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<div id="projectbrief">A Sparse Quadratic Programming Solver</div>
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<div class="title">qpSWIFT.c File Reference</div> </div>
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<div class="textblock"><code>#include "<a class="el" href="qpSWIFT_8h_source.html">qpSWIFT.h</a>"</code><br />
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Include dependency graph for qpSWIFT.c:</div>
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</div><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a6d38fb9f5253e62a3971d8040eeb659a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structQP.html">QP</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="qpSWIFT_8c.html#a6d38fb9f5253e62a3971d8040eeb659a">QP_SETUP</a> (qp_int n, qp_int m, qp_int p, qp_int *Pjc, qp_int *Pir, qp_real *Ppr, qp_int *Ajc, qp_int *Air, qp_real *Apr, qp_int *Gjc, qp_int *Gir, qp_real *Gpr, qp_real *c, qp_real *h, qp_real *b, qp_real sigma_d, qp_int *Permut)</td></tr>
<tr class="memdesc:a6d38fb9f5253e62a3971d8040eeb659a"><td class="mdescLeft"> </td><td class="mdescRight">qpSWIFT entry point Function <a href="qpSWIFT_8c.html#a6d38fb9f5253e62a3971d8040eeb659a">More...</a><br /></td></tr>
<tr class="separator:a6d38fb9f5253e62a3971d8040eeb659a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a35ef34fbb30b1b1d2691bb62471da8f0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structQP.html">QP</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="qpSWIFT_8c.html#a35ef34fbb30b1b1d2691bb62471da8f0">QP_SETUP_dense</a> (qp_int n, qp_int m, qp_int p, qp_real *Ppr, qp_real *Apr, qp_real *Gpr, qp_real *c, qp_real *h, qp_real *b, qp_int *Permut, int ordering)</td></tr>
<tr class="memdesc:a35ef34fbb30b1b1d2691bb62471da8f0"><td class="mdescLeft"> </td><td class="mdescRight">qpSWIFT entry point Function <a href="qpSWIFT_8c.html#a35ef34fbb30b1b1d2691bb62471da8f0">More...</a><br /></td></tr>
<tr class="separator:a35ef34fbb30b1b1d2691bb62471da8f0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0a9e1b0e73f8b58c0518d9f382760c6e"><td class="memItemLeft" align="right" valign="top">qp_int </td><td class="memItemRight" valign="bottom"><a class="el" href="qpSWIFT_8c.html#a0a9e1b0e73f8b58c0518d9f382760c6e">QP_SOLVE</a> (<a class="el" href="structQP.html">QP</a> *myQP)</td></tr>
<tr class="memdesc:a0a9e1b0e73f8b58c0518d9f382760c6e"><td class="mdescLeft"> </td><td class="mdescRight">qpSWIFT main function <a href="qpSWIFT_8c.html#a0a9e1b0e73f8b58c0518d9f382760c6e">More...</a><br /></td></tr>
<tr class="separator:a0a9e1b0e73f8b58c0518d9f382760c6e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:addf8792b8a52b715bbb9e609c6b0547a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="qpSWIFT_8c.html#addf8792b8a52b715bbb9e609c6b0547a">QP_CLEANUP</a> (<a class="el" href="structQP.html">QP</a> *myQP)</td></tr>
<tr class="memdesc:addf8792b8a52b715bbb9e609c6b0547a"><td class="mdescLeft"> </td><td class="mdescRight">qpSWIFT exit function <a href="qpSWIFT_8c.html#addf8792b8a52b715bbb9e609c6b0547a">More...</a><br /></td></tr>
<tr class="separator:addf8792b8a52b715bbb9e609c6b0547a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1f9da7f20f51a342b66adc5929ac629c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="qpSWIFT_8c.html#a1f9da7f20f51a342b66adc5929ac629c">QP_CLEANUP_dense</a> (<a class="el" href="structQP.html">QP</a> *myQP)</td></tr>
<tr class="memdesc:a1f9da7f20f51a342b66adc5929ac629c"><td class="mdescLeft"> </td><td class="mdescRight">qpSWIFT exit function <a href="qpSWIFT_8c.html#a1f9da7f20f51a342b66adc5929ac629c">More...</a><br /></td></tr>
<tr class="separator:a1f9da7f20f51a342b66adc5929ac629c"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<h2 class="groupheader">Function Documentation</h2>
<a id="addf8792b8a52b715bbb9e609c6b0547a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#addf8792b8a52b715bbb9e609c6b0547a">◆ </a></span>QP_CLEANUP()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void QP_CLEANUP </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structQP.html">QP</a> * </td>
<td class="paramname"><em>myQP</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>qpSWIFT exit function </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">myQP</td><td><a class="el" href="structQP.html">QP</a> structure with all the fields written</td></tr>
</table>
</dd>
</dl>
<p>all the allocated memory is cleared <br />
must be called after QP_SETUP, QP_SOLVE functions only <br />
Clears all the memory except the input arguments of QP_SETUP function <br />
</p>
