#include <qpOASES/Options.hpp>

Functions
BEGIN_NAMESPACE_QPOASES returnValue	readOqpDimensions (const char *path, int_t &nQP, int_t &nV, int_t &nC, int_t &nEC)
returnValue	readOqpData (const char path, int_t &nQP, int_t &nV, int_t &nC, int_t &nEC, real_t H, real_t g, real_t A, real_t lb, real_t ub, real_t lbA, real_t ubA, real_t xOpt, real_t yOpt, real_t *objOpt)
returnValue	solveOqpBenchmark (int_t nQP, int_t nV, int_t nC, int_t nEC, 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, BooleanType isSparse, const Options &options, int_t &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity)
returnValue	solveOqpBenchmark (int_t nQP, int_t nV, int_t nC, int_t nEC, 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, BooleanType isSparse, BooleanType useHotstarts, const Options &options, int_t maxAllowedNWSR, real_t &maxNWSR, real_t &avgNWSR, real_t &maxCPUtime, real_t &avgCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity)
returnValue	solveOqpBenchmark (int_t nQP, int_t nV, const real_t const _H, const real_t const g, const real_t const lb, const real_t const ub, BooleanType isSparse, const Options &options, int_t &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity)
returnValue	solveOqpBenchmark (int_t nQP, int_t nV, const real_t const _H, const real_t const g, const real_t const lb, const real_t const ub, BooleanType isSparse, BooleanType useHotstarts, const Options &options, int_t maxAllowedNWSR, real_t &maxNWSR, real_t &avgNWSR, real_t &maxCPUtime, real_t &avgCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity)
returnValue	runOqpBenchmark (const char *path, BooleanType isSparse, const Options &options, int_t &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity)
returnValue	runOqpBenchmark (const char *path, BooleanType isSparse, BooleanType useHotstarts, const Options &options, int_t maxAllowedNWSR, real_t &maxNWSR, real_t &avgNWSR, real_t &maxCPUtime, real_t &avgCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity)

Detailed Description

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

Version:: 3.2

Date:: 2007-2017

Declaration of an interface comprising several utility functions for solving test problems from the Online QP Benchmark Collection (This collection is no longer maintained, see http://www.qpOASES.org/onlineQP for a backup).

Function Documentation

returnValue readOqpData	(	const char *	path,
		int_t &	nQP,
		int_t &	nV,
		int_t &	nC,
		int_t &	nEC,
		real_t **	H,
		real_t **	g,
		real_t **	A,
		real_t **	lb,
		real_t **	ub,
		real_t **	lbA,
		real_t **	ubA,
		real_t **	xOpt,
		real_t **	yOpt,
		real_t **	objOpt
	)

Reads data of an Online QP Benchmark problem from file. This function allocates the required memory for all data; after successfully calling it, you have to free this memory yourself!

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
RET_UNABLE_TO_READ_FILE
RET_FILEDATA_INCONSISTENT

Parameters:

path	Full path of the data files (without trailing slash!).
nQP	Output: Number of QPs.
nV	Output: Number of variables.
nC	Output: Number of constraints.
nEC	Output: Number of equality constraints.
H	Output: Hessian matrix.
g	Output: Sequence of gradient vectors.
A	Output: Constraint matrix.
lb	Output: Sequence of lower bound vectors (on variables).
ub	Output: Sequence of upper bound vectors (on variables).
lbA	Output: Sequence of lower constraints' bound vectors.
ubA	Output: Sequence of upper constraints' bound vectors.
xOpt	Output: Sequence of primal solution vectors (not read if a null pointer is passed).
yOpt	Output: Sequence of dual solution vectors (not read if a null pointer is passed).
objOpt	Output: Sequence of optimal objective function values (not read if a null pointer is passed).

References MAX_STRING_LENGTH, readFromFile(), readOqpDimensions(), real_t, RET_FILEDATA_INCONSISTENT, RET_INVALID_ARGUMENTS, RET_UNABLE_TO_READ_FILE, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by runOqpBenchmark().

BEGIN_NAMESPACE_QPOASES returnValue readOqpDimensions	(	const char *	path,
		int_t &	nQP,
		int_t &	nV,
		int_t &	nC,
		int_t &	nEC
	)

Reads dimensions of an Online QP Benchmark problem from file.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_READ_FILE
RET_FILEDATA_INCONSISTENT

Parameters:

path	Full path of the data files (without trailing slash!).
nQP	Output: Number of QPs.
nV	Output: Number of variables.
nC	Output: Number of constraints.
nEC	Output: Number of equality constraints.

References MAX_STRING_LENGTH, readFromFile(), RET_FILEDATA_INCONSISTENT, RET_UNABLE_TO_READ_FILE, SUCCESSFUL_RETURN, and THROWERROR.

