include/qpOASES/SparseSolver.hpp

Go to the documentation of this file.

/*
 *  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_SPARSESOLVER_HPP
#define QPOASES_SPARSESOLVER_HPP

#include <qpOASES/Utils.hpp>


BEGIN_NAMESPACE_QPOASES


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

        SparseSolver(   const SparseSolver& rhs     
                        );

        virtual ~SparseSolver( );

        virtual SparseSolver& operator=(    const SparseSolver& rhs 
                                            );

        virtual returnValue setMatrixData( int_t dim,                   
                                           int_t numNonzeros,           
                                           const int_t* const airn,     
                                           const int_t* const acjn,     
                                           const real_t* const avals    
                                           ) = 0;

        virtual returnValue factorize( ) = 0;

        virtual returnValue solve( int_t dim, 
                       const real_t* const rhs, 
                       real_t* const sol 
                       ) = 0;

        virtual returnValue reset( );

        virtual int_t getNegativeEigenvalues( );

        virtual int_t getRank( );

        virtual returnValue getZeroPivots( int_t *&zeroPivots );

    /*
     *  PROTECTED MEMBER FUNCTIONS
     */
    protected:
        returnValue clear( );

        returnValue copy(   const SparseSolver& rhs 
                            );

    /*
     *  PROTECTED MEMBER VARIABLES
     */
    protected:
};


#ifdef SOLVER_MA27

class Ma27SparseSolver: public SparseSolver
{
    /*
     *  PUBLIC MEMBER FUNCTIONS
     */
    public:
        Ma27SparseSolver( );

        Ma27SparseSolver(   const Ma27SparseSolver& rhs     
                            );

        virtual ~Ma27SparseSolver( );

        virtual Ma27SparseSolver& operator=(    const SparseSolver& rhs 
                                                );

        virtual returnValue setMatrixData( int_t dim,                   
                                           int_t numNonzeros,           
                                           const int_t* const airn,     
                                           const int_t* const acjn,     
                                           const real_t* const avals    
                                           );

        virtual returnValue factorize( );

        virtual returnValue solve( int_t dim,               
                                   const real_t* const rhs, 
                                   real_t* const sol        
                                   );

        virtual returnValue reset( );

        virtual int_t getNegativeEigenvalues( );

        virtual int getRank( );

    /*
     *  PROTECTED MEMBER FUNCTIONS
     */
    protected:
        returnValue clear( );

        returnValue copy(   const Ma27SparseSolver& rhs 
                            );

    /*
     *  PRIVATE MEMBER FUNCTIONS
     */
    private:
    /*
     *  PRIVATE MEMBER VARIABLES
     */
    private:
        fint_t dim; 
        fint_t numNonzeros; 
        fint_t la_ma27; 
        double* a_ma27; 
        fint_t* irn_ma27; 
        fint_t* jcn_ma27; 
        fint_t icntl_ma27[30];  
        double cntl_ma27[5];  
        fint_t liw_ma27;  
        fint_t* iw_ma27; 
        fint_t* ikeep_ma27;  
        fint_t nsteps_ma27;  
        fint_t maxfrt_ma27;  
        bool have_factorization; 
        fint_t neig;    
        fint_t rank;    
};

#endif /* SOLVER_MA27 */


#ifdef SOLVER_MA57

class Ma57SparseSolver: public SparseSolver
{
    /*
     *  PUBLIC MEMBER FUNCTIONS
     */
    public:
        Ma57SparseSolver( );

        Ma57SparseSolver(   const Ma57SparseSolver& rhs     
                            );

        virtual ~Ma57SparseSolver( );

        virtual Ma57SparseSolver& operator=(    const SparseSolver& rhs 
                                                );

        virtual returnValue setMatrixData( int_t dim,                   
                                           int_t numNonzeros,           
                                           const int_t* const airn,     
                                           const int_t* const acjn,     
                                           const real_t* const avals    
                                           );

        virtual returnValue factorize( );

        virtual returnValue solve(  int_t dim,                  
                                    const real_t* const rhs,    
                                    real_t* const sol           
                                    );

        virtual returnValue reset( );

        virtual int_t getNegativeEigenvalues( );

        virtual int_t getRank( );

        virtual returnValue getZeroPivots(  int_t* &zeroPivots  
                                            );
    /*
     *  PROTECTED MEMBER FUNCTIONS
     */
    protected:
        returnValue clear( );

        returnValue copy(   const Ma57SparseSolver& rhs 
                            );

    /*
     *  PRIVATE MEMBER FUNCTIONS
     */
    private:
    /*
     *  PRIVATE MEMBER VARIABLES
     */
    private:
        fint_t dim;             
        fint_t numNonzeros;     
        double* a_ma57;         
        fint_t* irn_ma57;           
        fint_t* jcn_ma57;           
        fint_t icntl_ma57[30];  
        double cntl_ma57[5];    
        double* fact_ma57;      
        fint_t lfact_ma57;      
        fint_t* ifact_ma57;     
        fint_t lifact_ma57;     
        bool have_factorization;
        fint_t neig;                
        fint_t rank;                
        fint_t* pivots;         
};

#endif /* SOLVER_MA57 */


#ifdef SOLVER_NONE

class DummySparseSolver: public SparseSolver
{
    /*
     *  PUBLIC MEMBER FUNCTIONS
     */
    public:
        virtual returnValue setMatrixData(  int_t dim,                  
                                            int_t numNonzeros,          
                                            const int_t* const airn,    
                                            const int_t* const acjn,    
                                            const real_t* const avals   
                                            );

        virtual returnValue factorize( );

        virtual returnValue solve(  int_t dim,                  
                                    const real_t* const rhs,    
                                    real_t* const sol           
                                    );
};

#endif /* SOLVER_NONE */


END_NAMESPACE_QPOASES

#endif  /* QPOASES_SPARSESOLVER_HPP */

/*
 *  end of file
 */