qpOASES  3.2.1
An Implementation of the Online Active Set Strategy
include/qpOASES/extras/OQPinterface.hpp
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00001 /*
00002  *  This file is part of qpOASES.
00003  *
00004  *  qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *  Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
00006  *  Christian Kirches et al. All rights reserved.
00007  *
00008  *  qpOASES is free software; you can redistribute it and/or
00009  *  modify it under the terms of the GNU Lesser General Public
00010  *  License as published by the Free Software Foundation; either
00011  *  version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *  qpOASES is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *  See the GNU Lesser General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU Lesser General Public
00019  *  License along with qpOASES; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00038 #ifndef QPOASES_OQPINTERFACE_HPP
00039 #define QPOASES_OQPINTERFACE_HPP
00040 
00041 
00042 #include <qpOASES/Options.hpp>
00043 
00044 
00045 BEGIN_NAMESPACE_QPOASES
00046 
00047 
00053 returnValue readOqpDimensions(  const char* path,   
00054                                 int_t& nQP,         
00055                                 int_t& nV,          
00056                                 int_t& nC,          
00057                                 int_t& nEC          
00058                                 );
00059 
00068 returnValue readOqpData(    const char* path,   
00069                             int_t& nQP,         
00070                             int_t& nV,          
00071                             int_t& nC,          
00072                             int_t& nEC,         
00073                             real_t** H,         
00074                             real_t** g,         
00075                             real_t** A,         
00076                             real_t** lb,        
00077                             real_t** ub,        
00078                             real_t** lbA,       
00079                             real_t** ubA,       
00080                             real_t** xOpt,      
00082                             real_t** yOpt,      
00084                             real_t** objOpt     
00086                             );
00087 
00088 
00098 returnValue solveOqpBenchmark(  int_t nQP,                  
00099                                 int_t nV,                   
00100                                 int_t nC,                   
00101                                 int_t nEC,                  
00102                                 const real_t* const _H,     
00103                                 const real_t* const g,      
00104                                 const real_t* const _A,     
00105                                 const real_t* const lb,     
00106                                 const real_t* const ub,     
00107                                 const real_t* const lbA,    
00108                                 const real_t* const ubA,    
00109                                 BooleanType isSparse,       
00110                                 const Options& options,     
00111                                 int_t& nWSR,                
00113                                 real_t& maxCPUtime,         
00114                                 real_t& maxStationarity,    
00115                                 real_t& maxFeasibility,     
00116                                 real_t& maxComplementarity  
00117                                 );
00118 
00125 returnValue solveOqpBenchmark(  int_t nQP,                  
00126                                 int_t nV,                   
00127                                 int_t nC,                   
00128                                 int_t nEC,                  
00129                                 const real_t* const _H,     
00130                                 const real_t* const g,      
00131                                 const real_t* const _A,     
00132                                 const real_t* const lb,     
00133                                 const real_t* const ub,     
00134                                 const real_t* const lbA,    
00135                                 const real_t* const ubA,    
00136                                 BooleanType isSparse,       
00137                                 BooleanType useHotstarts,   
00138                                 const Options& options,     
00139                                 int_t maxAllowedNWSR,       
00140                                 real_t& maxNWSR,            
00141                                 real_t& avgNWSR,            
00142                                 real_t& maxCPUtime,         
00143                                 real_t& avgCPUtime,         
00144                                 real_t& maxStationarity,    
00145                                 real_t& maxFeasibility,     
00146                                 real_t& maxComplementarity  
00147                                 );
00148 
00149 
00159 returnValue solveOqpBenchmark(  int_t nQP,                  
00160                                 int_t nV,                   
00161                                 const real_t* const _H,     
00162                                 const real_t* const g,      
00163                                 const real_t* const lb,     
00164                                 const real_t* const ub,     
00165                                 BooleanType isSparse,       
00166                                 const Options& options,     
00167                                 int_t& nWSR,                
00169                                 real_t& maxCPUtime,         
00170                                 real_t& maxStationarity,    
00171                                 real_t& maxFeasibility,     
00172                                 real_t& maxComplementarity  
00173                                 );
00174 
00181 returnValue solveOqpBenchmark(  int_t nQP,                  
00182                                 int_t nV,                   
00183                                 const real_t* const _H,     
00184                                 const real_t* const g,      
00185                                 const real_t* const lb,     
00186                                 const real_t* const ub,     
00187                                 BooleanType isSparse,       
00188                                 BooleanType useHotstarts,   
00189                                 const Options& options,     
00190                                 int_t maxAllowedNWSR,       
00191                                 real_t& maxNWSR,            
00192                                 real_t& avgNWSR,            
00193                                 real_t& maxCPUtime,         
00194                                 real_t& avgCPUtime,         
00195                                 real_t& maxStationarity,    
00196                                 real_t& maxFeasibility,     
00197                                 real_t& maxComplementarity  
00198                                 );
00199 
00200 
00208 returnValue runOqpBenchmark(    const char* path,           
00209                                 BooleanType isSparse,       
00210                                 const Options& options,     
00211                                 int_t& nWSR,                
00213                                 real_t& maxCPUtime,         
00214                                 real_t& maxStationarity,    
00215                                 real_t& maxFeasibility,     
00216                                 real_t& maxComplementarity  
00217                                 );
00218 
00219 
00228 returnValue runOqpBenchmark(    const char* path,           
00229                                 BooleanType isSparse,       
00230                                 BooleanType useHotstarts,   
00231                                 const Options& options,     
00232                                 int_t maxAllowedNWSR,       
00233                                 real_t& maxNWSR,            
00234                                 real_t& avgNWSR,            
00235                                 real_t& maxCPUtime,         
00236                                 real_t& avgCPUtime,         
00237                                 real_t& maxStationarity,    
00238                                 real_t& maxFeasibility,     
00239                                 real_t& maxComplementarity  
00240                                 );
00241 
00242 END_NAMESPACE_QPOASES
00243 
00244 
00245 #endif  /* QPOASES_OQPINTERFACE_HPP */
00246 
00247 
00248 /*
00249  *  end of file
00250  */