#include <stdio.h>#include <string.h>#include <qpOASES/Constants.hpp>#include <qpOASES/MessageHandling.ipp>
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Detailed Description
Define Documentation
| #define __FILE__ 0 |
Ensures that __FILE__ macro is defined.
Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblem::performStep(), QProblemB::performStep(), readFromFile(), QProblem::solveQP(), QProblemB::solveQP(), MessageHandling::throwError(), MessageHandling::throwInfo(), MessageHandling::throwMessage(), MessageHandling::throwWarning(), and writeIntoFile().
| #define __FUNC__ ("(no function name provided)") |
Define __FUNC__ macro providing current function for debugging.
Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblem::performStep(), QProblemB::performStep(), readFromFile(), QProblem::solveQP(), QProblemB::solveQP(), MessageHandling::throwError(), MessageHandling::throwInfo(), MessageHandling::throwMessage(), MessageHandling::throwWarning(), and writeIntoFile().
| #define __LINE__ 0 |
Ensures that __LINE__ macro is defined.
Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblem::performStep(), QProblemB::performStep(), readFromFile(), QProblem::solveQP(), QProblemB::solveQP(), MessageHandling::throwError(), MessageHandling::throwInfo(), MessageHandling::throwMessage(), MessageHandling::throwWarning(), and writeIntoFile().
| #define THROWERROR | ( | retval | ) | ( getGlobalMessageHandler( )->throwError((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) |
Short version of throwError with default values, only returnValue is needed
Referenced by QProblem::addBound(), QProblemB::addBound(), QProblem::addBound_ensureLI(), QProblem::addConstraint(), QProblem::addConstraint_ensureLI(), SubjectTo::addIndex(), Indexlist::addNumber(), SparseMatrix::addToDiag(), SparseMatrixRow::addToDiag(), QProblemB::backsolveR(), QProblem::backsolveT(), SymSparseMat::bilinear(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), QProblemB::determineHessianType(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SparseMatrix::diag(), SparseMatrixRow::diag(), Constraints::flipFixed(), Bounds::flipFixed(), QProblemB::getBounds(), QProblem::getConstraints(), SolutionAnalysis::getKktViolation(), getNorm(), Indexlist::getNumberArray(), SparseMatrix::getRowNorm(), SolutionAnalysis::getVarianceCovariance(), QProblem::getWorkingSet(), QProblemB::getWorkingSetBounds(), QProblemB::getWorkingSetConstraints(), QProblem::getWorkingSetConstraints(), SQProblem::hotstart(), QProblemB::hotstart(), QProblem::hotstart(), Constraints::init(), Bounds::init(), SubjectTo::init(), Indexlist::init(), QProblemB::init(), QProblem::init(), QProblemB::loadQPvectorsFromFile(), QProblem::loadQPvectorsFromFile(), Constraints::moveActiveToInactive(), Bounds::moveFixedToFree(), Bounds::moveFreeToFixed(), Constraints::moveInactiveToActive(), myPrintf(), normaliseConstraints(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), QProblem::performStep(), QProblem::printIteration(), QProblemB::printIteration(), QProblem::QProblem(), QProblemB::QProblemB(), readOQPdata(), readOQPdimensions(), QProblemB::regulariseHessian(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), SubjectTo::removeIndex(), QProblem::reset(), QProblemB::reset(), Constraints::rotate(), Bounds::rotate(), runOQPbenchmark(), QProblem::setA(), QProblemB::setG(), QProblemB::setInfeasibilityFlag(), QProblemB::setLB(), QProblem::setLBA(), SubjectTo::setStatus(), SubjectTo::setType(), QProblemB::setUB(), QProblem::setUBA(), Constraints::setupAll(), Bounds::setupAll(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), Bounds::setupBound(), Constraints::setupConstraint(), SQProblem::setupNewAuxiliaryQP(), QProblemB::setupQPdata(), QProblem::setupQPdata(), QProblemB::setupQPdataFromFile(), QProblem::setupQPdataFromFile(), QProblem::setupSubjectToType(), Constraints::shift(), Bounds::shift(), QProblem::solveCurrentEQP(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), solveOQPbenchmark(), QProblem::solveQP(), QProblemB::solveQP(), Bounds::swapFree(), SubjectTo::swapIndex(), and Indexlist::swapNumbers().
| #define THROWINFO | ( | retval | ) | ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) |
Short version of throwInfo with default values, only returnValue is needed
Referenced by QProblem::addBound_checkLI(), QProblem::addConstraint_checkLI(), QProblemB::determineHessianType(), getSimpleStatus(), QProblemB::regulariseHessian(), QProblemB::setPrintLevel(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), QProblem::solveQP(), and QProblemB::solveQP().
| #define THROWWARNING | ( | retval | ) | ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) |
Short version of throwWarning with default values, only returnValue is needed
Referenced by Options::ensureConsistency(), QProblemB::init(), QProblem::init(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), QProblem::solveRegularisedQP(), QProblemB::solveRegularisedQP(), and SubjectTo::swapIndex().