Referenced by readOqpData(), and runOqpBenchmark().

returnValue runOqpBenchmark	(	const char *	path,
		BooleanType	isSparse,
		const Options &	options,
		int_t &	nWSR,
		real_t &	maxCPUtime,
		real_t &	maxStationarity,
		real_t &	maxFeasibility,
		real_t &	maxComplementarity
	)

Runs an Online QP Benchmark problem and determines the maximum violation of the KKT optimality conditions as well as the maximum CPU time to solve each QP.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_READ_BENCHMARK
RET_BENCHMARK_ABORTED

Parameters:

path	Full path of the benchmark files (without trailing slash!).
isSparse	Shall convert matrices to sparse format before solution?
options	QP solver options to be used while solving benchmark problems.
nWSR	Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations.
maxCPUtime	Output: Maximum CPU time required for solving each QP.
maxStationarity	Output: Maximum residual of stationarity condition.
maxFeasibility	Output: Maximum residual of primal feasibility condition.
maxComplementarity	Output: Maximum residual of complementarity condition.

References BT_TRUE, real_t, and runOqpBenchmark().

Referenced by main(), and runOqpBenchmark().

returnValue runOqpBenchmark	(	const char *	path,
		BooleanType	isSparse,
		BooleanType	useHotstarts,
		const Options &	options,
		int_t	maxAllowedNWSR,
		real_t &	maxNWSR,
		real_t &	avgNWSR,
		real_t &	maxCPUtime,
		real_t &	avgCPUtime,
		real_t &	maxStationarity,
		real_t &	maxFeasibility,
		real_t &	maxComplementarity
	)

Runs an Online QP Benchmark problem and determines the maximum violation of the KKT optimality conditions as well as the maximum and average number of iterations and CPU time to solve each QP.

Returns:: SUCCESSFUL_RETURN
RET_UNABLE_TO_READ_BENCHMARK
RET_BENCHMARK_ABORTED

Parameters:

path	Full path of the benchmark files (without trailing slash!).
isSparse	Shall convert matrices to sparse format before solution?
useHotstarts	Shall QP solution be hotstarted?
options	QP solver options to be used while solving benchmark problems.
maxAllowedNWSR	Maximum number of working set recalculations to be performed.
maxNWSR	Output: Maximum number of performed working set recalculations.
avgNWSR	Output: Average number of performed working set recalculations.
maxCPUtime	Output: Maximum CPU time required for solving each QP.
avgCPUtime	Output: Average CPU time required for solving each QP.
maxStationarity	Output: Maximum residual of stationarity condition.
maxFeasibility	Output: Maximum residual of primal feasibility condition.
maxComplementarity	Output: Maximum residual of complementarity condition.

References readOqpData(), readOqpDimensions(), real_t, RET_UNABLE_TO_READ_BENCHMARK, solveOqpBenchmark(), SUCCESSFUL_RETURN, and THROWERROR.

returnValue solveOqpBenchmark	(	int_t	nQP,
		int_t	nV,
		int_t	nC,
		int_t	nEC,
		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,
		BooleanType	isSparse,
		const Options &	options,
		int_t &	nWSR,
		real_t &	maxCPUtime,
		real_t &	maxStationarity,
		real_t &	maxFeasibility,
		real_t &	maxComplementarity
	)

Solves an Online QP Benchmark problem as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.

Note: This variant is outdated and only kept to ensure backwards-compatibility!

Returns:: SUCCESSFUL_RETURN
RET_BENCHMARK_ABORTED

Parameters:

nQP	Number of QPs.
nV	Number of variables.
nC	Number of constraints.
nEC	Number of equality constraints.
_H	Hessian matrix.
g	Sequence of gradient vectors.
_A	Constraint matrix.
lb	Sequence of lower bound vectors (on variables).
ub	Sequence of upper bound vectors (on variables).
lbA	Sequence of lower constraints' bound vectors.
ubA	Sequence of upper constraints' bound vectors.
isSparse	Shall convert matrices to sparse format before solution?
options	QP solver options to be used while solving benchmark problems.
nWSR	Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations.
maxCPUtime	Output: Maximum CPU time required for solving each QP.
maxStationarity	Output: Maximum residual of stationarity condition.
maxFeasibility	Output: Maximum residual of primal feasibility condition.
maxComplementarity	Output: Maximum residual of complementarity condition.

References BT_TRUE, real_t, and solveOqpBenchmark().

Referenced by runOqpBenchmark(), and solveOqpBenchmark().

returnValue solveOqpBenchmark	(	int_t	nQP,
		int_t	nV,
		int_t	nC,
		int_t	nEC,
		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,
		BooleanType	isSparse,
		BooleanType	useHotstarts,
		const Options &	options,
		int_t	maxAllowedNWSR,
		real_t &	maxNWSR,
		real_t &	avgNWSR,
		real_t &	maxCPUtime,
		real_t &	avgCPUtime,
		real_t &	maxStationarity,
		real_t &	maxFeasibility,
		real_t &	maxComplementarity
	)

Solves an Online QP Benchmark problem as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.

