DenseQPsolver Class Reference

Abstract base class for algorithms solving quadratic programs. More...

#include <dense_qp_solver.hpp>

Inheritance diagram for DenseQPsolver:

List of all members.

Public Member Functions
	DenseQPsolver ()
	Default constructor.
	DenseQPsolver (UserInteraction *_userInteraction)
	DenseQPsolver (const DenseQPsolver &rhs)
	Copy constructor (deep copy).
	~DenseQPsolver ()
	Destructor.
DenseQPsolver &	operator= (const DenseQPsolver &rhs)
	Assignment operator (deep copy).
virtual DenseCPsolver *	clone () const =0
virtual DenseQPsolver *	cloneDenseQPsolver () const =0
virtual returnValue	init (const DenseCP *cp)
	Initializes QP object.
virtual returnValue	init (uint nV, uint nC)
	Alternative way to initialize QP object.
virtual returnValue	solve (DenseCP *cp_)
	Solves the QP.
virtual returnValue	solve (double *H, double *A, double *g, double *lb, double *ub, double *lbA, double *ubA, uint maxIter)=0
	Solves QP using at most <maxIter> iterations.
virtual returnValue	solve (Matrix *H, Matrix *A, Vector *g, Vector *lb, Vector *ub, Vector *lbA, Vector *ubA, uint maxIter)=0
	Solves QP using at most <maxIter> iterations.
virtual returnValue	step (double *H, double *A, double *g, double *lb, double *ub, double *lbA, double *ubA)=0
	Performs exactly one QP iteration.
virtual returnValue	step (Matrix *H, Matrix *A, Vector *g, Vector *lb, Vector *ub, Vector *lbA, Vector *ubA)=0
	Performs exactly one QP iteration.
QPStatus	getStatus () const
	Returns QP status.
BooleanType	isSolved () const
	Returns if QP (or its relaxation) has been solved.
BooleanType	isInfeasible () const
	Returns if QP has been found to be infeasible.
BooleanType	isUnbounded () const
	Returns if QP has been found to be unbounded.
virtual returnValue	getPrimalSolution (Vector &xOpt) const =0
	Returns primal solution vector if QP has been solved.
virtual returnValue	getDualSolution (Vector &yOpt) const =0
	Returns dual solution vector if QP has been solved.
virtual double	getObjVal () const =0
	Returns optimal objective function value.
virtual uint	getNumberOfIterations () const
	Returns number of iterations performed at last QP solution.
virtual uint	getNumberOfVariables () const =0
virtual uint	getNumberOfConstraints () const =0
virtual returnValue	getVarianceCovariance (Matrix &var)=0
	Returns a variance-covariance estimate if possible or an error message otherwise.
virtual returnValue	getVarianceCovariance (Matrix &H, Matrix &var)=0
	Returns a variance-covariance estimate if possible or an error message otherwise.
returnValue	addOptionsList ()
	Adds an additional OptionsList to internal array.
returnValue	set (OptionsName name, int value)
	Sets value of an existing option item of integer type to a given value.
returnValue	set (OptionsName name, double value)
	Sets value of an existing option item of double type to a given value.
returnValue	set (uint idx, OptionsName name, int value)
	Sets value of an existing option item of integer type within the option list of given index to a given value.
returnValue	set (uint idx, OptionsName name, double value)
	Sets value of an existing option item of double type within the option list of given index to a given value.
returnValue	setOptions (const Options &arg)
	Assigns a given Options object to this object.
returnValue	setOptions (uint idx, const Options &arg)
	Assigns the option list with given index of a given Options object to option list with given index of this object.
Options	getOptions (uint idx) const
	Returns an Options object containing exactly the option list with given index.
returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const
	Gets all numerical values at all time instants of the item with given name.
returnValue	getFirst (LogName _name, Matrix &firstValue) const
	Gets numerical value at first time instant of the item with given name.
returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const
	Gets numerical value at first time instant of the item with given name (converts internally used Matrix into VariablesGrid).
returnValue	getLast (LogName _name, Matrix &lastValue) const
	Gets numerical value at last time instant of the item with given name.
returnValue	getLast (LogName _name, VariablesGrid &lastValue) const
	Gets numerical value at last time instant of the item with given name (converts internally used Matrix into VariablesGrid).
returnValue	get (OptionsName name, int &value) const
	Returns value of an existing option item of integer type.
returnValue	get (OptionsName name, double &value) const
	Returns value of an existing option item of double type.
returnValue	get (uint idx, OptionsName name, int &value) const
	Returns value of an existing option item of integer type within the option list of given index.
returnValue	get (uint idx, OptionsName name, double &value) const
	Returns value of an existing option item of double type within the option list of given index.
returnValue	addOption (OptionsName name, int value)
	Add an option item with a given integer default value to the all option lists.
returnValue	addOption (OptionsName name, double value)
	Add an option item with a given double default value to the all option lists.
returnValue	addOption (uint idx, OptionsName name, int value)
	Add an option item with a given integer default value to option list with given index.
returnValue	addOption (uint idx, OptionsName name, double value)
	Add an option item with a given double default value to option list with given index.
BooleanType	haveOptionsChanged () const
	Determines whether options of at least one option list have been modified.
BooleanType	haveOptionsChanged (uint idx) const
	Determines whether options of option list with given index have been modified.
returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)
	Sets all numerical values at all time instants of all items with given name within all records.
returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, const Vector &lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, const Matrix &lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
int	addLogRecord (LogRecord &_record)
	Adds a record to the log collection.
returnValue	printLogRecord (int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const
	Prints whole record with specified index into internally specified file; all items are printed according to the output format settings.
returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into a new figure.
returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into the corresponding existing figure, if possible.
Protected Member Functions
virtual returnValue	setupLogging ()
virtual returnValue	setupQPobject (uint nV, uint nC)=0
	Setups QP object.
virtual returnValue	makeBoundsConsistent (DenseCP *cp) const
virtual returnValue	setupOptions ()
Protected Attributes
QPStatus	qpStatus
int	numberOfSteps
UserInteraction *	userInteraction
	Pointer to top-level user interface.
BooleanType	useModuleStandalone
	Flag indicating whether algorithmic module is used stand-alone.
int	outputLoggingIdx
	Index of log record for algorithmic standard output to be optionally used within derived classes.

---

Detailed Description

The class DenseQPsolver provides an abstract base class for different algorithms for solving quadratic programming (QP) problems.

Author:

Boris Houska, Hans Joachim Ferreau

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DenseQPsolver::DenseQPsolver

(

)

References numberOfSteps, QPS_NOT_INITIALIZED, qpStatus, and setupLogging().

DenseQPsolver::DenseQPsolver

(

UserInteraction *

_userInteraction

)

References numberOfSteps, QPS_NOT_INITIALIZED, qpStatus, and setupLogging().

DenseQPsolver::DenseQPsolver

(

const DenseQPsolver &

rhs

)

References numberOfSteps, and qpStatus.

DenseQPsolver::~DenseQPsolver

(

)

---

Member Function Documentation

int AlgorithmicBase::addLogRecord

(

LogRecord &

_record

)

[inline, inherited]

Parameters:

[in]

record

Record to be added.

Returns:

>= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

References Logging::addLogRecord(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::setupLogging(), setupLogging(), DynamicDiscretization::setupLogging(), and Integrator::setupLogging().

returnValue AlgorithmicBase::addOption	(	OptionsName	name,
		int	value
	)		[inline, inherited]

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::addOption(), and AlgorithmicBase::userInteraction.

Referenced by BandedCPsolver::setupOptions(), NLPsolver::setupOptions(), DynamicDiscretization::setupOptions(), and Integrator::setupOptions().

returnValue AlgorithmicBase::addOption	(	OptionsName	name,
		double	value
	)		[inline, inherited]

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		[inline, inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		[inline, inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOptionsList

(

)

[inherited]

Returns:

SUCCESSFUL_RETURN

References Options::addOptionsList(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::addStage().

virtual DenseCPsolver* DenseQPsolver::clone

(

)

const [pure virtual]

Implements DenseCPsolver.