Enumeration Type Documentation
| enum returnValue |
The enumeration returnValueType defines all symbols for global return values. Important: All return values are assumed to be nonnegative!
- Enumerator:
TERMINAL_LIST_ELEMENT Terminal list element, internal usage only!
SUCCESSFUL_RETURN Successful return.
RET_DIV_BY_ZERO Division by zero.
RET_INDEX_OUT_OF_BOUNDS Index out of bounds.
RET_INVALID_ARGUMENTS At least one of the arguments is invalid.
RET_ERROR_UNDEFINED Error number undefined.
RET_WARNING_UNDEFINED Warning number undefined.
RET_INFO_UNDEFINED Info number undefined.
RET_EWI_UNDEFINED Error/warning/info number undefined.
RET_AVAILABLE_WITH_LINUX_ONLY This function is available under Linux only.
RET_UNKNOWN_BUG The error occurred is not yet known.
RET_PRINTLEVEL_CHANGED Print level changed. (10)
RET_NOT_YET_IMPLEMENTED Requested function is not yet implemented in this version of qpOASES.
RET_INDEXLIST_MUST_BE_REORDERD Index list has to be reordered.
RET_INDEXLIST_EXCEEDS_MAX_LENGTH Index list exceeds its maximal physical length.
RET_INDEXLIST_CORRUPTED Index list corrupted.
RET_INDEXLIST_OUTOFBOUNDS Physical index is out of bounds.
RET_INDEXLIST_ADD_FAILED Adding indices from another index set failed.
RET_INDEXLIST_INTERSECT_FAILED Intersection with another index set failed.
RET_INDEX_ALREADY_OF_DESIRED_STATUS Index is already of desired status. (18)
RET_ADDINDEX_FAILED Adding index to index set failed.
RET_REMOVEINDEX_FAILED Removing index from index set failed. (20)
RET_SWAPINDEX_FAILED Cannot swap between different indexsets.
RET_NOTHING_TO_DO Nothing to do.
RET_SETUP_BOUND_FAILED Setting up bound index failed.
RET_SETUP_CONSTRAINT_FAILED Setting up constraint index failed.
RET_MOVING_BOUND_FAILED Moving bound between index sets failed.
RET_MOVING_CONSTRAINT_FAILED Moving constraint between index sets failed.
RET_SHIFTING_FAILED Shifting of bounds/constraints failed.
RET_ROTATING_FAILED Rotating of bounds/constraints failed.
RET_QPOBJECT_NOT_SETUP The QP object has not been setup correctly, use another constructor.
RET_QP_ALREADY_INITIALISED QProblem has already been initialised. (30)
RET_NO_INIT_WITH_STANDARD_SOLVER Initialisation via extern QP solver is not yet implemented.
RET_RESET_FAILED Reset failed.
RET_INIT_FAILED Initialisation failed.
RET_INIT_FAILED_TQ Initialisation failed due to TQ factorisation.
RET_INIT_FAILED_CHOLESKY Initialisation failed due to Cholesky decomposition.
RET_INIT_FAILED_HOTSTART Initialisation failed! QP could not be solved!
RET_INIT_FAILED_INFEASIBILITY Initial QP could not be solved due to infeasibility!
RET_INIT_FAILED_UNBOUNDEDNESS Initial QP could not be solved due to unboundedness!
RET_INIT_FAILED_REGULARISATION Initialisation failed as Hessian matrix could not be regularised.
RET_INIT_SUCCESSFUL Initialisation done. (40)
RET_OBTAINING_WORKINGSET_FAILED Failed to obtain working set for auxiliary QP.
RET_SETUP_WORKINGSET_FAILED Failed to setup working set for auxiliary QP.
RET_SETUP_AUXILIARYQP_FAILED Failed to setup auxiliary QP for initialised homotopy.
RET_NO_CHOLESKY_WITH_INITIAL_GUESS Externally computed Cholesky factor cannot be combined with an initial guess.
RET_NO_EXTERN_SOLVER No extern QP solver available.
RET_QP_UNBOUNDED QP is unbounded.
RET_QP_INFEASIBLE QP is infeasible.
RET_QP_NOT_SOLVED Problems occurred while solving QP with standard solver.
