qpOASES
3.2.1
An Implementation of the Online Active Set Strategy
|
Go to the documentation of this file.
35 #ifndef QPOASES_SPARSESOLVER_HPP
36 #define QPOASES_SPARSESOLVER_HPP
77 const int_t*
const airn,
78 const int_t*
const acjn,
142 Ma27SparseSolver(
const Ma27SparseSolver& rhs
146 virtual ~Ma27SparseSolver( );
157 const int_t*
const airn,
158 const int_t*
const acjn,
227 bool have_factorization;
256 Ma57SparseSolver(
const Ma57SparseSolver& rhs
260 virtual ~Ma57SparseSolver( );
271 const int_t*
const airn,
272 const int_t*
const acjn,
340 bool have_factorization;
372 const int_t*
const airn,
373 const int_t*
const acjn,
int_t getNFV() const
Definition: Bounds.ipp:55
real_t * lb
Definition: QProblemB.hpp:975
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
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition: Types.hpp:171
@ RET_INDEX_OUT_OF_BOUNDS
Definition: MessageHandling.hpp:70
Abstract base class for interfacing matrix-vector operations tailored to symmetric matrices.
Definition: Matrices.hpp:292
int_t getNFX() const
Definition: Bounds.ipp:91
Manages all user-specified options for solving QPs.
Definition: Options.hpp:56
QProblemStatus getStatus() const
Definition: QProblemB.ipp:100
#define END_NAMESPACE_QPOASES
Definition: Types.hpp:110
BooleanType isBlocking(real_t num, real_t den, real_t epsNum, real_t epsDen, real_t &t) const
Definition: QProblemB.ipp:474
BooleanType
Definition: Types.hpp:203
returnValue copy(const SparseSolver &rhs)
Definition: SparseSolver.cpp:143
virtual int_t getRank()
Definition: SparseSolver.cpp:111
virtual returnValue getZeroPivots(int_t *&zeroPivots)
Definition: SparseSolver.cpp:119
Bounds bounds
Definition: QProblemB.hpp:978
const real_t ZERO
Definition: Constants.hpp:57
Options getOptions() const
Definition: QProblemB.ipp:182
QProblemStatus
Definition: Types.hpp:233
HessianType
Definition: Types.hpp:248
#define BEGIN_NAMESPACE_QPOASES
Definition: Types.hpp:107
Manages working sets of bounds (i.e. box constraints).
Definition: Bounds.hpp:56
virtual returnValue factorize()=0
BooleanType freeHessian
Definition: QProblemB.hpp:971
@ BT_TRUE
Definition: Types.hpp:206
BooleanType isSolved() const
Definition: QProblemB.ipp:121
BooleanType isUnbounded() const
Definition: QProblemB.ipp:142
real_t getSqrt(real_t x)
Definition: Utils.ipp:157
uint_t count
Definition: QProblemB.hpp:996
virtual int_t getNegativeEigenvalues()
Definition: SparseSolver.cpp:103
returnValue ensureConsistency()
Definition: Options.cpp:234
real_t * ub
Definition: QProblemB.hpp:976
BooleanType isZero(real_t x, real_t TOL=ZERO)
Definition: Utils.ipp:60
SymmetricMatrix * H
Definition: QProblemB.hpp:972
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
virtual SparseSolver & operator=(const SparseSolver &rhs)
Definition: SparseSolver.cpp:81
returnValue getBounds(Bounds &_bounds) const
Definition: QProblemB.ipp:48
@ QPS_NOTINITIALISED
Definition: Types.hpp:235
const real_t INFTY
Definition: Constants.hpp:61
@ BT_FALSE
Definition: Types.hpp:205
returnValue setHessianType(HessianType _hessianType)
Definition: QProblemB.ipp:160
PrintLevel printLevel
Definition: Options.hpp:122
int fint_t
Definition: Types.hpp:189
QProblemStatus status
Definition: QProblemB.hpp:988
returnValue setUB(const real_t *const ub_new)
Definition: QProblemB.ipp:360
uint_t getCount() const
Definition: QProblemB.ipp:216
real_t * g
Definition: QProblemB.hpp:974
PrintLevel getPrintLevel() const
Definition: QProblemB.ipp:206
returnValue
Defines all symbols for global return values.
Definition: MessageHandling.hpp:64
Base class for linear solvers that are used in a Schur-complement implementation in qpOASES.
Definition: SparseSolver.hpp:52
BooleanType unbounded
Definition: QProblemB.hpp:991
@ RET_INVALID_ARGUMENTS
Definition: MessageHandling.hpp:71
returnValue setOptions(const Options &_options)
Definition: QProblemB.ipp:191
BooleanType isInfeasible() const
Definition: QProblemB.ipp:133
@ QPS_SOLVED
Definition: Types.hpp:243
virtual ~SparseSolver()
Definition: SparseSolver.cpp:72
HessianType getHessianType() const
Definition: QProblemB.ipp:151
virtual returnValue reset()
Definition: SparseSolver.cpp:95
@ SUCCESSFUL_RETURN
Definition: MessageHandling.hpp:68
int_t getNV() const
Definition: QProblemB.ipp:64
#define THROWERROR(retval)
Definition: MessageHandling.hpp:456
int_t getNV() const
Definition: Bounds.ipp:46
BooleanType usingRegularisation() const
Definition: QProblemB.ipp:170
returnValue setPrintLevel(PrintLevel _printlevel)
Definition: QProblemB.cpp:824
returnValue setLB(const real_t *const lb_new)
Definition: QProblemB.ipp:312
HessianType hessianType
Definition: QProblemB.hpp:993
@ HST_ZERO
Definition: Types.hpp:250
BooleanType infeasible
Definition: QProblemB.hpp:990
real_t regVal
Definition: QProblemB.hpp:994
@ HST_IDENTITY
Definition: Types.hpp:251
SparseSolver()
Definition: SparseSolver.cpp:55
returnValue resetCounter()
Definition: QProblemB.ipp:225
int_t getNFX() const
Definition: QProblemB.ipp:82
Options options
Definition: QProblemB.hpp:1004
BooleanType isInitialised() const
Definition: QProblemB.ipp:109
@ RET_QPOBJECT_NOT_SETUP
Definition: MessageHandling.hpp:100
real_t getAbs(real_t x)
Definition: Utils.ipp:143
virtual returnValue solve(int_t dim, const real_t *const rhs, real_t *const sol)=0
int_t getNFV() const
Definition: QProblemB.ipp:91
PrintLevel
Definition: Types.hpp:212
int_t getNFR() const
Definition: Bounds.ipp:82
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
returnValue setG(const real_t *const g_new)
Definition: QProblemB.ipp:293
returnValue clear()
Definition: SparseSolver.cpp:134
Interfaces matrix-vector operations tailored to symmetric dense matrices.
Definition: Matrices.hpp:511
int_t getNFR() const
Definition: QProblemB.ipp:73
int int_t
Definition: Types.hpp:180
returnValue setH(SymmetricMatrix *H_new)
Definition: QProblemB.ipp:239