#include <qpOASES/MessageHandling.hpp>
#include <qpOASES/Utils.ipp>

Include dependency graph for Utils.hpp:

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Functions
BEGIN_NAMESPACE_QPOASES returnValue	print (const real_t const v, int n, const char name=0)
returnValue	print (const real_t const v, int n, const int const V_idx, const char *name=0)
returnValue	print (const real_t const M, int nrow, int ncol, const char name=0)
returnValue	print (const real_t const M, int nrow, int ncol, const int const ROW_idx, const int const COL_idx, const char name=0)
returnValue	print (const int const index, int n, const char name=0)
returnValue	myPrintf (const char *s)
returnValue	printCopyrightNotice ()
returnValue	readFromFile (real_t data, int nrow, int ncol, const char datafilename)
returnValue	readFromFile (real_t data, int n, const char datafilename)
returnValue	readFromFile (int data, int n, const char datafilename)
returnValue	writeIntoFile (const real_t const data, int nrow, int ncol, const char datafilename, BooleanType append=BT_FALSE)
returnValue	writeIntoFile (const real_t const data, int n, const char datafilename, BooleanType append=BT_FALSE)
returnValue	writeIntoFile (const int const integer, int n, const char datafilename, BooleanType append=BT_FALSE)
returnValue	writeIntoMatFile (FILE const matFile, const real_t const data, int nRows, int nCols, const char *name)
returnValue	writeIntoMatFile (FILE const matFile, const int const data, int nRows, int nCols, const char *name)
real_t	getCPUtime ()
real_t	getNorm (const real_t *const v, int n, int type=2)
BooleanType	isEqual (real_t x, real_t y, real_t TOL=ZERO)
BooleanType	isZero (real_t x, real_t TOL=ZERO)
real_t	getSign (real_t arg)
int	getMax (int x, int y)
int	getMin (int x, int y)
real_t	getMax (real_t x, real_t y)
real_t	getMin (real_t x, real_t y)
real_t	getAbs (real_t x)
real_t	getSqrt (real_t x)
returnValue	getKktViolation (int nV, int 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=0, const real_t *const workingSetC=0, BooleanType hasIdentityHessian=BT_FALSE)
returnValue	getKktViolation (int nV, const real_t const H, const real_t const g, const real_t const lb, const real_t const ub, const real_t const x, const real_t const y, real_t &stat, real_t &feas, real_t &cmpl, const real_t *const workingSetB=0, BooleanType hasIdentityHessian=BT_FALSE)
returnValue	convertBooleanTypeToString (BooleanType value, char *const string)
returnValue	convertSubjectToStatusToString (SubjectToStatus value, char *const string)
returnValue	convertPrintLevelToString (PrintLevel value, char *const string)
int	getSimpleStatus (returnValue returnvalue, BooleanType doPrintStatus=BT_FALSE)
returnValue	normaliseConstraints (int nV, int nC, real_t A, real_t lbA, real_t *ubA, int type=1)

Detailed Description

Author:: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:: 3.1

Date:: 2007-2015

Declaration of some utility functions for working with qpOASES.

Function Documentation

returnValue convertBooleanTypeToString	(	BooleanType	value,
		char *const	string
	)

Writes a value of BooleanType into a string.

Returns:: SUCCESSFUL_RETURN

Parameters:

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

References BT_FALSE, and SUCCESSFUL_RETURN.

Referenced by Options::print().

returnValue convertPrintLevelToString	(	PrintLevel	value,
		char *const	string
	)

Writes a value of PrintLevel into a string.

Returns:: SUCCESSFUL_RETURN

Parameters:

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

References PL_DEBUG_ITER, PL_HIGH, PL_LOW, PL_MEDIUM, PL_NONE, PL_TABULAR, and SUCCESSFUL_RETURN.

Referenced by Options::print().

returnValue convertSubjectToStatusToString	(	SubjectToStatus	value,
		char *const	string
	)

Writes a value of SubjectToStatus into a string.

Returns:: SUCCESSFUL_RETURN

Parameters:

value	Value to be written.
string	Input: String of sufficient size, Output: String containing value.

References ST_INACTIVE, ST_INFEASIBLE_LOWER, ST_INFEASIBLE_UPPER, ST_LOWER, ST_UNDEFINED, ST_UPPER, and SUCCESSFUL_RETURN.

Referenced by Options::print().

real_t getAbs ( real_t x ) [inline]

Returns the absolute value of a real number.