Implemented in QPsolver_qpOASES.

virtual DenseQPsolver* DenseQPsolver::cloneDenseQPsolver

(

)

const [pure virtual]

Implemented in QPsolver_qpOASES.

Referenced by CondensingBasedCPsolver::CondensingBasedCPsolver(), and CondensingBasedCPsolver::operator=().

returnValue AlgorithmicBase::get	(	OptionsName	name,
		int &	value
	)		const [inline, inherited]

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	OptionsName	name,
		double &	value
	)		const [inline, inherited]

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const [inline, inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const [inline, inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

References Options::get(), and AlgorithmicBase::userInteraction.

BEGIN_NAMESPACE_ACADO returnValue AlgorithmicBase::getAll	(	LogName	_name,
		MatrixVariablesGrid &	values
	)		const [inline, inherited]

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	values	All numerical values at all time instants of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getAll(), and AlgorithmicBase::userInteraction.

virtual returnValue DenseQPsolver::getDualSolution

(

Vector &

yOpt

)

const [pure virtual]

Returns:

SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

yOpt	OUTPUT: dual solution vector.

Implemented in QPsolver_qpOASES.

Referenced by solve(), and CondensingBasedCPsolver::solveQP().

returnValue AlgorithmicBase::getFirst	(	LogName	_name,
		Matrix &	firstValue
	)		const [inline, inherited]

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getFirst(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::getFirst	(	LogName	_name,
		VariablesGrid &	firstValue
	)		const [inline, inherited]

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getFirst(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::getLast	(	LogName	_name,
		Matrix &	lastValue
	)		const [inline, inherited]

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getLast(), and AlgorithmicBase::userInteraction.

Referenced by Process::simulate().

returnValue AlgorithmicBase::getLast	(	LogName	_name,
		VariablesGrid &	lastValue
	)		const [inline, inherited]

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getLast(), and AlgorithmicBase::userInteraction.

virtual uint DenseQPsolver::getNumberOfConstraints

(

)

const [pure virtual]

Implemented in QPsolver_qpOASES.

Referenced by CondensingBasedCPsolver::solveQP().

uint DenseQPsolver::getNumberOfIterations

(

)

const [virtual]

Returns:

Number of iterations performed at last QP solution

Implements DenseCPsolver.

References numberOfSteps.

virtual uint DenseQPsolver::getNumberOfVariables

(

)

const [pure virtual]

Implemented in QPsolver_qpOASES.

Referenced by CondensingBasedCPsolver::solveQP().

virtual double DenseQPsolver::getObjVal

(

)

const [pure virtual]

Returns:

finite value: Optimal objective function value (QP has been solved)
+INFTY: QP has not been solved or is infeasible
-INFTY: QP is unbounded

Implemented in QPsolver_qpOASES.

Options AlgorithmicBase::getOptions

(

uint

idx

)

const [inherited]

Parameters:

[in]

idx

Index of option list.

Returns:

Options object containing exactly the option list with given index

References Options::getOptions(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::evaluate().

virtual returnValue DenseQPsolver::getPrimalSolution

(

Vector &

xOpt

)

const [pure virtual]

Returns:

SUCCESSFUL_RETURN
RET_QP_NOT_SOLVED

Parameters:

xOpt	OUTPUT: primal solution vector.

Implemented in QPsolver_qpOASES.

Referenced by solve(), and CondensingBasedCPsolver::solveQP().

BEGIN_NAMESPACE_ACADO QPStatus DenseQPsolver::getStatus

(

)

const [inline]

Returns:

QP status

References qpStatus.

Referenced by isSolved().

virtual returnValue DenseQPsolver::getVarianceCovariance

(

Matrix &

var

)

[pure virtual]

Returns:

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseCPsolver.

Implemented in QPsolver_qpOASES.

virtual returnValue DenseQPsolver::getVarianceCovariance	(	Matrix &	H,
		Matrix &	var
	)		[pure virtual]

Returns:

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implements DenseCPsolver.

Implemented in QPsolver_qpOASES.

