qpSWIFT
A Sparse Quadratic Programming Solver
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#include <Auxilary.h>
Data Fields | |
qp_int | n |
qp_int | m |
qp_int | p |
qp_real | sigma_d |
qp_real | mu |
qp_real | rho |
qp_real * | x |
qp_real * | y |
qp_real * | z |
qp_real * | s |
qp_real * | rx |
qp_real * | ry |
qp_real * | rz |
qp_real * | delta |
qp_real * | delta_x |
qp_real * | delta_y |
qp_real * | delta_z |
qp_real * | delta_s |
qp_real * | ds |
qp_real * | lambda |
qp_real * | temp |
smat * | P |
qp_real * | c |
smat * | G |
qp_real * | h |
smat * | A |
qp_real * | b |
smat * | At |
smat * | Gt |
kkt * | kkt |
settings * | options |
stats * | stats |
qp_real | x [n] |
qp_real | y [p] |
qp_real | z [m] |
qp_real | s [m] |
qp_real | rx [n] |
qp_real | ry [p] |
qp_real | rz [m] |
qp_real | delta |
qp_real | delta_x [n] |
qp_real | delta_y [p] |
qp_real | delta_z [m] |
qp_real | delta_s [m] |
qp_real | ds [m] |
qp_real | lambda [m] |
qp_real | temp |
smat | P |
qp_real | c |
smat | G |
qp_real | h |
smat | A |
qp_real | b |
smat | At |
smat | Gt |
kkt | kkt |
settings | options |
stats | stats |
QP Structure
The main qpSWIFT structure; contains references to all other structures
smat QP::A |
Equality Matrix : Ax=b : Dimension [p,n]
smat * QP::A |
Equality Matrix : Ax=b : Dimension [p,n]
smat QP::At |
Transpose of Equality Matrix
smat * QP::At |
Transpose of Equality Matrix
qp_real QP::b |
Equality Matrix : Ax=b : Dimension [p,1]
qp_real * QP::b |
Equality Matrix : Ax=b : Dimension [p,1]
qp_real QP::c |
Cost Function : linear term : Dimensions [n,1]
qp_real * QP::c |
Cost Function : linear term : Dimensions [n,1]
qp_real QP::delta |
[delta_x;delta_y;delta_z] ; Dimensions [n + p + m,1]
qp_real * QP::delta |
[delta_x;delta_y;delta_z] ; Dimensions [n + p + m,1]
qp_real * QP::delta_s |
delta_s ; Dimensions [m,1]
qp_real * QP::delta_x |
delta_x ; Dimensions [n,1]
qp_real * QP::delta_y |
delta_y ; Dimensions [p,1]
qp_real * QP::delta_z |
delta_z ; Dimensions [m,1]
qp_real * QP::ds |
ds ; Dimensions [m,1]
smat QP::G |
Inequality Matrix : Gx<=h : Dimension [m,n]
smat * QP::G |
Inequality Matrix : Gx<=h : Dimension [m,n]
smat QP::Gt |
Transpose of InEquality Matrix
smat * QP::Gt |
Transpose of InEquality Matrix
qp_real QP::h |
Inequality Matrix : Gx<=h : Dimension [m,1]
qp_real * QP::h |
Inequality Matrix : Gx<=h : Dimension [m,1]
kkt QP::kkt |
kkt Matrix
kkt * QP::kkt |
kkt Matrix
qp_real * QP::lambda |
lambda ; Dimensions[m,1]
qp_int QP::m |
First Dimension of G matrix
qp_real QP::mu |
Barrier Function Parameter
qp_int QP::n |
Dimension of P matrix
settings QP::options |
Solver Settings
settings * QP::options |
Solver Settings
qp_int QP::p |
First Dimension of A matrix
smat QP::P |
Cost Function : Quadratic Part : Dimensions [n,n]
smat * QP::P |
Cost Function : Quadratic Part : Dimensions [n,n]
qp_real QP::rho |
Some Parameter
qp_real * QP::rx |
Residuals ; Dimensions [n,1]
qp_real * QP::ry |
Residuals ; Dimensions [p,1]
qp_real * QP::rz |
Residuals ; Dimensions [m,1]
qp_real * QP::s |
Primal Variables ; Dimensions [m,1]
qp_real QP::sigma_d |
Parameter
stats QP::stats |
Solver Stats
stats * QP::stats |
Solver Stats
qp_real QP::temp |
Temporary Variables to Calculate Objective Function Value
qp_real * QP::temp |
Temporary Variables to Calculate Objective Function Value
qp_real * QP::x |
Primal Variables ; Dimensions [n,1]
qp_real * QP::y |
Dual Variables ; Dimensions [p,1]
qp_real * QP::z |
Dual Variables ; Dimensions [m,1]