Returns:: Absolute value of a real number

Parameters:

x	Real number.

Referenced by QProblem::addBound_checkLI(), QProblem::addConstraint_checkLI(), QProblemB::backsolveR(), QProblem::backsolveT(), QProblemB::computeCholesky(), QProblemB::computeGivens(), QProblem::computeProjectedCholesky(), QProblemB::determineDataShift(), QProblem::determineDataShift(), QProblemB::determineHessianType(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), getKktViolation(), getNorm(), QProblemB::getRelativeHomotopyLength(), QProblem::getRelativeHomotopyLength(), SparseMatrix::getRowNorm(), QProblemB::hotstart(), QProblem::hotstart(), DenseMatrix::isDiag(), isEqual(), isZero(), main(), QProblem::performRamping(), QProblem::printIteration(), and QProblemB::printIteration().

real_t getCPUtime ( )

Returns the current system time.

Returns:: current system time

References real_t.

Referenced by SQProblem::hotstart(), QProblemB::hotstart(), QProblem::hotstart(), QProblemB::isCPUtimeLimitExceeded(), main(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), QProblem::solveQP(), and QProblemB::solveQP().

returnValue getKktViolation	(	int	nV,
		int	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 = `0`,
		const real_t *const	workingSetC = `0`,
		BooleanType	hasIdentityHessian = `BT_FALSE`
	)

Computes the maximum violation of the KKT optimality conditions of given iterate for given QP data.

Parameters:

nV	Number of variables.
nC	Number of constraints.
H	Hessian matrix (may be NULL if Hessian is zero or identity matrix).
g	Gradient vector.
A	Constraint matrix.
lb	Lower bound vector (on variables).
ub	Upper bound vector (on variables).
lbA	Lower constraints' bound vector.
ubA	Upper constraints' bound vector.
x	Primal trial vector.
y	Dual trial vector.
stat	Output: maximum value of stationarity condition residual.
feas	Output: maximum value of primal feasibility violation.
cmpl	Output: maximum value of complementarity residual.
workingSetB	Working set of bounds (used to determine active bounds).
workingSetC	Working set of constraints (used to determine active constraints).
hasIdentityHessian	Indicating whether Hessian matrix is identity matrix or not if NULL pointer is passed.

References BT_TRUE, EPS, getAbs(), isEqual(), real_t, and SUCCESSFUL_RETURN.

Referenced by getKktViolation(), and solveOQPbenchmark().

returnValue getKktViolation	(	int	nV,
		const real_t *const	H,
		const real_t *const	g,
		const real_t *const	lb,
		const real_t *const	ub,
		const real_t *const	x,
		const real_t *const	y,
		real_t &	stat,
		real_t &	feas,
		real_t &	cmpl,
		const real_t *const	workingSetB = `0`,
		BooleanType	hasIdentityHessian = `BT_FALSE`
	)

Computes the maximum violation of the KKT optimality conditions of given iterate for given QP data.

Parameters:

nV	Number of variables.
H	Hessian matrix (may be NULL if Hessian is zero or identity matrix).
g	Gradient vector.
lb	Lower bound vector (on variables).
ub	Upper bound vector (on variables).
x	Primal trial vector.
y	Dual trial vector.
stat	Output: maximum value of stationarity condition residual.
feas	Output: maximum value of primal feasibility violation.
cmpl	Output: maximum value of complementarity residual.
workingSetB	Working set of bounds (used to determine active bounds).
hasIdentityHessian	Indicating whether Hessian matrix is identity matrix or not if NULL pointer is passed

References getKktViolation().

int getMax	(	int	x,
		int	y
	)		`[inline]`

Returns maximum of two integers.

Returns:: Maximum of two integers

Parameters:

x	First integer.
y	Second integer.

Referenced by QProblem::ensureNonzeroCurvature(), SolutionAnalysis::getKktViolation(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblem::performRamping(), QProblem::performStep(), QProblemB::performStep(), DenseMatrix::times(), DenseMatrix::transTimes(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

real_t getMax	(	real_t	x,
		real_t	y
	)		`[inline]`

Returns maximum of two reals.

Returns:: Maximum of two reals

Parameters:

x	First real number.
y	Second real number.

int getMin	(	int	x,
		int	y
	)		`[inline]`

Returns minimum of two integers.

Returns:: Minimum of two integers

Parameters:

x	First integer.
y	Second integer.

