarBounds(real_t curFarBound, int_t nRamp, const real_t *const lb_new, real_t *const lb_new_far, const real_t *const ub_new, real_t *const ub_new_far) const
Definition: QProblemB.cpp:2202
Indexlist
Stores and manages index lists.
Definition: Indexlist.hpp:55
SparseSolver::SparseSolver
SparseSolver()
Definition: SparseSolver.cpp:55
RET_DIV_BY_ZERO
@ RET_DIV_BY_ZERO
Definition: MessageHandling.hpp:69
QProblem::determineStepDirection
virtual returnValue determineStepDirection(const real_t *const delta_g, const real_t *const delta_lbA, const real_t *const delta_ubA, const real_t *const delta_lb, const real_t *const delta_ub, BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, real_t *const delta_xFX, real_t *const delta_xFR, real_t *const delta_yAC, real_t *const delta_yFX)
Definition: QProblem.cpp:4637
SparseMatrixRow::writeToFile
virtual returnValue writeToFile(FILE *output_file, const char *prefix) const
Definition: Matrices.cpp:2105
SparseMatrixRow::free
virtual void free()
Definition: Matrices.cpp:1465
HST_POSDEF_NULLSPACE
@ HST_POSDEF_NULLSPACE
Definition: Types.hpp:253
QProblem::computeProjectedCholesky
virtual returnValue computeProjectedCholesky()
Definition: QProblem.cpp:2036
QProblemB::getNFX
int_t getNFX() const
Definition: QProblemB.ipp:82
RET_ERROR_IN_CONSTRAINTPRODUCT
@ RET_ERROR_IN_CONSTRAINTPRODUCT
Definition: MessageHandling.hpp:193
SymSparseMat::duplicate
virtual Matrix * duplicate() const
Definition: Matrices.cpp:2110
Options::finalRamping
real_t finalRamping
Definition: Options.hpp:144
SubjectTo::addIndex
returnValue addIndex(Indexlist *const indexlist, int_t newnumber, SubjectToStatus newstatus)
Definition: SubjectTo.cpp:199
SQProblemSchur::schurUpdate
SchurUpdateType * schurUpdate
Definition: SQProblemSchur.hpp:405
Options::epsDen
real_t epsDen
Definition: Options.hpp:139
SparseMatrix::transTimes
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
Definition: Matrices.cpp:1087
QProblemB::options
Options options
Definition: QProblemB.hpp:1004
QProblemB::reset
virtual returnValue reset()
Definition: QProblemB.cpp:210
Constraints::print
returnValue print()
Definition: Constraints.cpp:384
RET_PRINTLEVEL_CHANGED
@ RET_PRINTLEVEL_CHANGED
Definition: MessageHandling.hpp:78
SolutionAnalysis::getKktViolation
real_t getKktViolation(QProblemB *const qp, real_t *const maxStat=0, real_t *const maxFeas=0, real_t *const maxCmpl=0) const
Definition: SolutionAnalysis.cpp:93
RET_INIT_FAILED_UNBOUNDEDNESS
@ RET_INIT_FAILED_UNBOUNDEDNESS
Definition: MessageHandling.hpp:109
QProblem::updateFarBounds
returnValue updateFarBounds(real_t curFarBound, int_t nRamp, const real_t *const lb_new, real_t *const lb_new_far, const real_t *const ub_new, real_t *const ub_new_far, const real_t *const lbA_new, real_t *const lbA_new_far, const real_t *const ubA_new, real_t *const ubA_new_far) const
Definition: QProblem.cpp:5498
QProblem::delta_yAC_TMP
real_t * delta_yAC_TMP
Definition: QProblem.hpp:1067
dtrcon_
void dtrcon_(const char *NORM, const char *UPLO, const char *DIAG, const la_uint_t *N, double *A, const la_uint_t *LDA, double *RCOND, double *WORK, const la_uint_t *IWORK, la_int_t *INFO)
Definition: LAPACKReplacement.cpp:137
RET_UNABLE_TO_OPEN_FILE
@ RET_UNABLE_TO_OPEN_FILE
Definition: MessageHandling.hpp:200
SymDenseMat::duplicate
virtual Matrix * duplicate() const
Definition: Matrices.cpp:603
QProblem::setupQPdata
returnValue setupQPdata(SymmetricMatrix *_H, const real_t *const _g, Matrix *_A, const real_t *const _lb, const real_t *const _ub, const real_t *const _lbA, const real_t *const _ubA)