RET_QP_SOLVED QP successfully solved.
RET_UNABLE_TO_SOLVE_QP Problems occurred while solving QP. (50)
RET_INITIALISATION_STARTED Starting problem initialisation...
RET_HOTSTART_FAILED Unable to perform homotopy due to internal error.
RET_HOTSTART_FAILED_TO_INIT Unable to initialise problem.
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED Unable to perform homotopy as previous QP is not solved.
RET_ITERATION_STARTED Iteration...
RET_SHIFT_DETERMINATION_FAILED Determination of shift of the QP data failed.
RET_STEPDIRECTION_DETERMINATION_FAILED Determination of step direction failed.
RET_STEPLENGTH_DETERMINATION_FAILED Determination of step direction failed.
RET_OPTIMAL_SOLUTION_FOUND Optimal solution of neighbouring QP found.
RET_HOMOTOPY_STEP_FAILED Unable to perform homotopy step. (60)
RET_HOTSTART_STOPPED_INFEASIBILITY Premature homotopy termination because QP is infeasible.
RET_HOTSTART_STOPPED_UNBOUNDEDNESS Premature homotopy termination because QP is unbounded.
RET_WORKINGSET_UPDATE_FAILED Unable to update working sets according to initial guesses.
RET_MAX_NWSR_REACHED Maximum number of working set recalculations performed.
RET_CONSTRAINTS_NOT_SPECIFIED Problem does comprise constraints! You also have to specify new constraints' bounds.
RET_INVALID_FACTORISATION_FLAG Invalid factorisation flag.
RET_UNABLE_TO_SAVE_QPDATA Unable to save QP data.
RET_STEPDIRECTION_FAILED_TQ Abnormal termination due to TQ factorisation.
RET_STEPDIRECTION_FAILED_CHOLESKY Abnormal termination due to Cholesky factorisation.
RET_CYCLING_DETECTED Cycling detected. (70)
RET_CYCLING_NOT_RESOLVED Cycling cannot be resolved, QP probably infeasible.
RET_CYCLING_RESOLVED Cycling probably resolved.
RET_STEPSIZE For displaying performed stepsize.
RET_STEPSIZE_NONPOSITIVE For displaying non-positive stepsize.
RET_SETUPSUBJECTTOTYPE_FAILED Setup of SubjectToTypes failed.
RET_ADDCONSTRAINT_FAILED Addition of constraint to working set failed.
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY Addition of constraint to working set failed (due to QP infeasibility).
RET_ADDBOUND_FAILED Addition of bound to working set failed.
RET_ADDBOUND_FAILED_INFEASIBILITY Addition of bound to working set failed (due to QP infeasibility).
RET_REMOVECONSTRAINT_FAILED Removal of constraint from working set failed. (80)
RET_REMOVEBOUND_FAILED Removal of bound from working set failed.
RET_REMOVE_FROM_ACTIVESET Removing from active set...
RET_ADD_TO_ACTIVESET Adding to active set...
RET_REMOVE_FROM_ACTIVESET_FAILED Removing from active set failed.
RET_ADD_TO_ACTIVESET_FAILED Adding to active set failed.
RET_CONSTRAINT_ALREADY_ACTIVE Constraint is already active.
RET_ALL_CONSTRAINTS_ACTIVE All constraints are active, no further constraint can be added.
RET_LINEARLY_DEPENDENT New bound/constraint is linearly dependent.
RET_LINEARLY_INDEPENDENT New bound/constraint is linearly independent.
RET_LI_RESOLVED Linear independence of active constraint matrix successfully resolved. (90)
RET_ENSURELI_FAILED Failed to ensure linear independence of active constraint matrix.
RET_ENSURELI_FAILED_TQ Abnormal termination due to TQ factorisation.
RET_ENSURELI_FAILED_NOINDEX QP is infeasible.
RET_ENSURELI_FAILED_CYCLING QP is infeasible.
RET_BOUND_ALREADY_ACTIVE Bound is already active.
RET_ALL_BOUNDS_ACTIVE All bounds are active, no further bound can be added.
RET_CONSTRAINT_NOT_ACTIVE Constraint is not active.
RET_BOUND_NOT_ACTIVE Bound is not active.
RET_HESSIAN_NOT_SPD Projected Hessian matrix not positive definite.
RET_HESSIAN_INDEFINITE Hessian matrix is indefinite. (100)
RET_MATRIX_SHIFT_FAILED Unable to update matrices or to transform vectors.
RET_MATRIX_FACTORISATION_FAILED Unable to calculate new matrix factorisations.
RET_PRINT_ITERATION_FAILED Unable to print information on current iteration.
