DenseMatrix Class Reference

Interfaces matrix-vector operations tailored to general dense matrices. More...

#include <Matrices.hpp>

Inheritance diagram for DenseMatrix:

List of all members.

Public Member Functions
	DenseMatrix ()
	DenseMatrix (int m, int n, int lD, real_t *v)
virtual	~DenseMatrix ()
virtual void	free ()
virtual Matrix *	duplicate () const
virtual real_t	diag (int i) const
virtual BooleanType	isDiag () const
virtual real_t	getNorm (int type=2) const
virtual real_t	getRowNorm (int rNum, int type=2) const
virtual returnValue	getRow (int rNum, const Indexlist *const icols, real_t alpha, real_t *row) const
virtual returnValue	getCol (int cNum, const Indexlist *const irows, real_t alpha, real_t *col) const
virtual returnValue	times (int xN, real_t alpha, const real_t *x, int xLD, real_t beta, real_t *y, int yLD) const
virtual returnValue	transTimes (int xN, real_t alpha, const real_t *x, int xLD, real_t beta, real_t *y, int yLD) const
virtual returnValue	times (const Indexlist *const irows, const Indexlist *const icols, int xN, real_t alpha, const real_t *x, int xLD, real_t beta, real_t *y, int yLD, BooleanType yCompr=BT_TRUE) const
virtual returnValue	transTimes (const Indexlist *const irows, const Indexlist *const icols, int xN, real_t alpha, const real_t *x, int xLD, real_t beta, real_t *y, int yLD) const
virtual returnValue	addToDiag (real_t alpha)
virtual real_t *	full () const
virtual returnValue	print (const char *name=0) const
BooleanType	needToFreeMemory () const
void	doFreeMemory ()
void	doNotFreeMemory ()
Protected Attributes
int	nRows
int	nCols
int	leaDim
real_t *	val
BooleanType	freeMemory

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Detailed Description

Dense matrix class (row major format).

Author:

Andreas Potschka, Christian Kirches, Hans Joachim Ferreau

Version:

3.1

Date:

2011-2015

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Constructor & Destructor Documentation

DenseMatrix::DenseMatrix

(

)

[inline]

Default constructor.

Referenced by duplicate().

DenseMatrix::DenseMatrix	(	int	m,
		int	n,
		int	lD,
		real_t *	v
	)		[inline]

Constructor from vector of values. Caution: Data pointer must be valid throughout lifetime

Parameters:

m	Number of rows.
n	Number of columns.
lD	Leading dimension.
v	Values.

BEGIN_NAMESPACE_QPOASES DenseMatrix::~DenseMatrix

(

)

[virtual]

Destructor.

References BT_TRUE, free(), and Matrix::needToFreeMemory().

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Member Function Documentation

returnValue DenseMatrix::addToDiag

(

real_t

alpha

)

[virtual]

Adds given offset to diagonal of matrix.

Returns:

SUCCESSFUL_RETURN
RET_NO_DIAGONAL_AVAILABLE

Parameters:

alpha

Diagonal offset.

Implements Matrix.

References leaDim, nCols, nRows, SUCCESSFUL_RETURN, and val.

real_t DenseMatrix::diag

(

int

i

)

const [virtual]

Returns i-th diagonal entry.

Returns:

i-th diagonal entry

Parameters:

i

Index.

Implements Matrix.

References leaDim, and val.

void Matrix::doFreeMemory

(

)

[inline, inherited]

Enables de-allocation of internal memory.

References BT_TRUE, and Matrix::freeMemory.

Referenced by QProblemB::createDiagSparseMat(), duplicate(), SparseMatrix::duplicate(), SparseMatrixRow::duplicate(), SymDenseMat::duplicateSym(), SymSparseMat::duplicateSym(), QProblemB::setupQPdataFromFile(), QProblem::setupQPdataFromFile(), solveOQPbenchmark(), SparseMatrix::SparseMatrix(), and SparseMatrixRow::SparseMatrixRow().

void Matrix::doNotFreeMemory

(

)

[inline, inherited]

Disables de-allocation of internal memory.

Referenced by SparseMatrix::free(), SparseMatrixRow::free(), Matrix::Matrix(), SparseMatrix::SparseMatrix(), and SparseMatrixRow::SparseMatrixRow().

Matrix * DenseMatrix::duplicate

(

)

const [virtual]

Returns a deep-copy of the Matrix object.

Returns:

Deep-copy of Matrix object

Implements Matrix.

Reimplemented in SymDenseMat.

References BT_TRUE, DenseMatrix(), Matrix::doFreeMemory(), nCols, Matrix::needToFreeMemory(), nRows, real_t, and val.

void DenseMatrix::free

(

)

[virtual]

Frees all internal memory.

Implements Matrix.

References val.

Referenced by ~DenseMatrix().

real_t * DenseMatrix::full

(

)

const [virtual]

Allocates and creates dense matrix array in row major format.

Note: Calling function has to free allocated memory!

Returns:

Pointer to matrix array.

Implements Matrix.

References nCols, nRows, real_t, and val.

returnValue DenseMatrix::getCol	(	int	cNum,
		const Indexlist *const	irows,
		real_t	alpha,
		real_t *	col
	)		const [virtual]

Retrieve indexed entries of matrix column multiplied by alpha.

Returns:

SUCCESSFUL_RETURN

Parameters:

cNum	Column number.
irows	Index list specifying rows.
alpha	Scalar factor.
col	Output column vector.

Implements Matrix.

