include/qpOASES/Options.hpp

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/*
 *  This file is part of qpOASES.
 *
 *  qpOASES -- An Implementation of the Online Active Set Strategy.
 *  Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
 *  Christian Kirches et al. All rights reserved.
 *
 *  qpOASES is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  qpOASES is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *  See the GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with qpOASES; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_OPTIONS_HPP
#define QPOASES_OPTIONS_HPP


#include <qpOASES/Utils.hpp>


BEGIN_NAMESPACE_QPOASES


class Options
{
    /*
     *  PUBLIC MEMBER FUNCTIONS
     */
    public:
        Options( );

        Options(    const Options& rhs          
                    );

        ~Options( );

        Options& operator=( const Options& rhs  
                            );


        returnValue setToDefault( );

        returnValue setToReliable( );

        returnValue setToMPC( );

        returnValue setToFast( );


        returnValue ensureConsistency( );


        returnValue print( ) const;


    /*
     *  PROTECTED MEMBER FUNCTIONS
     */
    protected:

        returnValue copy(   const Options& rhs  
                            );

    /*
     *  PUBLIC MEMBER VARIABLES
     */
    public:
        PrintLevel printLevel;                  
        BooleanType enableRamping;              
        BooleanType enableFarBounds;            
        BooleanType enableFlippingBounds;       
        BooleanType enableRegularisation;       
        BooleanType enableFullLITests;          
        BooleanType enableNZCTests;             
        int_t enableDriftCorrection;            
        int_t 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_t numRegularisationSteps;           
        real_t epsRegularisation;               
        int_t numRefinementSteps;               
        real_t epsIterRef;                      
        real_t epsLITests;                      
        real_t epsNZCTests;                     
        real_t rcondSMin;                       
        BooleanType enableInertiaCorrection;    
        BooleanType enableDropInfeasibles;      
        int_t dropBoundPriority;                
        int_t dropEqConPriority;                
        int_t dropIneqConPriority;              
};


END_NAMESPACE_QPOASES


#endif  /* QPOASES_OPTIONS_HPP */


/*
 *  end of file
 */