BooleanType AlgorithmicBase::haveOptionsChanged

(

)

const [inline, inherited]

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.

BooleanType AlgorithmicBase::haveOptionsChanged

(

uint

idx

)

const [inline, inherited]

Parameters:

[in]

idx

Index of option list.

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.

returnValue DenseQPsolver::init

(

const DenseCP *

cp

)

[virtual]

Returns:

SUCCESSFUL_RETURN

Implements DenseCPsolver.

References ACADOERROR, ASSERT, BT_FALSE, DenseCP::getNC(), DenseCP::getNV(), DenseCP::isQP(), and RET_QP_SOLVER_CAN_ONLY_SOLVE_QP.

Referenced by CondensingBasedCPsolver::solveQP().

returnValue DenseQPsolver::init	(	uint	nV,
		uint	nC
	)		[virtual]

Parameters:

nV	Number of QP variables.
nC	Number of QP constraints (without bounds).

References setupQPobject().

BooleanType DenseQPsolver::isInfeasible

(

)

const [inline]

Returns:

BT_TRUE if QP is infeasible

References BT_FALSE, BT_TRUE, QPS_INFEASIBLE, and qpStatus.

BooleanType DenseQPsolver::isSolved

(

)

const [inline]

Returns:

BT_TRUE iff QP has been solved

References BT_FALSE, BT_TRUE, getStatus(), QPS_SOLVED, and QPS_SOLVED_RELAXATION.

Referenced by QPsolver_qpOASES::getObjVal(), and QPsolver_qpOASES::getVarianceCovariance().

BooleanType DenseQPsolver::isUnbounded

(

)

const [inline]

Returns:

BT_TRUE if QP is unbounded

References BT_FALSE, BT_TRUE, QPS_UNBOUNDED, and qpStatus.

Referenced by QPsolver_qpOASES::getObjVal().

returnValue DenseQPsolver::makeBoundsConsistent

(

DenseCP *

cp

)

const [protected, virtual]

References ACADOERROR, VectorspaceElement::getDim(), DenseCP::lb, DenseCP::lbA, RET_INVALID_ARGUMENTS, RET_QP_HAS_INCONSISTENT_BOUNDS, SQRT_EPS, SUCCESSFUL_RETURN, DenseCP::ub, DenseCP::ubA, and uint.

Referenced by solve().

DenseQPsolver & DenseQPsolver::operator=

(

const DenseQPsolver &

rhs

)

References qpStatus.

returnValue AlgorithmicBase::plot

(

PlotFrequency

_frequency = PLOT_IN_ANY_CASE

)

[inline, inherited]

Parameters:

[in]

_frequency

Frequency determining at which time instants the window is to be plotted.

Returns:

SUCCESSFUL_RETURN

References Plotting::plot(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::printLogRecord	(	int	idx,
		LogPrintMode	_mode = PRINT_ITEM_BY_ITEM
	)		const [inline, inherited]

Parameters:

[in]	idx	Index of record to be printed.
[in]	_mode	Print mode: see documentation of LogPrintMode of details.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_INVALID_ARGUMENTS,
RET_UNKNOWN_BUG

References ACADOERROR, LogCollection::getNumLogRecords(), Logging::logCollection, LogCollection::print(), RET_INDEX_OUT_OF_BOUNDS, and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::printIteration(), SCPmethod::printRuntimeProfile(), and Integrator::printRunTimeProfile().

returnValue AlgorithmicBase::replot

(

PlotFrequency

_frequency = PLOT_IN_ANY_CASE

)

[inline, inherited]

Parameters:

[in]

_frequency

Frequency determining at which time instants the window is to be plotted.

