Options Class Reference

Manages all user-specified options for solving QPs. More...

#include <Options.hpp>

List of all members.

Public Member Functions
	Options ()
	Options (const Options &rhs)
	~Options ()
Options &	operator= (const Options &rhs)
returnValue	setToDefault ()
returnValue	setToReliable ()
returnValue	setToMPC ()
returnValue	setToFast ()
returnValue	ensureConsistency ()
returnValue	print () const
Public Attributes
PrintLevel	printLevel
BooleanType	enableRamping
BooleanType	enableFarBounds
BooleanType	enableFlippingBounds
BooleanType	enableRegularisation
BooleanType	enableFullLITests
BooleanType	enableNZCTests
int	enableDriftCorrection
int	enableCholeskyRefactorisation
BooleanType	enableEqualities
real_t	terminationTolerance
real_t	boundTolerance
real_t	boundRelaxation
real_t	epsNum
real_t	epsDen
real_t	maxPrimalJump
real_t	maxDualJump
real_t	initialRamping
real_t	finalRamping
real_t	initialFarBounds
real_t	growFarBounds
SubjectToStatus	initialStatusBounds
real_t	epsFlipping
int	numRegularisationSteps
real_t	epsRegularisation
int	numRefinementSteps
real_t	epsIterRef
real_t	epsLITests
real_t	epsNZCTests
BooleanType	enableDropInfeasibles
int	dropBoundPriority
int	dropEqConPriority
int	dropIneqConPriority
Protected Member Functions
returnValue	copy (const Options &rhs)

---

Detailed Description

This class manages all user-specified options used for solving quadratic programs.

Author:

Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:

3.1

Date:

2007-2015

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES Options::Options

(

)

Default constructor.

References setToDefault().

Options::Options

(

const Options &

rhs

)

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy().

Options::~Options

(

)

Destructor.

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Member Function Documentation

returnValue Options::copy

(

const Options &

rhs

)

[protected]

Copies all members from given rhs object.

Returns:

SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References boundRelaxation, boundTolerance, dropBoundPriority, dropEqConPriority, dropIneqConPriority, enableCholeskyRefactorisation, enableDriftCorrection, enableDropInfeasibles, enableEqualities, enableFarBounds, enableFlippingBounds, enableFullLITests, enableNZCTests, enableRamping, enableRegularisation, epsDen, epsFlipping, epsIterRef, epsLITests, epsNum, epsNZCTests, epsRegularisation, finalRamping, growFarBounds, initialFarBounds, initialRamping, initialStatusBounds, maxDualJump, maxPrimalJump, numRefinementSteps, numRegularisationSteps, printLevel, SUCCESSFUL_RETURN, and terminationTolerance.

Referenced by operator=(), and Options().

returnValue Options::ensureConsistency

(

)

Ensures that all options have consistent values by automatically adjusting inconsistent ones. Note: This routine cannot (and does not try to) ensure that values are set to reasonable values that make the QP solution work!

Returns:

SUCCESSFUL_RETURN
RET_OPTIONS_ADJUSTED

References boundRelaxation, boundTolerance, BT_FALSE, BT_TRUE, enableCholeskyRefactorisation, enableDriftCorrection, EPS, epsFlipping, epsIterRef, epsLITests, epsNZCTests, epsRegularisation, finalRamping, growFarBounds, initialFarBounds, initialRamping, maxDualJump, maxPrimalJump, numRefinementSteps, numRegularisationSteps, RET_OPTIONS_ADJUSTED, SUCCESSFUL_RETURN, terminationTolerance, and THROWWARNING.

Referenced by QProblemB::setOptions().

Options & Options::operator=

(

const Options &

rhs

)

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

References copy().

returnValue Options::print

(

)

const

Prints values of all options.

Returns:

SUCCESSFUL_RETURN

References boundRelaxation, boundTolerance, convertBooleanTypeToString(), convertPrintLevelToString(), convertSubjectToStatusToString(), enableCholeskyRefactorisation, enableDriftCorrection, enableEqualities, enableFarBounds, enableFlippingBounds, enableFullLITests, enableNZCTests, enableRamping, enableRegularisation, epsDen, epsFlipping, epsIterRef, epsLITests, epsNum, epsNZCTests, epsRegularisation, finalRamping, growFarBounds, initialFarBounds, initialRamping, initialStatusBounds, MAX_STRING_LENGTH, maxDualJump, maxPrimalJump, myPrintf(), numRefinementSteps, numRegularisationSteps, printLevel, SUCCESSFUL_RETURN, and terminationTolerance.

