SparseSolver Class Reference

Base class for linear solvers that are used in a Schur-complement implementation in qpOASES. More...

#include <SparseSolver.hpp>

List of all members.

Public Member Functions
	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
returnValue	clear ()
returnValue	copy (const SparseSolver &rhs)

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Detailed Description

Author:

Andreas Waechter, Dennis Janka

Version:

3.2

Date:

2012-2017

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_QPOASES SparseSolver::SparseSolver

(

)

Default constructor.

SparseSolver::SparseSolver

(

const SparseSolver &

rhs

)

Copy constructor (deep copy).

Parameters:

rhs	Rhs object.

References copy().

SparseSolver::~SparseSolver

(

)

[virtual]

Destructor.

References clear().

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Member Function Documentation

returnValue SparseSolver::clear

(

)

[protected]

Frees all allocated memory.

Returns:

SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN.

Referenced by operator=(), and ~SparseSolver().

returnValue SparseSolver::copy

(

const SparseSolver &

rhs

)

[protected]

Copies all members from given rhs object.

Returns:

SUCCESSFUL_RETURN

Parameters:

rhs	Rhs object.

References SUCCESSFUL_RETURN.

Referenced by operator=(), and SparseSolver().

virtual returnValue SparseSolver::factorize

(

)

[pure virtual]

Compute factorization of current matrix. This method must be called before solve.

Referenced by SQProblemSchur::resetSchurComplement().

int_t SparseSolver::getNegativeEigenvalues

(

)

[virtual]

Return the number of negative eigenvalues.

Referenced by SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), SQProblemSchur::correctInertia(), SQProblemSchur::removeBound(), SQProblemSchur::removeConstraint(), SQProblemSchur::resetSchurComplement(), SQProblemSchur::setupAuxiliaryQP(), and SQProblemSchur::setupAuxiliaryWorkingSet().

int_t SparseSolver::getRank

(

)

[virtual]

Return the rank after a factorization

Referenced by SQProblemSchur::repairSingularWorkingSet().

returnValue SparseSolver::getZeroPivots

(

int_t *&

zeroPivots

)

[virtual]

Returns the zero pivots in case the matrix is rank deficient

References SUCCESSFUL_RETURN.

Referenced by SQProblemSchur::repairSingularWorkingSet().

SparseSolver & SparseSolver::operator=

(

const SparseSolver &

rhs

)

[virtual]

Assignment operator (deep copy).

Parameters:

rhs	Rhs object.

References clear(), and copy().

returnValue SparseSolver::reset

(

)

[virtual]

Clears all data structures.

References SUCCESSFUL_RETURN.

Referenced by SQProblemSchur::reset(), and SQProblemSchur::resetSchurComplement().

virtual returnValue SparseSolver::setMatrixData	(	int_t	dim,
		int_t	numNonzeros,
		const int_t *const	airn,
		const int_t *const	acjn,
		const real_t *const	avals
	)		[pure virtual]

Set new matrix data. The matrix is to be provided in the Harwell-Boeing format. Only the lower triangular part should be set.

Parameters:

dim	Dimension of the linear system.
numNonzeros	Number of nonzeros in the matrix.
airn	Row indices for each matrix entry.
acjn	Column indices for each matrix entry.
avals	Values for each matrix entry.

Referenced by SQProblemSchur::resetSchurComplement().

virtual returnValue SparseSolver::solve	(	int_t	dim,
		const real_t *const	rhs,
		real_t *const	sol
	)		[pure virtual]

Solve linear system with most recently set matrix data.

Parameters:

dim	Dimension of the linear system.
rhs	Values for the right hand side.
sol	Solution of the linear system.

Referenced by SQProblemSchur::addToSchurComplement(), and SQProblemSchur::determineStepDirection2().

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The documentation for this class was generated from the following files:

• include/qpOASES/SparseSolver.hpp
• src/SparseSolver.cpp