Abstract base class for interfacing tailored matrix-vector operations. More...

#include <Matrices.hpp>

Inheritance diagram for Matrix:

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

Detailed Description

Abstract base matrix class. Supplies interface to matrix vector products, including products with submatrices given by (ordered) working set index lists (see SubjectTo).

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

Version:: 3.1

Date:: 2011-2015

Constructor & Destructor Documentation

Matrix::Matrix ( ) [inline]

Default constructor.

References doNotFreeMemory().

virtual Matrix::~Matrix ( ) [inline, virtual]

Destructor.

Member Function Documentation

virtual returnValue Matrix::addToDiag ( real_t alpha ) [pure virtual]

Adds given offset to diagonal of matrix.

Returns:: SUCCESSFUL_RETURN
RET_NO_DIAGONAL_AVAILABLE

Parameters:

alpha Diagonal offset.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblemB::regulariseHessian().

virtual real_t Matrix::diag ( int i ) const [pure virtual]

Returns i-th diagonal entry.

Returns:: i-th diagonal entry

Parameters:

i Index.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblemB::determineHessianType(), QProblem::removeBound(), and QProblemB::removeBound().

void Matrix::doFreeMemory ( ) [inline]

Enables de-allocation of internal memory.

References BT_TRUE, and freeMemory.

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

void Matrix::doNotFreeMemory ( ) [inline]

Disables de-allocation of internal memory.

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

virtual Matrix* Matrix::duplicate ( ) const [pure virtual]

Returns a deep-copy of the Matrix object.

Returns:: Deep-copy of Matrix object

Implemented in SymSparseMat, SparseMatrixRow, SparseMatrix, SymDenseMat, and DenseMatrix.

Referenced by QProblem::copy().

virtual void Matrix::free ( ) [pure virtual]

Frees all internal memory.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

virtual real_t* Matrix::full ( ) const [pure virtual]

Allocates and creates dense matrix array in row major format.

Note: Calling function has to free allocated memory!

Returns:: Pointer to matrix array.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by SolutionAnalysis::getKktViolation(), and QProblem::writeQpDataIntoMatFile().

virtual returnValue Matrix::getCol	(	int	cNum,
		const Indexlist *const	irows,
		real_t	alpha,
		real_t *	col
	)		const `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

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

virtual real_t Matrix::getNorm ( int type = 2 ) const [pure virtual]

Get the N-norm of the matrix

Returns:: N-norm of the matrix

Parameters:

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

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblemB::regulariseHessian().

virtual returnValue Matrix::getRow	(	int	rNum,
		const Indexlist *const	icols,
		real_t	alpha,
		real_t *	row
	)		const `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblem::addConstraint(), QProblem::addConstraint_checkLI(), QProblem::addConstraint_ensureLI(), and QProblemB::removeBound().

virtual real_t Matrix::getRowNorm	(	int	rNum,
		int	type = `2`
	)		const `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblem::setA().

virtual BooleanType Matrix::isDiag ( ) const [pure virtual]

Checks whether matrix is square and diagonal.

Returns:: BT_TRUE iff matrix is square and diagonal;
BT_FALSE otherwise.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblemB::determineHessianType().

BooleanType Matrix::needToFreeMemory ( ) const [inline]

Returns whether internal memory needs to be de-allocated.

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

References freeMemory.

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

virtual returnValue Matrix::print ( const char * name = 0 ) const [pure virtual]

Prints matrix to screen.

Returns:: SUCCESSFUL_RETURN

Parameters:

name	Name of matrix.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

virtual returnValue Matrix::times	(	int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::ensureNonzeroCurvature(), QProblemB::getObjVal(), QProblem::performStep(), QProblem::printIteration(), QProblemB::printIteration(), QProblem::removeBound(), QProblem::removeConstraint(), QProblem::setA(), QProblem::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPgradient(), QProblemB::setupAuxiliaryQPgradient(), and QProblem::setupAuxiliaryQPsolution().

virtual returnValue Matrix::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 `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

virtual returnValue Matrix::transTimes	(	int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)		const `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::determineStepDirection(), QProblem::printIteration(), and QProblem::setupAuxiliaryQPgradient().

virtual returnValue Matrix::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 `[pure 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.

Implemented in SparseMatrixRow, SparseMatrix, and DenseMatrix.

Member Data Documentation

BooleanType Matrix::freeMemory [protected]

Indicating whether internal memory needs to be de-allocated.

Referenced by doFreeMemory(), and needToFreeMemory().

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

include/qpOASES/Matrices.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation