include/qpOASES/Utils.ipp File Reference

#include <math.h>

Functions
BEGIN_NAMESPACE_QPOASES BooleanType	isEqual (real_t x, real_t y, real_t TOL)
BooleanType	isZero (real_t x, real_t TOL)
real_t	getSign (real_t arg)
int_t	getMax (int_t x, int_t y)
int_t	getMin (int_t x, int_t y)
real_t	getMax (real_t x, real_t y)
real_t	getMin (real_t x, real_t y)
real_t	getAbs (real_t x)
real_t	getSqrt (real_t x)

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Detailed Description

Author:

Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version:

3.2

Date:

2007-2017

Implementation of some inlined utilities for working with the different QProblem classes.

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Function Documentation

real_t getAbs

(

real_t

x

)

[inline]

Returns the absolute value of a real number.

Returns:

Absolute value of a real number

Parameters:

x	Real number.

Referenced by QProblem::addBound_checkLI(), SQProblemSchur::addBound_checkLISchur(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), QProblemB::backsolveR(), QProblem::backsolveT(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblemB::computeCholesky(), QProblemB::computeGivens(), QProblem::computeProjectedCholesky(), QProblemB::determineDataShift(), QProblem::determineDataShift(), QProblemB::determineHessianType(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), QProblem::dropInfeasibles(), QProblem::ensureNonzeroCurvature(), getKktViolation(), getNorm(), QProblemB::getRelativeHomotopyLength(), QProblem::getRelativeHomotopyLength(), SparseMatrix::getRowNorm(), QProblemB::hotstart(), QProblem::hotstart(), DenseMatrix::isDiag(), isEqual(), isZero(), main(), QProblem::performRamping(), QProblem::printIteration(), QProblemB::printIteration(), and SparseMatrix::times().

int_t getMax	(	int_t	x,
		int_t	y
	)		[inline]

Returns maximum of two integers.

Returns:

Maximum of two integers

Parameters:

x	First integer.
y	Second integer.

Referenced by SQProblemSchur::addToSchurComplement(), QProblem::ensureNonzeroCurvature(), SolutionAnalysis::getKktViolation(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblem::performRamping(), QProblem::performStep(), QProblemB::performStep(), QProblem::setupQPdata(), DenseMatrix::times(), SparseMatrix::times(), DenseMatrix::transTimes(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

real_t getMax	(	real_t	x,
		real_t	y
	)		[inline]

Returns maximum of two reals.

Returns:

Maximum of two reals

Parameters:

x	First real number.
y	Second real number.

int_t getMin	(	int_t	x,
		int_t	y
	)		[inline]

Returns minimum of two integers.

Returns:

Minimum of two integers

Parameters:

x	First integer.
y	Second integer.

Referenced by QProblemB::computeCholesky(), QProblem::computeProjectedCholesky(), QProblem::performDriftCorrection(), QProblemB::performDriftCorrection(), QProblem::QProblem(), QProblem::setupQPdata(), QProblemB::updateFarBounds(), and QProblem::updateFarBounds().

real_t getMin	(	real_t	x,
		real_t	y
	)		[inline]

Returns minimum of two reals.

Returns:

Minimum of two reals

Parameters:

x	First real number.
y	Second real number.

real_t getSign

(

real_t

arg

)

[inline]

Returns sign of a real-valued argument.

Returns:

1.0: argument is non-negative
-1.0: argument is negative

Parameters:

arg	real-valued argument whose sign is to be determined.

real_t getSqrt

(

real_t

x

)

[inline]

Returns the square-root of a real number.

Returns:

Square-root of a real number

Parameters:

x	Non-negative real number.

Referenced by QProblemB::computeCholesky(), QProblemB::computeGivens(), QProblem::computeProjectedCholesky(), dpotrf_(), getNorm(), SparseMatrix::getRowNorm(), normaliseConstraints(), QProblem::removeBound(), QProblemB::removeBound(), QProblem::removeConstraint(), and spotrf_().

BEGIN_NAMESPACE_QPOASES BooleanType isEqual	(	real_t	x,
		real_t	y,
		real_t	TOL = ZERO
	)		[inline]

Tests whether two real_t-valued arguments are (numerically) equal.

Returns:

BT_TRUE: arguments differ not more than TOL
BT_FALSE: arguments differ more than TOL

Parameters:

x	First real number.
y	Second real number.
TOL	Tolerance for comparison.

References BT_FALSE, BT_TRUE, and getAbs().

Referenced by SQProblemSchur::computeMTimes(), SQProblemSchur::computeMTransTimes(), dgemm_(), DenseMatrix::getCol(), SparseMatrix::getCol(), SparseMatrixRow::getCol(), getKktViolation(), DenseMatrix::getRow(), SparseMatrix::getRow(), SparseMatrixRow::getRow(), sgemm_(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().

BooleanType isZero	(	real_t	x,
		real_t	TOL = ZERO
	)		[inline]

Tests whether a real-valued argument is (numerically) zero.

Returns:

BT_TRUE: argument differs from 0.0 not more than TOL
BT_FALSE: argument differs from 0.0 more than TOL

Parameters:

x	Real number.
TOL	Tolerance for comparison.

References BT_FALSE, BT_TRUE, and getAbs().

Referenced by SparseMatrix::addToDiag(), SparseMatrixRow::addToDiag(), QProblemB::computeGivens(), SQProblemSchur::computeMTransTimes(), QProblemB::determineHessianType(), dgemm_(), DenseMatrix::getSparseSubmatrix(), QProblem::setA(), sgemm_(), SparseMatrix::SparseMatrix(), SparseMatrixRow::SparseMatrixRow(), DenseMatrix::times(), SparseMatrix::times(), SparseMatrixRow::times(), DenseMatrix::transTimes(), SparseMatrix::transTimes(), and SparseMatrixRow::transTimes().