/* * This file is part of qpOASES. * * qpOASES -- An Implementation of the Online Active Set Strategy. * Copyright (C) 2007-2015 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 * */ /** * \file include/qpOASES/Utils.hpp * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches * \version 3.2 * \date 2007-2015 * * Declaration of some utility functions for working with qpOASES. */ #ifndef QPOASES_UTILS_HPP #define QPOASES_UTILS_HPP #include BEGIN_NAMESPACE_QPOASES /** Prints a (possibly named) vector. * \return SUCCESSFUL_RETURN */ returnValue print( const real_t* const v, /**< Vector to be printed. */ int_t n, /**< Length of vector. */ const char* name = 0 /**< Name of vector. */ ); /** Prints a (possibly named) permuted vector. * \return SUCCESSFUL_RETURN */ returnValue print( const real_t* const v, /**< Vector to be printed. */ int_t n, /**< Length of vector. */ const int_t* const V_idx, /**< Pemutation vector. */ const char* name = 0 /**< Name of vector. */ ); /** Prints a (possibly named) matrix. * \return SUCCESSFUL_RETURN */ returnValue print( const real_t* const M, /**< Matrix to be printed. */ int_t nrow, /**< Row number of matrix. */ int_t ncol, /**< Column number of matrix. */ const char* name = 0 /**< Name of matrix. */ ); /** Prints a (possibly named) permuted matrix. * \return SUCCESSFUL_RETURN */ returnValue print( const real_t* const M, /**< Matrix to be printed. */ int_t nrow, /**< Row number of matrix. */ int_t ncol , /**< Column number of matrix. */ const int_t* const ROW_idx, /**< Row pemutation vector. */ const int_t* const COL_idx, /**< Column pemutation vector. */ const char* name = 0 /**< Name of matrix. */ ); /** Prints a (possibly named) index array. * \return SUCCESSFUL_RETURN */ returnValue print( const int_t* const index, /**< Index array to be printed. */ int_t n, /**< Length of index array. */ const char* name = 0 /**< Name of index array. */ ); /** Prints a string to desired output target (useful also for MATLAB output!). * \return SUCCESSFUL_RETURN */ returnValue myPrintf( const char* s /**< String to be written. */ ); /** Prints qpOASES copyright notice. * \return SUCCESSFUL_RETURN */ returnValue printCopyrightNotice( ); /** Reads a real_t matrix from file. * \return SUCCESSFUL_RETURN \n RET_UNABLE_TO_OPEN_FILE \n RET_UNABLE_TO_READ_FILE */ returnValue readFromFile( real_t* data, /**< Matrix to be read from file. */ int_t nrow, /**< Row number of matrix. */ int_t ncol, /**< Column number of matrix. */ const char* datafilename /**< Data file name. */ ); /** Reads a real_t vector from file. * \return SUCCESSFUL_RETURN \n RET_UNABLE_TO_OPEN_FILE \n RET_UNABLE_TO_READ_FILE */ returnValue readFromFile( real_t* data, /**< Vector to be read from file. */ int_t n, /**< Length of vector. */ const char* datafilename /**< Data file name. */ ); /** Reads an integer (column) vector from file. * \return SUCCESSFUL_RETURN \n RET_UNABLE_TO_OPEN_FILE \n RET_UNABLE_TO_READ_FILE */ returnValue readFromFile( int_t* data, /**< Vector to be read from file. */ int_t n, /**< Length of vector. */ const char* datafilename /**< Data file name. */ ); /** Writes a real_t matrix into a file. * \return SUCCESSFUL_RETURN \n RET_UNABLE_TO_OPEN_FILE */ returnValue writeIntoFile( const real_t* const data, /**< Matrix to be written into file. */ int_t nrow, /**< Row number of matrix. */ int_t ncol, /**< Column number of matrix. */ const char* datafilename, /**< Data file name. */ BooleanType append = BT_FALSE /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ ); /** Writes a real_t vector into a file. * \return SUCCESSFUL_RETURN \n RET_UNABLE_TO_OPEN_FILE */ returnValue writeIntoFile( const real_t* const data, /**< Vector to be written into file. */ int_t n, /**< Length of vector. */ const char* datafilename, /**< Data file name. */ BooleanType append = BT_FALSE /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ ); /** Writes an integer (column) vector into a file. * \return SUCCESSFUL_RETURN \n RET_UNABLE_TO_OPEN_FILE */ returnValue writeIntoFile( const int_t* const