Returns:

SUCCESSFUL_RETURN

References Plotting::replot(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::printIteration(), SCPmethod::solve(), and SCPmethod::step().

returnValue AlgorithmicBase::set	(	OptionsName	name,
		int	value
	)		[inherited]

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::set(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::initializeHessianProjection().

returnValue AlgorithmicBase::set	(	OptionsName	name,
		double	value
	)		[inherited]

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::set	(	uint	idx,
		OptionsName	name,
		int	value
	)		[inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::set	(	uint	idx,
		OptionsName	name,
		double	value
	)		[inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setAll	(	LogName	_name,
		const MatrixVariablesGrid &	values
	)		[inline, inherited]

Parameters:

[in]	_name	Internal name of item.
[in]	values	All numerical values at all time instants of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_COLLECTION_CORRUPTED

References Logging::logCollection, LogCollection::setAll(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		int	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

Referenced by IntegratorBDF::evaluate(), IntegratorRK::evaluate(), IntegratorLYAPUNOV::evaluate(), CondensingBasedCPsolver::finalizeSolve(), IntegratorBDF::logCurrentIntegratorStep(), ShootingMethod::logTrajectory(), SCPmethod::performCurrentStep(), SCPstepLinesearch::performLineSearch(), SCPstepFullstep::performStep(), SCPstepLinesearch::performStep(), SCPmethod::prepareNextStep(), CondensingBasedCPsolver::prepareSolve(), SCPmethod::printIteration(), QPsolver_qpOASES::solve(), CondensingBasedCPsolver::solveCPsubproblem(), and SCPmethod::stopClockAndPrintRuntimeProfile().

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		double	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const Vector &	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const Matrix &	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const VariablesGrid &	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setOptions

(

const Options &

arg

)

[inherited]

Parameters:

[in]

arg

New Options object to be assigned.

Note:

This routine is introduced only for convenience and is equivalent to the assignment operator.

Returns:

SUCCESSFUL_RETURN

References Options::setOptions(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::evaluate().

returnValue AlgorithmicBase::setOptions	(	uint	idx,
		const Options &	arg
	)		[inherited]

Parameters:

[in]	idx	Index of option list.
[in]	arg	Options object containing the option list to be assigned.

Returns:

SUCCESSFUL_RETURN

References Options::setOptions(), and AlgorithmicBase::userInteraction.

returnValue DenseQPsolver::setupLogging

(

)

[protected, virtual]

Reimplemented from DenseCPsolver.

References LogRecord::addItem(), AlgorithmicBase::addLogRecord(), LOG_AT_EACH_ITERATION, LOG_IS_QP_RELAXED, LOG_NUM_QP_ITERATIONS, PS_DEFAULT, and SUCCESSFUL_RETURN.

Referenced by DenseQPsolver().

returnValue DenseCPsolver::setupOptions

(

)

[protected, virtual, inherited]

References SUCCESSFUL_RETURN.

Referenced by DenseCPsolver::DenseCPsolver().

virtual returnValue DenseQPsolver::setupQPobject	(	uint	nV,
		uint	nC
	)		[protected, pure virtual]

Returns:

SUCCESSFUL_RETURN
RET_QP_INIT_FAILED

Parameters:

nV	Number of QP variables.
nC	Number of QP constraints (without bounds).

Implemented in QPsolver_qpOASES.

Referenced by init().

returnValue DenseQPsolver::solve

(

DenseCP *

cp_

)

[virtual]

Implements DenseCPsolver.

Reimplemented in QPsolver_qpOASES.

References DenseCP::A, ACADOERROR, ASSERT, BT_FALSE, DenseCP::g, getDualSolution(), getPrimalSolution(), DenseCP::H, DenseCP::isQP(), DenseCP::lb, DenseCP::lbA, makeBoundsConsistent(), MAX_NUM_QP_ITERATIONS, RET_QP_HAS_INCONSISTENT_BOUNDS, RET_QP_SOLUTION_REACHED_LIMIT, RET_QP_SOLVER_CAN_ONLY_SOLVE_QP, DenseCP::setQPsolution(), SUCCESSFUL_RETURN, DenseCP::ub, and DenseCP::ubA.

Referenced by CondensingBasedCPsolver::solveQP().

virtual returnValue DenseQPsolver::solve	(	double *	H,
		double *	A,
		double *	g,
		double *	lb,
		double *	ub,
		double *	lbA,
		double *	ubA,
		uint	maxIter
	)		[pure virtual]

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.
maxIter	Maximum number of iterations.