References BT_TRUE, isEqual(), leaDim, Indexlist::length, Indexlist::number, SUCCESSFUL_RETURN, and val.

real_t DenseMatrix::getNorm

(

int

type = 2

)

const [virtual]

Get the N-norm of the matrix

Returns:

N-norm of the matrix

Parameters:

type	Norm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

References nCols, nRows, REFER_NAMESPACE_QPOASES, and val.

Referenced by getRowNorm().

returnValue DenseMatrix::getRow	(	int	rNum,
		const Indexlist *const	icols,
		real_t	alpha,
		real_t *	row
	)		const [virtual]

Retrieve indexed entries of matrix row multiplied by alpha.

Returns:

SUCCESSFUL_RETURN

Parameters:

rNum	Row number.
icols	Index list specifying columns.
alpha	Scalar factor.
row	Output row vector.

Implements Matrix.

References BT_TRUE, isEqual(), leaDim, Indexlist::length, nCols, Indexlist::number, SUCCESSFUL_RETURN, and val.

real_t DenseMatrix::getRowNorm	(	int	rNum,
		int	type = 2
	)		const [virtual]

Get the N-norm of a row

Returns:

N-norm of row rNum

Parameters:

rNum	Row number.
type	Norm type, 1: one-norm, 2: Euclidean norm.

Implements Matrix.

References getNorm(), leaDim, nCols, REFER_NAMESPACE_QPOASES, and val.

BooleanType DenseMatrix::isDiag

(

)

const [virtual]

Checks whether matrix is square and diagonal.

Returns:

BT_TRUE iff matrix is square and diagonal;
BT_FALSE otherwise.

Implements Matrix.

References BT_FALSE, BT_TRUE, EPS, getAbs(), leaDim, nCols, nRows, and val.

BooleanType Matrix::needToFreeMemory

(

)

const [inline, inherited]

Returns whether internal memory needs to be de-allocated.

Returns:

BT_TRUE iff internal memory needs to be de-allocated,
BT_FALSE otherwise

References Matrix::freeMemory.

Referenced by duplicate(), SymDenseMat::duplicateSym(), ~DenseMatrix(), SparseMatrix::~SparseMatrix(), and SparseMatrixRow::~SparseMatrixRow().

returnValue DenseMatrix::print

(

const char *

name = 0

)

const [virtual]

Prints matrix to screen.

Returns:

SUCCESSFUL_RETURN

Parameters:

name	Name of matrix.

Implements Matrix.

References nCols, nRows, REFER_NAMESPACE_QPOASES, and val.

returnValue DenseMatrix::times	(	int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const [virtual]

Evaluate Y=alpha*A*X + beta*Y.

Returns:

SUCCESSFUL_RETURN.

Parameters:

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

References GEMM, getMax(), nCols, nRows, SUCCESSFUL_RETURN, and val.

returnValue DenseMatrix::times	(	const Indexlist *const	irows,
		const Indexlist *const	icols,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD,
		BooleanType	yCompr = BT_TRUE
	)		const [virtual]

Evaluate matrix vector product with submatrix given by Indexlist.

Returns:

SUCCESSFUL_RETURN

Parameters:

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.
yCompr	Compressed storage for y.

Implements Matrix.

References BT_FALSE, BT_TRUE, isEqual(), Indexlist::iSort, isZero(), leaDim, Indexlist::length, nCols, Indexlist::number, SUCCESSFUL_RETURN, and val.

returnValue DenseMatrix::transTimes	(	int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const [virtual]

Evaluate Y=alpha*A'*X + beta*Y.

Returns:

SUCCESSFUL_RETURN.

Parameters:

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

References GEMM, getMax(), nCols, nRows, SUCCESSFUL_RETURN, and val.

returnValue DenseMatrix::transTimes	(	const Indexlist *const	irows,
		const Indexlist *const	icols,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const [virtual]

Evaluate matrix transpose vector product.

Returns:

SUCCESSFUL_RETURN

Parameters:

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Implements Matrix.

References BT_FALSE, BT_TRUE, isEqual(), Indexlist::iSort, isZero(), leaDim, Indexlist::length, Indexlist::number, SUCCESSFUL_RETURN, and val.

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Member Data Documentation

BooleanType Matrix::freeMemory [protected, inherited]

Indicating whether internal memory needs to be de-allocated.

Referenced by Matrix::doFreeMemory(), and Matrix::needToFreeMemory().

int DenseMatrix::leaDim [protected]

Leading dimension.

Referenced by addToDiag(), SymDenseMat::bilinear(), diag(), getCol(), getRow(), getRowNorm(), isDiag(), times(), and transTimes().

int DenseMatrix::nCols [protected]

Number of columns.

Referenced by addToDiag(), duplicate(), SymDenseMat::duplicateSym(), full(), getNorm(), getRow(), getRowNorm(), isDiag(), print(), times(), and transTimes().

int DenseMatrix::nRows [protected]

Number of rows.

Referenced by addToDiag(), duplicate(), SymDenseMat::duplicateSym(), full(), getNorm(), isDiag(), print(), times(), and transTimes().

real_t* DenseMatrix::val [protected]

Vector of entries.

Referenced by addToDiag(), SymDenseMat::bilinear(), diag(), duplicate(), SymDenseMat::duplicateSym(), free(), full(), getCol(), getNorm(), getRow(), getRowNorm(), isDiag(), print(), times(), and transTimes().

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

• include/qpOASES/Matrices.hpp
• src/Matrices.cpp