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87 lines
3.0 KiB
87 lines
3.0 KiB
##
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## qpOASES -- An Implementation of the Online Active Set Strategy.
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## Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
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##
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## qpOASES is free software; you can redistribute it and/or
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## modify it under the terms of the GNU Lesser General Public
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## License as published by the Free Software Foundation; either
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## version 2.1 of the License, or (at your option) any later version.
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##
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## qpOASES is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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## Lesser General Public License for more details.
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##
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## You should have received a copy of the GNU Lesser General Public
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## License along with qpOASES; if not, write to the Free Software
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## Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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##
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VERSION HISTORY
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===============
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1.3embedded (last updated on 30th April 2009):
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-----------------------------------------------------------------------
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+ Re-programming of internal memory management to avoid dynamic memory allocations
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+ Most #ifdef directives removed
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+ Almost all type definitions gathered within INCLUDE/Types.hpp
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+ Irrelevant functionality removed (like the SQProblem class, functionality
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for loading data from files or the SCILAB interface)
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+ Replacement of all doubles by real_t
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+ Introduction of define "PC_DEBUG" for switching off all print functions
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+ stdio.h was made optional, string.h is no longer needed
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+ relative paths removed from #include directives
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+ made auxiliary objects locally static within solveInitialQP()
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+ Matlab interface fixed for single precision
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+ New return value -2 from Legacy wrapper added to Matlab/Simulink interfaces
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+ KKT optimality check moved into QProblem(B) class, SolutionAnalysis class removed
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1.3 (released on 2nd June 2008, last updated on 19th June 2008):
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-----------------------------------------------------------------------
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+ Implementation of "initialised homotopy" concept
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+ Addition of the SolutionAnalysis class
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+ Utility functions for solving test problems in OQP format added
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+ Flexibility of Matlab(R) interface enhanced
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+ Major source code cleanup
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(Attention: a few class names and calling interfaces have changed!)
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1.2 (released on 9th October 2007):
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-----------------------------------------------------------------------
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+ Special treatment of diagonal Hessians
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+ Improved infeasibility detection
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+ Further improved Matlab(R) interface
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+ Extended Simulink(R) interface
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+ scilab interface added
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+ Code cleanup and several bugfixes
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1.1 (released on 8th July 2007):
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--------------------------------
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+ Implementation of the QProblemB class
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+ Basic implementation of the SQProblem class
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+ Improved Matlab(R) interface
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+ Enabling/Disabling of constraints introduced
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+ Several bugfixes
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1.0 (released on 17th April 2007):
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----------------------------------
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Initial release.
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##
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## end of file
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##
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