Definition: QProblem.cpp:5785
Flipper::bounds
Bounds bounds
Definition: Flipper.hpp:138
Constraints::operator=
Constraints & operator=(const Constraints &rhs)
Definition: Constraints.cpp:85
Constraints::init
returnValue init(int_t _n=0)
Definition: Constraints.cpp:101
RET_REMOVE_FROM_ACTIVESET_FAILED
@ RET_REMOVE_FROM_ACTIVESET_FAILED
Definition: MessageHandling.hpp:155
QProblemB::setupAuxiliaryQP
virtual returnValue setupAuxiliaryQP(const Bounds *const guessedBounds)
Definition: QProblemB.cpp:2980
QProblem::setupAuxiliaryWorkingSet
virtual returnValue setupAuxiliaryWorkingSet(const Bounds *const auxiliaryBounds, const Constraints *const auxiliaryConstraints, BooleanType setupAfresh)
Definition: QProblem.cpp:2351
QProblemB::isInitialised
BooleanType isInitialised() const
Definition: QProblemB.ipp:109
RET_INDEXLIST_OUTOFBOUNDS
@ RET_INDEXLIST_OUTOFBOUNDS
Definition: MessageHandling.hpp:84
RET_QPOBJECT_NOT_SETUP
@ RET_QPOBJECT_NOT_SETUP
Definition: MessageHandling.hpp:100
VS_HIDDEN
@ VS_HIDDEN
Definition: Types.hpp:226
QProblem::getNZ
virtual int_t getNZ() const
Definition: QProblem.cpp:849
RET_ADDBOUND_FAILED
@ RET_ADDBOUND_FAILED
Definition: MessageHandling.hpp:149
Bounds::clear
returnValue clear()
Definition: Bounds.cpp:438
SparseMatrix::full
virtual real_t * full() const
Definition: Matrices.cpp:1381
QProblem::performPlainRatioTest
returnValue performPlainRatioTest(int_t nIdx, const int_t *const idxList, const real_t *const num, const real_t *const den, real_t epsNum, real_t epsDen, real_t &t, int_t &BC_idx) const
Definition: QProblem.cpp:4256
QProblem::getWorkingSetConstraints
virtual returnValue getWorkingSetConstraints(real_t *workingSetC)
Definition: QProblem.cpp:823
QProblem::setA
returnValue setA(Matrix *A_new)
Definition: QProblem.ipp:107
RET_CHOLESKY_OF_ZERO_HESSIAN
@ RET_CHOLESKY_OF_ZERO_HESSIAN
Definition: MessageHandling.hpp:189
MessageHandling::getInfoVisibilityStatus
VisibilityStatus getInfoVisibilityStatus() const
Definition: MessageHandling.ipp:64
REFER_NAMESPACE_QPOASES
#define REFER_NAMESPACE_QPOASES
Definition: Types.hpp:116
EPS
const BEGIN_NAMESPACE_QPOASES real_t EPS
Definition: Constants.hpp:50
RET_ZERO_HESSIAN_ASSUMED
@ RET_ZERO_HESSIAN_ASSUMED
Definition: MessageHandling.hpp:190
HST_UNKNOWN
@ HST_UNKNOWN
Definition: Types.hpp:256
getAbs
real_t getAbs(real_t x)
Definition: Utils.ipp:143
Options::enableCholeskyRefactorisation
int_t enableCholeskyRefactorisation
Definition: Options.hpp:131
RET_OPTIONS_ADJUSTED
@ RET_OPTIONS_ADJUSTED
Definition: MessageHandling.hpp:205
RET_KKT_MATRIX_SINGULAR
@ RET_KKT_MATRIX_SINGULAR
Definition: MessageHandling.hpp:221
RET_QR_FACTORISATION_FAILED
@ RET_QR_FACTORISATION_FAILED
Definition: MessageHandling.hpp:222
RET_EWI_UNDEFINED
@ RET_EWI_UNDEFINED
Definition: MessageHandling.hpp:75
RET_HESSIAN_INDEFINITE
@ RET_HESSIAN_INDEFINITE
Definition: MessageHandling.hpp:171
QProblemB::hotstart
returnValue hotstart(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, int_t &nWSR, real_t *const cputime=0, const Bounds *const guessedBounds=0)
Definition: QProblemB.cpp:414
MessageHandling::MessageHandling
MessageHandling()
Definition: MessageHandling.cpp:241
Options::enableFarBounds
BooleanType enableFarBounds
Definition: Options.hpp:125
isEqual
BEGIN_NAMESPACE_QPOASES BooleanType isEqual(real_t x, real_t y, real_t TOL)
Definition: Utils.ipp:45
QProblemB::getWorkingSetBounds
virtual returnValue getWorkingSetBounds(real_t *workingSetB)
Definition: QProblemB.cpp:653
RET_SETUP_BOUND_FAILED
@ RET_SETUP_BOUND_FAILED