Referenced by QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblem::QProblem(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

real_t getMin	(	real_t	x,
		real_t	y
	)		`[inline]`

Returns minimum of two reals.

Returns:: Minimum of two reals

Parameters:

x	First real number.
y	Second real number.

real_t getNorm	(	const real_t *const	v,
		int	n,
		int	type = `2`
	)

Returns the N-norm of a vector.

Returns:: >= 0.0: successful

Parameters:

v	Vector.
n	Vector's dimension.
type	Norm type, 1: one-norm, 2: Euclidean norm.

References getAbs(), getSqrt(), INFTY, real_t, RET_INVALID_ARGUMENTS, and THROWERROR.

Referenced by normaliseConstraints(), and QProblemB::regulariseHessian().

real_t getSign ( real_t arg ) [inline]

Returns sign of a real-valued argument.

Returns:: 1.0: argument is non-negative
-1.0: argument is negative

Parameters:

arg	real-valued argument whose sign is to be determined.

int getSimpleStatus	(	returnValue	returnvalue,
		BooleanType	doPrintStatus = `BT_FALSE`
	)

Converts a returnValue from an (S)QProblem(B) object into a more simple status flag.

Returns:: 0: QP problem solved 1: QP could not be solved within given number of iterations -1: QP could not be solved due to an internal error -2: QP is infeasible (and thus could not be solved) -3: QP is unbounded (and thus could not be solved)

Parameters:

returnvalue	ReturnValue to be analysed.
doPrintStatus	Flag indicating whether simple status shall be printed to screen.

References BT_TRUE, getGlobalMessageHandler(), MessageHandling::getInfoVisibilityStatus(), RET_HOTSTART_STOPPED_INFEASIBILITY, RET_HOTSTART_STOPPED_UNBOUNDEDNESS, RET_INIT_FAILED_INFEASIBILITY, RET_INIT_FAILED_UNBOUNDEDNESS, RET_MAX_NWSR_REACHED, RET_SIMPLE_STATUS_P0, MessageHandling::setErrorCount(), MessageHandling::setInfoVisibilityStatus(), SUCCESSFUL_RETURN, THROWINFO, and VS_VISIBLE.

real_t getSqrt ( real_t x ) [inline]

Returns the square-root of a real number.

Returns:: Square-root of a real number

Parameters:

x	Non-negative real number.

Referenced by QProblemB::computeCholesky(), QProblemB::computeGivens(), QProblem::computeProjectedCholesky(), dpotrf_(), getNorm(), SparseMatrix::getRowNorm(), normaliseConstraints(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), and spotrf_().

BooleanType isEqual	(	real_t	x,
		real_t	y,
		real_t	TOL = `ZERO`
	)		`[inline]`

Tests whether two real_t-valued arguments are (numerically) equal.

Returns:: BT_TRUE: arguments differ not more than TOL
BT_FALSE: arguments differ more than TOL

Parameters:

x	First real number.
y	Second real number.
TOL	Tolerance for comparison.

References BT_FALSE, BT_TRUE, and getAbs().

Referenced by dgemm_(), DenseMatrix::getCol(), SparseMatrix::getCol(), SparseMatrixRow::getCol(), getKktViolation(), DenseMatrix::getRow(), SparseMatrix::getRow(), SparseMatrixRow::getRow(), sgemm_(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

BooleanType isZero	(	real_t	x,
		real_t	TOL = `ZERO`
	)		`[inline]`

Tests whether a real-valued argument is (numerically) zero.

Returns:: BT_TRUE: argument differs from 0.0 not more than TOL
BT_FALSE: argument differs from 0.0 more than TOL

Parameters:

x	Real number.
TOL	Tolerance for comparison.

References BT_FALSE, BT_TRUE, and getAbs().

Referenced by SparseMatrix::addToDiag(), SparseMatrixRow::addToDiag(), QProblemB::computeGivens(), QProblemB::determineHessianType(), dgemm_(), QProblem::setA(), sgemm_(), SparseMatrix::SparseMatrix(), SparseMatrixRow::SparseMatrixRow(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

returnValue myPrintf ( const char * s )

Prints a string to desired output target (useful also for MATLAB output!).

Returns:: SUCCESSFUL_RETURN

Parameters:

s	String to be written.

References getGlobalMessageHandler(), MessageHandling::getOutputFile(), RET_INVALID_ARGUMENTS, RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by MessageHandling::listAllMessages(), main(), print(), Options::print(), Constraints::print(), Bounds::print(), printCopyrightNotice(), QProblem::printIteration(), QProblemB::printIteration(), QProblem::printProperties(), QProblemB::printProperties(), and MessageHandling::throwMessage().

returnValue normaliseConstraints	(	int	nV,
		int	nC,
		real_t *	A,
		real_t *	lbA,
		real_t *	ubA,
		int	type = `1`
	)

Normalises QP constraints.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Parameters:

nV	Number of variables.
nC	Number of constraints.
A	Input: Constraint matrix, Output: Normalised constraint matrix.
lbA	Input: Constraints' lower bound vector, Output: Normalised constraints' lower bound vector.
ubA	Input: Constraints' upper bound vector, Output: Normalised constraints' upper bound vector.
type	Norm type, 1: one-norm, 2: Euclidean norm.

References EPS, getNorm(), getSqrt(), INFTY, real_t, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and THROWERROR.

BEGIN_NAMESPACE_QPOASES returnValue print	(	const real_t *const	v,
		int	n,
		const char *	name = `0`
	)

Prints a (possibly named) vector.

Returns:: SUCCESSFUL_RETURN

Parameters:

v	Vector to be printed.
n	Length of vector.
name	Name of vector.

References MAX_STRING_LENGTH, myPrintf(), and SUCCESSFUL_RETURN.

Referenced by print().

returnValue print	(	const real_t *const	v,
		int	n,
		const int *const	V_idx,
		const char *	name = `0`
	)

Prints a (possibly named) permuted vector.

Returns:: SUCCESSFUL_RETURN

Parameters:

v	Vector to be printed.
n	Length of vector.
V_idx	Pemutation vector.
name	Name of vector.

References MAX_STRING_LENGTH, myPrintf(), and SUCCESSFUL_RETURN.

returnValue print	(	const real_t *const	M,
		int	nrow,
		int	ncol,
		const char *	name = `0`
	)

Prints a (possibly named) matrix.

Returns:: SUCCESSFUL_RETURN

Parameters:

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.
name	Name of matrix.

References MAX_STRING_LENGTH, myPrintf(), print(), and SUCCESSFUL_RETURN.

returnValue print	(	const real_t *const	M,
		int	nrow,
		int	ncol,
		const int *const	ROW_idx,
		const int *const	COL_idx,
		const char *	name = `0`
	)

Prints a (possibly named) permuted matrix.

Returns:: SUCCESSFUL_RETURN

Parameters:

M	Matrix to be printed.
nrow	Row number of matrix.
ncol	Column number of matrix.
ROW_idx	Row pemutation vector.
COL_idx	Column pemutation vector.
name	Name of matrix.

References MAX_STRING_LENGTH, myPrintf(), print(), and SUCCESSFUL_RETURN.

returnValue print	(	const int *const	index,
		int	n,
		const char *	name = `0`
	)

Prints a (possibly named) index array.

Returns:: SUCCESSFUL_RETURN

Parameters:

index	Index array to be printed.
n	Length of index array.
name	Name of index array.

References MAX_STRING_LENGTH, myPrintf(), and SUCCESSFUL_RETURN.

returnValue printCopyrightNotice ( )

Prints qpOASES copyright notice.

Returns:: SUCCESSFUL_RETURN

References myPrintf(), and SUCCESSFUL_RETURN.

Referenced by QProblemB::QProblemB().

returnValue readFromFile	(	real_t *	data,
		int	nrow,
		int	ncol,
		const char *	datafilename
	)

Reads a real_t matrix from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters:

data	Matrix to be read from file.
nrow	Row number of matrix.
ncol	Column number of matrix.
datafilename	Data file name.

References __FILE__, __FUNC__, __LINE__, getGlobalMessageHandler(), MAX_STRING_LENGTH, real_t, RET_NOT_YET_IMPLEMENTED, RET_UNABLE_TO_OPEN_FILE, RET_UNABLE_TO_READ_FILE, SUCCESSFUL_RETURN, MessageHandling::throwError(), and VS_VISIBLE.