Referenced by QProblemB::printOptions().

returnValue Options::setToDefault

(

)

Sets all options to default values.

Returns:

SUCCESSFUL_RETURN

References boundRelaxation, boundTolerance, BT_FALSE, BT_TRUE, dropBoundPriority, dropEqConPriority, dropIneqConPriority, enableCholeskyRefactorisation, enableDriftCorrection, enableDropInfeasibles, enableEqualities, enableFarBounds, enableFlippingBounds, enableFullLITests, enableNZCTests, enableRamping, enableRegularisation, EPS, epsDen, epsFlipping, epsIterRef, epsLITests, epsNum, epsNZCTests, epsRegularisation, finalRamping, growFarBounds, initialFarBounds, initialRamping, initialStatusBounds, maxDualJump, maxPrimalJump, numRefinementSteps, numRegularisationSteps, PL_HIGH, PL_MEDIUM, PL_NONE, printLevel, ST_LOWER, SUCCESSFUL_RETURN, and terminationTolerance.

Referenced by Options(), setToMPC(), and setToReliable().

returnValue Options::setToFast

(

)

Same as setToMPC( ), for ensuring backwards compatibility.

Returns:

SUCCESSFUL_RETURN

References setToMPC().

returnValue Options::setToMPC

(

)

Sets all options to values resulting in minimum solution time.

Returns:

SUCCESSFUL_RETURN

References BT_FALSE, BT_TRUE, enableDriftCorrection, enableEqualities, enableFarBounds, enableFlippingBounds, enableNZCTests, enableRamping, enableRegularisation, EPS, initialStatusBounds, numRefinementSteps, numRegularisationSteps, setToDefault(), ST_INACTIVE, SUCCESSFUL_RETURN, and terminationTolerance.

Referenced by main(), and setToFast().

returnValue Options::setToReliable

(

)

Sets all options to values resulting in maximum reliabilty.

Returns:

SUCCESSFUL_RETURN

References BT_TRUE, enableCholeskyRefactorisation, enableFullLITests, numRefinementSteps, setToDefault(), and SUCCESSFUL_RETURN.

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Member Data Documentation

real_t Options::boundRelaxation

Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds.

Referenced by copy(), ensureConsistency(), print(), setToDefault(), QProblem::setupAuxiliaryQPbounds(), and QProblemB::setupAuxiliaryQPbounds().

real_t Options::boundTolerance

Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint).

Referenced by copy(), ensureConsistency(), QProblemB::hotstart(), QProblem::hotstart(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), print(), setToDefault(), QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().

int Options::dropBoundPriority

...

Referenced by copy(), QProblem::dropInfeasibles(), and setToDefault().

int Options::dropEqConPriority

...

Referenced by copy(), QProblem::dropInfeasibles(), and setToDefault().

int Options::dropIneqConPriority

...

Referenced by copy(), QProblem::dropInfeasibles(), and setToDefault().

int Options::enableCholeskyRefactorisation

Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates).

Referenced by copy(), ensureConsistency(), main(), print(), setToDefault(), setToReliable(), QProblem::solveQP(), and QProblemB::solveQP().

int Options::enableDriftCorrection

Specifies the frequency of drift corrections (0 = off).

Referenced by copy(), ensureConsistency(), print(), setToDefault(), setToMPC(), QProblem::solveQP(), and QProblemB::solveQP().

BooleanType Options::enableDropInfeasibles

...

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), copy(), and setToDefault().

BooleanType Options::enableEqualities

Specifies whether equalities shall be always treated as active constraints.

Referenced by copy(), print(), setToDefault(), setToMPC(), QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().

BooleanType Options::enableFarBounds

Specifies whether far bounds shall be used or not.

Referenced by copy(), QProblemB::hotstart(), QProblem::hotstart(), print(), QProblemB::setInfeasibilityFlag(), setToDefault(), setToMPC(), QProblemB::setupSubjectToType(), and QProblem::setupSubjectToType().

BooleanType Options::enableFlippingBounds

Specifies whether flipping bounds shall be used or not.

Referenced by copy(), QProblemB::determineHessianType(), print(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), setToDefault(), and setToMPC().

BooleanType Options::enableFullLITests

Specifies whether condition-hardened LI test shall be used or not.

Referenced by QProblem::addBound_checkLI(), QProblem::addConstraint_checkLI(), copy(), print(), setToDefault(), setToReliable(), and QProblem::setupAuxiliaryWorkingSet().

BooleanType Options::enableNZCTests

Specifies whether nonzero curvature tests shall be used.

Referenced by QProblem::changeActiveSet(), copy(), print(), setToDefault(), setToMPC(), and QProblem::setupAuxiliaryWorkingSet().