Definition: MessageHandling.hpp:93
Matrix::getCol
virtual returnValue getCol(int_t cNum, const Indexlist *const irows, real_t alpha, real_t *col) const =0
MessageHandling::reset
returnValue reset()
Definition: MessageHandling.cpp:416
getSimpleStatus
int_t getSimpleStatus(returnValue returnvalue, BooleanType doPrintStatus)
Definition: Utils.cpp:912
Matrix::getNorm
virtual real_t getNorm(int_t type=2) const =0
SparseSolver::solve
virtual returnValue solve(int_t dim, const real_t *const rhs, real_t *const sol)=0
SparseMatrixRow::nRows
int_t nRows
Definition: Matrices.hpp:918
SymmetricMatrix::duplicateSym
virtual SymmetricMatrix * duplicateSym() const =0
QProblemB::getNFV
int_t getNFV() const
Definition: QProblemB.ipp:91
SQProblemSchur::deleteFromSchurComplement
returnValue deleteFromSchurComplement(int_t idx, BooleanType allowUndo=BT_FALSE)
Definition: SQProblemSchur.cpp:3244
Bounds::getNUV
int_t getNUV() const
Definition: Bounds.ipp:73
RET_ENABLECONSTRAINTS_FAILED
@ RET_ENABLECONSTRAINTS_FAILED
Definition: MessageHandling.hpp:177
SolutionAnalysis::~SolutionAnalysis
~SolutionAnalysis()
Definition: SolutionAnalysis.cpp:69
RET_INITIALISATION_STARTED
@ RET_INITIALISATION_STARTED
Definition: MessageHandling.hpp:122
RET_CANNOT_REGULARISE_SPARSE
@ RET_CANNOT_REGULARISE_SPARSE
Definition: MessageHandling.hpp:186
PrintLevel
PrintLevel
Definition: Types.hpp:212
Bounds::getNFR
int_t getNFR() const
Definition: Bounds.ipp:82
getMax
int_t getMax(int_t x, int_t y)
Definition: Utils.ipp:88
SparseMatrix::val
real_t * val
Definition: Matrices.hpp:738
SparseSolver::setMatrixData
virtual returnValue setMatrixData(int_t dim, int_t numNonzeros, const int_t *const airn, const int_t *const acjn, const real_t *const avals)=0
Options::enableDropInfeasibles
BooleanType enableDropInfeasibles
Definition: Options.hpp:159
ST_BOUNDED
@ ST_BOUNDED
Definition: Types.hpp:264
Indexlist::Indexlist
Indexlist()
Definition: Indexlist.cpp:50
QProblem::getRelativeHomotopyLength
real_t getRelativeHomotopyLength(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new)
Definition: QProblem.cpp:5372
readFromFile
returnValue readFromFile(real_t *data, int_t nrow, int_t ncol, const char *datafilename)
Definition: Utils.cpp:273
MessageHandling::setErrorVisibilityStatus
void setErrorVisibilityStatus(VisibilityStatus _errorVisibility)
Definition: MessageHandling.ipp:91
QProblem::shallRefactorise
BooleanType shallRefactorise(const Bounds *const guessedBounds, const Constraints *const guessedConstraints) const
Definition: QProblem.cpp:5746
RET_SETUP_AUXILIARYQP_FAILED
@ RET_SETUP_AUXILIARYQP_FAILED
Definition: MessageHandling.hpp:114
QProblemB::~QProblemB
virtual ~QProblemB()
Definition: QProblemB.cpp:183
DenseMatrix::~DenseMatrix
virtual ~DenseMatrix()
Definition: Matrices.cpp:101
QProblemB::ramp1
real_t ramp1
Definition: QProblemB.hpp:1001
RET_SHIFTING_FAILED
@ RET_SHIFTING_FAILED
Definition: MessageHandling.hpp:97
PL_LOW
@ PL_LOW
Definition: Types.hpp:217
QProblemB::isCPUtimeLimitExceeded
BooleanType isCPUtimeLimitExceeded(const real_t *const cputime, real_t starttime, int_t nWSR) const
Definition: QProblemB.cpp:1971
SparseMatrixRow::~SparseMatrixRow
virtual ~SparseMatrixRow()
Definition: Matrices.cpp:1452
QProblem::reset
virtual returnValue reset()
Definition: QProblem.cpp:219
QProblemB::setG
returnValue setG(const real_t *const g_new)
Definition: QProblemB.ipp:293
SubjectTo::getType
SubjectToType getType(int_t i) const
Definition: SubjectTo.ipp:66
MatMatrixHeader
Struct containing the variable header for mat file.