RET_NO_GLOBAL_MESSAGE_OUTPUTFILE No global message output file initialised.
RET_DISABLECONSTRAINTS_FAILED Unable to disbable constraints.
RET_ENABLECONSTRAINTS_FAILED Unable to enbable constraints.
RET_ALREADY_ENABLED Bound or constraint is already enabled.
RET_ALREADY_DISABLED Bound or constraint is already disabled.
RET_NO_HESSIAN_SPECIFIED No Hessian matrix has been specified.
RET_USING_REGULARISATION Using regularisation as Hessian matrix is not positive definite. (110)
RET_EPS_MUST_BE_POSITVE Eps for regularisation must be sufficiently positive.
RET_REGSTEPS_MUST_BE_POSITVE Maximum number of regularisation steps must be non-negative.
RET_HESSIAN_ALREADY_REGULARISED Hessian has been already regularised.
RET_CANNOT_REGULARISE_IDENTITY Identity Hessian matrix cannot be regularised.
RET_CANNOT_REGULARISE_SPARSE Sparse matrix cannot be regularised as diagonal entry is missing.
RET_NO_REGSTEP_NWSR No additional regularisation step could be performed due to limits.
RET_FEWER_REGSTEPS_NWSR Fewer additional regularisation steps have been performed due to limits.
RET_CHOLESKY_OF_ZERO_HESSIAN Cholesky decomposition of (unregularised) zero Hessian matrix.
RET_ZERO_HESSIAN_ASSUMED Zero Hessian matrix assumed as null pointer passed without specifying hessianType.
RET_CONSTRAINTS_ARE_NOT_SCALED (no longer in use) (120)
RET_INITIAL_BOUNDS_STATUS_NYI (no longer in use)
RET_ERROR_IN_CONSTRAINTPRODUCT Error in user-defined constraint product function.
RET_FIX_BOUNDS_FOR_LP All initial bounds must be fixed when solving an (unregularised) LP.
RET_USE_REGULARISATION_FOR_LP Set options.enableRegularisation=BT_TRUE for solving LPs.
RET_UPDATEMATRICES_FAILED Unable to update QP matrices.
RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED Unable to update matrices as previous QP is not solved.
RET_UNABLE_TO_OPEN_FILE Unable to open file.
RET_UNABLE_TO_WRITE_FILE Unable to write into file.
RET_UNABLE_TO_READ_FILE Unable to read from file.
RET_FILEDATA_INCONSISTENT File contains inconsistent data. (130)
RET_OPTIONS_ADJUSTED Options needed to be adjusted for consistency reasons.
RET_UNABLE_TO_ANALYSE_QPROBLEM Unable to analyse (S)QProblem(B) object.
RET_NWSR_SET_TO_ONE Maximum number of working set changes was set to 1.
RET_UNABLE_TO_READ_BENCHMARK Unable to read benchmark data.
RET_BENCHMARK_ABORTED Benchmark aborted.
RET_INITIAL_QP_SOLVED Initial QP solved.
RET_QP_SOLUTION_STARTED Solving QP...
RET_BENCHMARK_SUCCESSFUL Benchmark terminated successfully.
RET_NO_DIAGONAL_AVAILABLE Sparse matrix does not have entries on full diagonal.
RET_DIAGONAL_NOT_INITIALISED Diagonal data of sparse matrix has not been initialised. (140)
RET_ENSURELI_DROPPED Linear independence resolved by dropping blocking constraint.
RET_SIMPLE_STATUS_P1 QP problem could not be solved within given number of iterations.
RET_SIMPLE_STATUS_P0 QP problem solved.
RET_SIMPLE_STATUS_M1 QP problem could not be solved due to an internal error.
RET_SIMPLE_STATUS_M2 QP problem is infeasible (and thus could not be solved).
RET_SIMPLE_STATUS_M3 QP problem is unbounded (and thus could not be solved). (146)
Function Documentation
Returns a pointer to global message handler.
- Returns:
- Pointer to global message handler.
Global message handler for all qpOASES modules.
References stdFile, and VS_VISIBLE.
Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), getSimpleStatus(), myPrintf(), QProblem::performStep(), QProblemB::performStep(), QProblemB::QProblemB(), readFromFile(), QProblemB::setPrintLevel(), QProblem::solveQP(), QProblemB::solveQP(), writeIntoFile(), and QProblemB::~QProblemB().
Variable Documentation
Default file to display messages.
Referenced by getGlobalMessageHandler(), QProblem::getRelativeHomotopyLength(), main(), MessageHandling::MessageHandling(), and MessageHandling::reset().