BooleanType Options::enableRamping

Specifies whether ramping shall be enabled or not.

Referenced by copy(), print(), setToDefault(), setToMPC(), QProblem::solveInitialQP(), QProblem::solveQP(), QProblemB::solveQP(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

BooleanType Options::enableRegularisation

Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected.

Referenced by copy(), QProblemB::determineHessianType(), print(), QProblemB::regulariseHessian(), setToDefault(), setToMPC(), QProblemB::setupInitialCholesky(), and QProblem::setupInitialCholesky().

real_t Options::epsDen

Denominator tolerance for ratio tests.

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), copy(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), QProblem::performStep(), QProblemB::performStep(), print(), and setToDefault().

real_t Options::epsFlipping

Tolerance of squared Cholesky diagonal factor which triggers flipping bound.

Referenced by copy(), ensureConsistency(), print(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), and setToDefault().

real_t Options::epsIterRef

Early termination tolerance for iterative refinement.

Referenced by copy(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), ensureConsistency(), print(), and setToDefault().

real_t Options::epsLITests

Tolerance for linear independence tests.

Referenced by QProblem::addBound_checkLI(), QProblem::addConstraint_checkLI(), copy(), ensureConsistency(), print(), setToDefault(), and QProblem::setupAuxiliaryWorkingSet().

real_t Options::epsNum

Numerator tolerance for ratio tests.

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), copy(), QProblem::ensureNonzeroCurvature(), QProblem::performStep(), QProblemB::performStep(), print(), and setToDefault().

real_t Options::epsNZCTests

Tolerance for nonzero curvature tests.

Referenced by copy(), ensureConsistency(), QProblem::ensureNonzeroCurvature(), print(), and setToDefault().

real_t Options::epsRegularisation

Scaling factor of identity matrix used for Hessian regularisation.

Referenced by QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), copy(), ensureConsistency(), print(), QProblemB::regulariseHessian(), and setToDefault().

real_t Options::finalRamping

Final value for Ramping Strategy.

Referenced by copy(), ensureConsistency(), print(), QProblemB::QProblemB(), QProblemB::reset(), and setToDefault().

real_t Options::growFarBounds

Factor to grow Far Bounds.

Referenced by copy(), ensureConsistency(), QProblemB::hotstart(), QProblem::hotstart(), print(), and setToDefault().

real_t Options::initialFarBounds

Initial size of Far Bounds.

Referenced by copy(), ensureConsistency(), QProblemB::hotstart(), QProblem::hotstart(), print(), and setToDefault().

real_t Options::initialRamping

Start value for Ramping Strategy.

Referenced by copy(), ensureConsistency(), print(), QProblemB::QProblemB(), QProblemB::reset(), and setToDefault().

SubjectToStatus Options::initialStatusBounds

Initial status of bounds at first iteration.

Referenced by copy(), main(), QProblemB::obtainAuxiliaryWorkingSet(), print(), setToDefault(), setToMPC(), SQProblem::setupNewAuxiliaryQP(), QProblem::solveInitialQP(), and QProblemB::solveInitialQP().

real_t Options::maxDualJump

Maximum allowed jump in dual variables in linear independence tests.

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), copy(), ensureConsistency(), print(), and setToDefault().

real_t Options::maxPrimalJump

Maximum allowed jump in primal variables in nonzero curvature tests.

Referenced by copy(), ensureConsistency(), QProblem::ensureNonzeroCurvature(), print(), and setToDefault().

int Options::numRefinementSteps

Maximum number of iterative refinement steps.

Referenced by copy(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), ensureConsistency(), main(), print(), setToDefault(), setToMPC(), and setToReliable().

int Options::numRegularisationSteps

Maximum number of successive regularisation steps.

Referenced by copy(), QProblemB::determineHessianType(), ensureConsistency(), print(), setToDefault(), setToMPC(), QProblem::solveRegularisedQP(), and QProblemB::solveRegularisedQP().

PrintLevel Options::printLevel

Print level.

Referenced by copy(), QProblemB::copy(), QProblemB::getPrintLevel(), main(), print(), QProblem::printIteration(), QProblemB::printIteration(), QProblem::printProperties(), QProblemB::printProperties(), QProblemB::QProblemB(), QProblemB::setOptions(), QProblemB::setPrintLevel(), setToDefault(), QProblem::solveQP(), and QProblemB::solveQP().

real_t Options::terminationTolerance

Termination tolerance.

Referenced by copy(), ensureConsistency(), print(), setToDefault(), setToMPC(), QProblem::solveQP(), and QProblemB::solveQP().

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

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