openpilot_comma/phonelibs/qpoases

##

##	qpOASES -- An Implementation of the Online Active Set Strategy.

##	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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

##







INTRODUCTION

=============



qpOASES is an open-source C++ implementation of the recently proposed 

online active set strategy (see [1], [2]), which was inspired by important 

observations from the field of parametric quadratic programming. It has 

several theoretical features that make it particularly suited for model 

predictive control (MPC) applications.



The software package qpOASES implements these ideas and has already been 

successfully used for closed-loop control of a real-world Diesel engine [3].





References:



[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of 

Parametric Quadratic Programs with Applications to Predictive Engine Control. 

Diplom thesis, University of Heidelberg, 2006.



[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to 

overcome the limitations of explicit MPC. International Journal of Robust 

and Nonlinear Control, 18 (8), pp. 816-830, 2008.



[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive 

Control of a Real-World Diesel Engine using an Extended Online Active Set 

Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007.







GETTING STARTED

================



1. For installation, usage and additional information on this software package 

   see the qpOASES User's Manual located at ./DOC/manual.pdf!





2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public 

   License. Please read it carefully before using qpOASES!





3. The whole software package can be downloaded from 



        http://homes.esat.kuleuven.be/~optec/software/qpOASES/ 



   On this webpage you will also find a list of frequently asked questions.







CONTACT THE AUTHORS

====================



If you have got questions, remarks or comments on qpOASES 

please contact the main author:



        Hans Joachim Ferreau

        Katholieke Universiteit Leuven

        Department of Electrical Engineering (ESAT)

        Kasteelpark Arenberg 10, bus 2446

        B-3001 Leuven-Heverlee, Belgium



        Phone: +32 16 32 03 63

        E-mail: joachim.ferreau@esat.kuleuven.be

                qpOASES@esat.kuleuven.be



Also bug reports and source code extensions are most welcome!







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