integer, /**< Integer vector to be written into file. */ int_t n, /**< Length of vector. */ const char* datafilename, /**< Data file name. */ BooleanType append = BT_FALSE /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */ ); /** Writes a real_t matrix/vector into a Matlab binary file. * \return SUCCESSFUL_RETURN \n RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE */ returnValue writeIntoMatFile( FILE* const matFile, /**< Pointer to Matlab binary file. */ const real_t* const data, /**< Data to be written into file. */ int_t nRows, /**< Row number of matrix. */ int_t nCols, /**< Column number of matrix. */ const char* name /**< Matlab name of matrix/vector to be stored. */ ); /** Writes in integer matrix/vector into a Matlab binary file. * \return SUCCESSFUL_RETURN \n RET_INVALID_ARGUMENTS RET_UNABLE_TO_WRITE_FILE */ returnValue writeIntoMatFile( FILE* const matFile, /**< Pointer to Matlab binary file. */ const int_t* const data, /**< Data to be written into file. */ int_t nRows, /**< Row number of matrix. */ int_t nCols, /**< Column number of matrix. */ const char* name /**< Matlab name of matrix/vector to be stored. */ ); /** Returns the current system time. * \return current system time */ real_t getCPUtime( ); /** Returns the N-norm of a vector. * \return >= 0.0: successful */ real_t getNorm( const real_t* const v, /**< Vector. */ int_t n, /**< Vector's dimension. */ int_t type = 2 /**< Norm type, 1: one-norm, 2: Euclidean norm. */ ); /** Tests whether two real_t-valued arguments are (numerically) equal. * \return BT_TRUE: arguments differ not more than TOL \n BT_FALSE: arguments differ more than TOL */ inline BooleanType isEqual( real_t x, /**< First real number. */ real_t y, /**< Second real number. */ real_t TOL = ZERO /**< Tolerance for comparison. */ ); /** Tests whether a real-valued argument is (numerically) zero. * \return BT_TRUE: argument differs from 0.0 not more than TOL \n BT_FALSE: argument differs from 0.0 more than TOL */ inline BooleanType isZero( real_t x, /**< Real number. */ real_t TOL = ZERO /**< Tolerance for comparison. */ ); /** Returns sign of a real-valued argument. * \return 1.0: argument is non-negative \n -1.0: argument is negative */ inline real_t getSign( real_t arg /**< real-valued argument whose sign is to be determined. */ ); /** Returns maximum of two integers. * \return Maximum of two integers */ inline int_t getMax( int_t x, /**< First integer. */ int_t y /**< Second integer. */ ); /** Returns minimum of two integers. * \return Minimum of two integers */ inline int_t getMin( int_t x, /**< First integer. */ int_t y /**< Second integer. */ ); /** Returns maximum of two reals. * \return Maximum of two reals */ inline real_t getMax( real_t x, /**< First real number. */ real_t y /**< Second real number. */ ); /** Returns minimum of two reals. * \return Minimum of two reals */ inline real_t getMin( real_t x, /**< First real number. */ real_t y /**< Second real number. */ ); /** Returns the absolute value of a real number. * \return Absolute value of a real number */ inline real_t getAbs( real_t x /**< Real number. */ ); /** Returns the square-root of a real number. * \return Square-root of a real number */ inline real_t getSqrt( real_t x /**< Non-negative real number. */ ); /** Computes the maximum violation of the KKT optimality conditions * of given iterate for given QP data. */ returnValue getKktViolation( int_t nV, /**< Number of variables. */ int_t nC, /**< Number of constraints. */ const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */ const real_t* const g, /**< Gradient vector. */ const real_t* const A, /**< Constraint matrix. */ const real_t* const lb, /**< Lower bound vector (on variables). */ const real_t* const ub, /**< Upper bound vector (on variables). */ const real_t* const lbA, /**< Lower constraints' bound vector. */ const real_t* const ubA, /**< Upper constraints' bound vector. */ const real_t* const x, /**< Primal trial vector. */ const real_t* const y, /**< Dual trial vector. */ real_t& stat, /**< Output: maximum