Implemented in QPsolver_qpOASES.

virtual returnValue DenseQPsolver::solve	(	Matrix *	H,
		Matrix *	A,
		Vector *	g,
		Vector *	lb,
		Vector *	ub,
		Vector *	lbA,
		Vector *	ubA,
		uint	maxIter
	)		[pure virtual]

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.
maxIter	Maximum number of iterations.

Implemented in QPsolver_qpOASES.

virtual returnValue DenseQPsolver::step	(	double *	H,
		double *	A,
		double *	g,
		double *	lb,
		double *	ub,
		double *	lbA,
		double *	ubA
	)		[pure virtual]

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.

Implemented in QPsolver_qpOASES.

virtual returnValue DenseQPsolver::step	(	Matrix *	H,
		Matrix *	A,
		Vector *	g,
		Vector *	lb,
		Vector *	ub,
		Vector *	lbA,
		Vector *	ubA
	)		[pure virtual]

Parameters:

H	Hessian matrix of neighbouring QP to be solved.
A	Constraint matrix of neighbouring QP to be solved.
g	Gradient of neighbouring QP to be solved.
lb	Lower bounds of neighbouring QP to be solved.
ub	Upper bounds of neighbouring QP to be solved.
lbA	Lower constraints' bounds of neighbouring QP to be solved.
ubA	Upper constraints' bounds of neighbouring QP to be solved.

Implemented in QPsolver_qpOASES.

---

Member Data Documentation

int DenseQPsolver::numberOfSteps [protected]

Referenced by DenseQPsolver(), getNumberOfIterations(), and QPsolver_qpOASES::solve().

int AlgorithmicBase::outputLoggingIdx [protected, inherited]

Referenced by AlgorithmicBase::AlgorithmicBase(), AlgorithmicBase::operator=(), SCPmethod::printIteration(), Integrator::printRunTimeProfile(), SCPmethod::setupLogging(), DynamicDiscretization::setupLogging(), and Integrator::setupLogging().

QPStatus DenseQPsolver::qpStatus [protected]

Referenced by DenseQPsolver(), getStatus(), isInfeasible(), isUnbounded(), operator=(), QPsolver_qpOASES::setupQPobject(), QPsolver_qpOASES::solve(), and QPsolver_qpOASES::updateQPstatus().

BooleanType AlgorithmicBase::useModuleStandalone [protected, inherited]

Referenced by AlgorithmicBase::AlgorithmicBase(), AlgorithmicBase::operator=(), and AlgorithmicBase::~AlgorithmicBase().

UserInteraction* AlgorithmicBase::userInteraction [protected, inherited]

Referenced by AlgorithmicBase::addLogRecord(), AlgorithmicBase::addOption(), AlgorithmicBase::addOptionsList(), AlgorithmicBase::AlgorithmicBase(), AlgorithmicBase::get(), AlgorithmicBase::getAll(), ExplicitRungeKuttaExport::getCode(), AlgorithmicBase::getFirst(), ExplicitRungeKuttaExport::getFunctionDeclarations(), AlgorithmicBase::getLast(), AlgorithmicBase::getOptions(), AlgorithmicBase::haveOptionsChanged(), AlgorithmicBase::operator=(), AlgorithmicBase::plot(), AlgorithmicBase::printLogRecord(), AlgorithmicBase::replot(), AlgorithmicBase::set(), AlgorithmicBase::setAll(), ExplicitRungeKuttaExport::setDifferentialEquation(), AlgorithmicBase::setLast(), AlgorithmicBase::setOptions(), ExportGaussElim::setup(), ExportHouseholderQR::setup(), ImplicitRungeKuttaExport::setup(), SCPmethod::setup(), ExportGaussNewtonForces::setupQPInterface(), ExportGaussNewtonCN2::setupQPInterface(), ExportGaussNewtonCondensed::setupQPInterface(), CondensingBasedCPsolver::solveQP(), and AlgorithmicBase::~AlgorithmicBase().

---

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

• dense_qp_solver.hpp
• dense_qp_solver.ipp
• dense_qp_solver.cpp