Definition: Types.hpp:329
sparse_int_t
int_t sparse_int_t
Definition: Types.hpp:199
QProblemB::setInfeasibilityFlag
returnValue setInfeasibilityFlag(returnValue returnvalue, BooleanType doThrowError=BT_FALSE)
Definition: QProblemB.cpp:1938
SQProblemSchur::backsolveR
virtual returnValue backsolveR(const real_t *const b, BooleanType transposed, real_t *const a) const
Definition: SQProblemSchur.cpp:2173
RET_FILEDATA_INCONSISTENT
@ RET_FILEDATA_INCONSISTENT
Definition: MessageHandling.hpp:203
QProblem::performDriftCorrection
virtual returnValue performDriftCorrection()
Definition: QProblem.cpp:5558
MatMatrixHeader::nCols
long nCols
Definition: Types.hpp:332
SQProblemSchur::rcondS
real_t rcondS
Definition: SQProblemSchur.hpp:401
RET_INDEXLIST_INTERSECT_FAILED
@ RET_INDEXLIST_INTERSECT_FAILED
Definition: MessageHandling.hpp:86
RET_HESSIAN_NOT_SPD
@ RET_HESSIAN_NOT_SPD
Definition: MessageHandling.hpp:170
getGlobalMessageHandler
MessageHandling * getGlobalMessageHandler()
Definition: MessageHandling.cpp:615
Flipper::get
returnValue get(Bounds *const _bounds, real_t *const R, Constraints *const _constraints=0, real_t *const _Q=0, real_t *const _T=0) const
Definition: Flipper.cpp:133
QProblemB::solveQP
returnValue solveQP(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, int_t &nWSR, real_t *const cputime, int_t nWSRperformed=0, BooleanType isFirstCall=BT_TRUE)
Definition: QProblemB.cpp:2407
getNorm
real_t getNorm(const real_t *const v, int_t n, int_t type)
Definition: Utils.cpp:603
RET_CONSTRAINT_ALREADY_ACTIVE
@ RET_CONSTRAINT_ALREADY_ACTIVE
Definition: MessageHandling.hpp:157
RET_CYCLING_NOT_RESOLVED
@ RET_CYCLING_NOT_RESOLVED
Definition: MessageHandling.hpp:142
DenseMatrix::getCol
virtual returnValue getCol(int_t cNum, const Indexlist *const irows, real_t alpha, real_t *col) const
Definition: Matrices.cpp:208
SparseSolver::clear
returnValue clear()
Definition: SparseSolver.cpp:134
RET_ALL_CONSTRAINTS_ACTIVE
@ RET_ALL_CONSTRAINTS_ACTIVE
Definition: MessageHandling.hpp:158
SymDenseMat
Interfaces matrix-vector operations tailored to symmetric dense matrices.