value of stationarity condition residual. */ real_t& feas, /**< Output: maximum value of primal feasibility violation. */ real_t& cmpl, /**< Output: maximum value of complementarity residual. */ const real_t* const workingSetB = 0, /**< Working set of bounds (used to determine active bounds). */ const real_t* const workingSetC = 0, /**< Working set of constraints (used to determine active constraints). */ BooleanType hasIdentityHessian = BT_FALSE /**< Indicating whether Hessian matrix is identity matrix or not if NULL pointer is passed. */ ); /** Computes the maximum violation of the KKT optimality conditions * of given iterate for given QP data. */ returnValue getKktViolation( int_t nV, /**< Number of variables. */ const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */ const real_t* const g, /**< Gradient vector. */ const real_t* const lb, /**< Lower bound vector (on variables). */ const real_t* const ub, /**< Upper bound vector (on variables). */ const real_t* const x, /**< Primal trial vector. */ const real_t* const y, /**< Dual trial vector. */ real_t& stat, /**< Output: maximum value of stationarity condition residual. */ real_t& feas, /**< Output: maximum value of primal feasibility violation. */ real_t& cmpl, /**< Output: maximum value of complementarity residual. */ const real_t* const workingSetB = 0, /**< Working set of bounds (used to determine active bounds). */ BooleanType hasIdentityHessian = BT_FALSE /**< Indicating whether Hessian matrix is identity matrix or not if NULL pointer is passed */ ); /** Writes a value of BooleanType into a string. * \return SUCCESSFUL_RETURN */ returnValue convertBooleanTypeToString( BooleanType value, /**< Value to be written. */ char* const string /**< Input: String of sufficient size, \n Output: String containing value. */ ); /** Writes a value of SubjectToStatus into a string. * \return SUCCESSFUL_RETURN */ returnValue convertSubjectToStatusToString( SubjectToStatus value, /**< Value to be written. */ char* const string /**< Input: String of sufficient size, \n Output: String containing value. */ ); /** Writes a value of PrintLevel into a string. * \return SUCCESSFUL_RETURN */ returnValue convertPrintLevelToString( PrintLevel value, /**< Value to be written. */ char* const string /**< Input: String of sufficient size, \n Output: String containing value. */ ); /** Converts a returnValue from an (S)QProblem(B) object into a more * simple status flag. * * \return 0: QP problem solved * 1: QP could not be solved within given number of iterations * -1: QP could not be solved due to an internal error * -2: QP is infeasible (and thus could not be solved) * -3: QP is unbounded (and thus could not be solved) */ int_t getSimpleStatus( returnValue returnvalue, /**< ReturnValue to be analysed. */ BooleanType doPrintStatus = BT_FALSE /**< Flag indicating whether simple status shall be printed to screen. */ ); /** Normalises QP constraints. * \return SUCCESSFUL_RETURN \n * RET_INVALID_ARGUMENTS */ returnValue normaliseConstraints( int_t nV, /**< Number of variables. */ int_t nC, /**< Number of constraints. */ real_t* A, /**< Input: Constraint matrix, \n Output: Normalised constraint matrix. */ real_t* lbA, /**< Input: Constraints' lower bound vector, \n Output: Normalised constraints' lower bound vector. */ real_t* ubA, /**< Input: Constraints' upper bound vector, \n Output: Normalised constraints' upper bound vector. */ int_t type = 1 /**< Norm type, 1: one-norm, 2: Euclidean norm. */ ); #ifdef __DEBUG__ /** Writes matrix with given dimension into specified file. */ extern "C" void gdb_printmat( const char *fname, /**< File name. */ real_t *M, /**< Matrix to be written. */ int_t n, /**< Number of rows. */ int_t m, /**< Number of columns. */ int_t ldim /**< Leading dimension. */ ); #endif /* __DEBUG__ */ #if defined(__DSPACE__) || defined(__XPCTARGET__) || defined(__C_WRAPPER__) extern "C" void __cxa_pure_virtual( void ); #endif /* __DSPACE__ || __XPCTARGET__*/ END_NAMESPACE_QPOASES #include #endif /* QPOASES_UTILS_HPP */ /* * end of file */