Returns:: SUCCESSFUL_RETURN
RET_BENCHMARK_ABORTED

Parameters:

nQP	Number of QPs.
nV	Number of variables.
nC	Number of constraints.
nEC	Number of equality constraints.
_H	Hessian matrix.
g	Sequence of gradient vectors.
_A	Constraint matrix.
lb	Sequence of lower bound vectors (on variables).
ub	Sequence of upper bound vectors (on variables).
lbA	Sequence of lower constraints' bound vectors.
ubA	Sequence of upper constraints' bound vectors.
isSparse	Shall convert matrices to sparse format before solution?
useHotstarts	Shall QP solution be hotstarted?
options	QP solver options to be used while solving benchmark problems.
maxAllowedNWSR	Maximum number of working set recalculations to be performed.
maxNWSR	Output: Maximum number of performed working set recalculations.
avgNWSR	Output: Average number of performed working set recalculations.
maxCPUtime	Output: Maximum CPU time required for solving each QP.
avgCPUtime	Output: Average CPU time required for solving each QP.
maxStationarity	Output: Maximum residual of stationarity condition.
maxFeasibility	Output: Maximum residual of primal feasibility condition.
maxComplementarity	Output: Maximum residual of complementarity condition.

References BT_FALSE, BT_TRUE, SparseMatrix::createDiagInfo(), Matrix::doFreeMemory(), QProblem::getDualSolution(), getKktViolation(), QProblemB::getPrimalSolution(), QProblem::hotstart(), QProblem::init(), real_t, RET_MAX_NWSR_REACHED, QProblemB::setOptions(), SUCCESSFUL_RETURN, and THROWERROR.

returnValue solveOqpBenchmark	(	int_t	nQP,
		int_t	nV,
		const real_t *const	_H,
		const real_t *const	g,
		const real_t *const	lb,
		const real_t *const	ub,
		BooleanType	isSparse,
		const Options &	options,
		int_t &	nWSR,
		real_t &	maxCPUtime,
		real_t &	maxStationarity,
		real_t &	maxFeasibility,
		real_t &	maxComplementarity
	)

Solves an Online QP Benchmark problem (without constraints) as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.

Note: This variant is outdated and only kept to ensure backwards-compatibility!

Returns:: SUCCESSFUL_RETURN
RET_BENCHMARK_ABORTED

Parameters:

nQP	Number of QPs.
nV	Number of variables.
_H	Hessian matrix.
g	Sequence of gradient vectors.
lb	Sequence of lower bound vectors (on variables).
ub	Sequence of upper bound vectors (on variables).
isSparse	Shall convert matrices to sparse format before solution?
options	QP solver options to be used while solving benchmark problems.
nWSR	Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations.
maxCPUtime	Output: Maximum CPU time required for solving each QP.
maxStationarity	Output: Maximum residual of stationarity condition.
maxFeasibility	Output: Maximum residual of primal feasibility condition.
maxComplementarity	Output: Maximum residual of complementarity condition.

References BT_TRUE, real_t, and solveOqpBenchmark().

returnValue solveOqpBenchmark	(	int_t	nQP,
		int_t	nV,
		const real_t *const	_H,
		const real_t *const	g,
		const real_t *const	lb,
		const real_t *const	ub,
		BooleanType	isSparse,
		BooleanType	useHotstarts,
		const Options &	options,
		int_t	maxAllowedNWSR,
		real_t &	maxNWSR,
		real_t &	avgNWSR,
		real_t &	maxCPUtime,
		real_t &	avgCPUtime,
		real_t &	maxStationarity,
		real_t &	maxFeasibility,
		real_t &	maxComplementarity
	)

Solves an Online QP Benchmark problem (without constraints) as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.

Returns:: SUCCESSFUL_RETURN
RET_BENCHMARK_ABORTED

Parameters:

nQP	Number of QPs.
nV	Number of variables.
_H	Hessian matrix.
g	Sequence of gradient vectors.
lb	Sequence of lower bound vectors (on variables).
ub	Sequence of upper bound vectors (on variables).
isSparse	Shall convert matrices to sparse format before solution?
useHotstarts	Shall QP solution be hotstarted?
options	QP solver options to be used while solving benchmark problems.
maxAllowedNWSR	Maximum number of working set recalculations to be performed.
maxNWSR	Output: Maximum number of performed working set recalculations.
avgNWSR	Output: Average number of performed working set recalculations.
maxCPUtime	Output: Maximum CPU time required for solving each QP.
avgCPUtime	Output: Average CPU time required for solving each QP.
maxStationarity	Output: Maximum residual of stationarity condition.
maxFeasibility	Output: Maximum residual of primal feasibility condition.
maxComplementarity	Output: Maximum residual of complementarity condition.

References BT_FALSE, BT_TRUE, SparseMatrix::createDiagInfo(), Matrix::doFreeMemory(), QProblemB::getDualSolution(), getKktViolation(), QProblemB::getPrimalSolution(), QProblemB::hotstart(), QProblemB::init(), real_t, RET_MAX_NWSR_REACHED, QProblemB::setOptions(), SUCCESSFUL_RETURN, and THROWERROR.

Functions

Detailed Description

Function Documentation