Referenced by SQProblem::hotstart(), QProblemB::init(), QProblem::init(), QProblemB::loadQPvectorsFromFile(), QProblem::loadQPvectorsFromFile(), readFromFile(), readOQPdata(), readOQPdimensions(), QProblemB::setupQPdataFromFile(), and QProblem::setupQPdataFromFile().

returnValue readFromFile	(	real_t *	data,
		int	n,
		const char *	datafilename
	)

Reads a real_t vector from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters:

data	Vector to be read from file.
n	Length of vector.
datafilename	Data file name.

References readFromFile().

returnValue readFromFile	(	int *	data,
		int	n,
		const char *	datafilename
	)

Reads an integer (column) vector from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE
RET_UNABLE_TO_READ_FILE

Parameters:

data	Vector to be read from file.
n	Length of vector.
datafilename	Data file name.

References __FILE__, __FUNC__, __LINE__, getGlobalMessageHandler(), MAX_STRING_LENGTH, RET_NOT_YET_IMPLEMENTED, RET_UNABLE_TO_OPEN_FILE, RET_UNABLE_TO_READ_FILE, SUCCESSFUL_RETURN, MessageHandling::throwError(), and VS_VISIBLE.

returnValue writeIntoFile	(	const real_t *const	data,
		int	nrow,
		int	ncol,
		const char *	datafilename,
		BooleanType	append = `BT_FALSE`
	)

Writes a real_t matrix into a file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters:

data	Matrix to be written into file.
nrow	Row number of matrix.
ncol	Column number of matrix.
datafilename	Data file name.
append	Indicates if data shall be appended if the file already exists (otherwise it is overwritten).

References __FILE__, __FUNC__, __LINE__, BT_TRUE, getGlobalMessageHandler(), MAX_STRING_LENGTH, RET_NOT_YET_IMPLEMENTED, RET_UNABLE_TO_OPEN_FILE, SUCCESSFUL_RETURN, MessageHandling::throwError(), and VS_VISIBLE.

Referenced by writeIntoFile().

returnValue writeIntoFile	(	const real_t *const	data,
		int	n,
		const char *	datafilename,
		BooleanType	append = `BT_FALSE`
	)

Writes a real_t vector into a file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters:

data	Vector to be written into file.
n	Length of vector.
datafilename	Data file name.
append	Indicates if data shall be appended if the file already exists (otherwise it is overwritten).

References writeIntoFile().

returnValue writeIntoFile	(	const int *const	integer,
		int	n,
		const char *	datafilename,
		BooleanType	append = `BT_FALSE`
	)

Writes an integer (column) vector into a file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_OPEN_FILE

Parameters:

integer	Integer vector to be written into file.
n	Length of vector.
datafilename	Data file name.
append	Indicates if integer shall be appended if the file already exists (otherwise it is overwritten).

References __FILE__, __FUNC__, __LINE__, BT_TRUE, getGlobalMessageHandler(), MAX_STRING_LENGTH, RET_NOT_YET_IMPLEMENTED, RET_UNABLE_TO_OPEN_FILE, SUCCESSFUL_RETURN, MessageHandling::throwError(), and VS_VISIBLE.

returnValue writeIntoMatFile	(	FILE *const	matFile,
		const real_t *const	data,
		int	nRows,
		int	nCols,
		const char *	name
	)

Writes a real_t matrix/vector into a Matlab binary file.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE

Parameters:

matFile	Pointer to Matlab binary file.
data	Data to be written into file.
nRows	Row number of matrix.
nCols	Column number of matrix.
name	Matlab name of matrix/vector to be stored.

References MatMatrixHeader::imaginaryPart, MatMatrixHeader::nCharName, MatMatrixHeader::nCols, MatMatrixHeader::nRows, MatMatrixHeader::numericFormat, real_t, RET_INVALID_ARGUMENTS, RET_NOT_YET_IMPLEMENTED, RET_UNABLE_TO_WRITE_FILE, and SUCCESSFUL_RETURN.

Referenced by writeIntoMatFile(), QProblem::writeQpDataIntoMatFile(), and QProblem::writeQpWorkspaceIntoMatFile().

returnValue writeIntoMatFile	(	FILE *const	matFile,
		const int *const	data,
		int	nRows,
		int	nCols,
		const char *	name
	)

Writes in integer matrix/vector into a Matlab binary file.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE

Parameters:

matFile	Pointer to Matlab binary file.
data	Data to be written into file.
nRows	Row number of matrix.
nCols	Column number of matrix.
name	Matlab name of matrix/vector to be stored.

References real_t, and writeIntoMatFile().

Functions

Detailed Description

Function Documentation