Definition: Matrices.hpp:511
RET_INIT_FAILED_CHOLESKY
@ RET_INIT_FAILED_CHOLESKY
Definition: MessageHandling.hpp:106
Bounds::setupBound
returnValue setupBound(int_t number, SubjectToStatus _status)
Definition: Bounds.cpp:124
returnValueList
MessageHandling::ReturnValueList returnValueList[]
Definition: MessageHandling.cpp:56
Indexlist::removeNumber
returnValue removeNumber(int_t removenumber)
Definition: Indexlist.cpp:187
Matrix::doFreeMemory
void doFreeMemory()
Definition: Matrices.hpp:270
SparseMatrix::nRows
int_t nRows
Definition: Matrices.hpp:733
QProblemB::getNFR
int_t getNFR() const
Definition: QProblemB.ipp:73
QProblem::setupAuxiliaryQP
virtual returnValue setupAuxiliaryQP(const Bounds *const guessedBounds, const Constraints *const guessedConstraints)
Definition: QProblem.cpp:5657
SUT_VarFreed
@ SUT_VarFreed
Definition: Types.hpp:286
SubjectTo::SubjectTo
SubjectTo()
Definition: SubjectTo.cpp:50
VisibilityStatus
VisibilityStatus
Definition: Types.hpp:224
SQProblemSchur::detS
real_t detS
Definition: SQProblemSchur.hpp:400
Options::dropEqConPriority
int_t dropEqConPriority
Definition: Options.hpp:161
QProblem::backsolveT
virtual returnValue backsolveT(const real_t *const b, BooleanType transposed, real_t *const a) const
Definition: QProblem.cpp:4518
QProblem::getDualSolution
virtual returnValue getDualSolution(real_t *const yOpt) const
Definition: QProblem.cpp:859
SubjectTo::setType
returnValue setType(int_t i, SubjectToType value)
Definition: SubjectTo.ipp:90
int_t
int int_t
Definition: Types.hpp:180
Matrix::isDiag
virtual BooleanType isDiag() const =0
RET_BENCHMARK_SUCCESSFUL
@ RET_BENCHMARK_SUCCESSFUL
Definition: MessageHandling.hpp:214
SparseMatrix::getCol
virtual returnValue getCol(int_t cNum, const Indexlist *const irows, real_t alpha, real_t *col) const
Definition: Matrices.cpp:917
SparseMatrix::~SparseMatrix
virtual ~SparseMatrix()
Definition: Matrices.cpp:702
QProblem::copy
returnValue copy(const QProblem &rhs)
Definition: QProblem.cpp:1181
PL_NONE
@ PL_NONE
Definition: Types.hpp:216
Options::numRefinementSteps
int_t numRefinementSteps
Definition: Options.hpp:151
QProblem::loadQPvectorsFromFile
returnValue loadQPvectorsFromFile(const char *const g_file, const char *const lb_file, const char *const ub_file, const char *const lbA_file, const char *const ubA_file, real_t *const g_new, real_t *const lb_new, real_t *const ub_new, real_t *const lbA_new, real_t *const ubA_new) const
Definition: QProblem.cpp:5953
OQPinterface.hpp
QProblem::obtainAuxiliaryWorkingSet
returnValue obtainAuxiliaryWorkingSet(const real_t *const xOpt, const real_t *const yOpt, const Bounds *const guessedBounds, const Constraints *const guessedConstraints, Bounds *auxiliaryBounds, Constraints *auxiliaryConstraints) const
Definition: QProblem.cpp:2199
SubjectTo::operator=
SubjectTo & operator=(const SubjectTo &rhs)
Definition: SubjectTo.cpp:92
QProblem::setupQPdataFromFile
returnValue setupQPdataFromFile(const char *const H_file, const char *const g_file, const char *const A_file, const char *const lb_file, const char *const ub_file, const char *const lbA_file, const char *const ubA_file)
Definition: QProblem.cpp:5884
SQProblemSchur::addBound_checkLISchur
returnValue addBound_checkLISchur(int_t number, real_t *const xiC, real_t *const xiX)
Definition: SQProblemSchur.cpp:1270
THROWINFO
#define THROWINFO(retval)
Definition: MessageHandling.hpp:462
MessageHandling::throwError
returnValue throwError(returnValue Enumber, const char *additionaltext, const char *functionname, const char *filename, const unsigned long linenumber, VisibilityStatus localVisibilityStatus)
Definition: MessageHandling.cpp:347
SparseMatrix::nCols
int_t nCols
Definition: Matrices.hpp:734
QProblem::printProperties
virtual returnValue printProperties()
Definition: QProblem.cpp:896
QProblemB::setH
returnValue setH(SymmetricMatrix *H_new)
Definition: QProblemB.ipp:239
QProblemB::setupAuxiliaryWorkingSet
returnValue setupAuxiliaryWorkingSet(const Bounds *const auxiliaryBounds, BooleanType setupAfresh)
Definition: QProblemB.cpp:2763