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153 lines
6.0 KiB
153 lines
6.0 KiB
/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
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* Christian Kirches 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.
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* See the GNU 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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*/
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/**
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* \file include/qpOASES_e/Options.h
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* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
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* \version 3.1embedded
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* \date 2007-2015
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*
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* Declaration of the Options class designed to manage user-specified
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* options for solving a QProblem.
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*/
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#ifndef QPOASES_OPTIONS_H
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#define QPOASES_OPTIONS_H
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#include <qpOASES_e/Utils.h>
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BEGIN_NAMESPACE_QPOASES
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/**
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* \brief Manages all user-specified options for solving QPs.
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*
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* This class manages all user-specified options used for solving
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* quadratic programs.
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*
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* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
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* \version 3.1embedded
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* \date 2007-2015
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*/
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typedef struct
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{
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PrintLevel printLevel; /**< Print level. */
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BooleanType enableRamping; /**< Specifies whether ramping shall be enabled or not. */
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BooleanType enableFarBounds; /**< Specifies whether far bounds shall be used or not. */
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BooleanType enableFlippingBounds; /**< Specifies whether flipping bounds shall be used or not. */
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BooleanType enableRegularisation; /**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
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BooleanType enableFullLITests; /**< Specifies whether condition-hardened LI test shall be used or not. */
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BooleanType enableNZCTests; /**< Specifies whether nonzero curvature tests shall be used. */
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int enableDriftCorrection; /**< Specifies the frequency of drift corrections (0 = off). */
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int enableCholeskyRefactorisation; /**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
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BooleanType enableEqualities; /**< Specifies whether equalities shall be always treated as active constraints. */
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real_t terminationTolerance; /**< Termination tolerance. */
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real_t boundTolerance; /**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
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real_t boundRelaxation; /**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
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real_t epsNum; /**< Numerator tolerance for ratio tests. */
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real_t epsDen; /**< Denominator tolerance for ratio tests. */
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real_t maxPrimalJump; /**< Maximum allowed jump in primal variables in nonzero curvature tests. */
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real_t maxDualJump; /**< Maximum allowed jump in dual variables in linear independence tests. */
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real_t initialRamping; /**< Start value for Ramping Strategy. */
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real_t finalRamping; /**< Final value for Ramping Strategy. */
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real_t initialFarBounds; /**< Initial size of Far Bounds. */
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real_t growFarBounds; /**< Factor to grow Far Bounds. */
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SubjectToStatus initialStatusBounds; /**< Initial status of bounds at first iteration. */
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real_t epsFlipping; /**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
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int numRegularisationSteps; /**< Maximum number of successive regularisation steps. */
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real_t epsRegularisation; /**< Scaling factor of identity matrix used for Hessian regularisation. */
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int numRefinementSteps; /**< Maximum number of iterative refinement steps. */
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real_t epsIterRef; /**< Early termination tolerance for iterative refinement. */
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real_t epsLITests; /**< Tolerance for linear independence tests. */
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real_t epsNZCTests; /**< Tolerance for nonzero curvature tests. */
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BooleanType enableDropInfeasibles; /**< ... */
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int dropBoundPriority; /**< ... */
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int dropEqConPriority; /**< ... */
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int dropIneqConPriority; /**< ... */
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} Options;
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void OptionsCON( Options* _THIS
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);
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/** Copies all members from given rhs object.
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* \return SUCCESSFUL_RETURN */
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void OptionsCPY( Options* FROM,
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Options* TO
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);
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/** Sets all options to default values.
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* \return SUCCESSFUL_RETURN */
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returnValue Options_setToDefault( Options* _THIS
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);
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/** Sets all options to values resulting in maximum reliabilty.
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* \return SUCCESSFUL_RETURN */
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returnValue Options_setToReliable( Options* _THIS
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);
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/** Sets all options to values resulting in minimum solution time.
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* \return SUCCESSFUL_RETURN */
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returnValue Options_setToMPC( Options* _THIS
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);
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/** Same as setToMPC( ), for ensuring backwards compatibility.
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* \return SUCCESSFUL_RETURN */
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returnValue Options_setToFast( Options* _THIS
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);
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/** Ensures that all options have consistent values by automatically
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* adjusting inconsistent ones.
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* Note: This routine cannot (and does not try to) ensure that values
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* are set to reasonable values that make the QP solution work!
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* \return SUCCESSFUL_RETURN \n
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* RET_OPTIONS_ADJUSTED */
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returnValue Options_ensureConsistency( Options* _THIS
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);
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/** Prints values of all options.
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* \return SUCCESSFUL_RETURN */
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returnValue Options_print( Options* _THIS
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);
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END_NAMESPACE_QPOASES
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#endif /* QPOASES_OPTIONS_H */
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/*
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* end of file
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*/
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