</div>
</div>
<a id="a1f9da7f20f51a342b66adc5929ac629c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1f9da7f20f51a342b66adc5929ac629c">◆ </a></span>QP_CLEANUP_dense()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void QP_CLEANUP_dense </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structQP.html">QP</a> * </td>
<td class="paramname"><em>myQP</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>qpSWIFT exit function </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">myQP</td><td><a class="el" href="structQP.html">QP</a> structure with all the fields written</td></tr>
</table>
</dd>
</dl>
<p>all the allocated memory is cleared <br />
must be called after QP_SETUP_dense, QP_SOLVE functions only <br />
Clears all the memory except the input arguments of QP_SETUP function <br />
</p>
</div>
</div>
<a id="a6d38fb9f5253e62a3971d8040eeb659a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6d38fb9f5253e62a3971d8040eeb659a">◆ </a></span>QP_SETUP()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structQP.html">QP</a>* QP_SETUP </td>
<td>(</td>
<td class="paramtype">qp_int </td>
<td class="paramname"><em>n</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int </td>
<td class="paramname"><em>m</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int </td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Pjc</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Pir</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>Ppr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Ajc</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Air</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>Apr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Gjc</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Gir</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>Gpr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>c</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>h</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real </td>
<td class="paramname"><em>sigma_d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Permut</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>qpSWIFT entry point Function </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">myQP</td><td><a class="el" href="structQP.html">QP</a> structure with all the fields written </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">n</td><td>Number of equality constraints, must be non-zero </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">m</td><td>Number of inequality constraints, must be non-zero </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>Number of equality constraints, can be zero if none specified </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Pjc</td><td>jc vector of P matrix in Compressed Coulmn Storage format; required </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Pir</td><td>ir vector of P matrix in Compressed Coulmn Storage format; required </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Ppr</td><td>pr vector of P matrix in Compressed Coulmn Storage format; required </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Ajc</td><td>jc vector of A matrix in Compressed Coulmn Storage format; can be set to NULL if not needed </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Air</td><td>ir vector of A matrix in Compressed Coulmn Storage format; can be set to NULL if not needed </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Apr</td><td>pr vector of A matrix in Compressed Coulmn Storage format; can be set to NULL if not needed </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Gjc</td><td>jc vector of G matrix in Compressed Coulmn Storage format; required </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Gir</td><td>ir vector of G matrix in Compressed Coulmn Storage format; required </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Gpr</td><td>pr vector of G matrix in Compressed Coulmn Storage format; required </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">c</td><td>c vector </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">h</td><td>h vector </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">b</td><td>b vector </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">sigma_d</td><td>entering parameter; default value is 0.0 </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Permut</td><td>permutation vector of the KKT matrix; can be set to NULL to use the default AMD ordering</td></tr>
</table>
</dd>
</dl>
<p>-> takes input in dense matrix format only <br />
-> no error checking is performed <br />
</p>
</div>
</div>
<a id="a35ef34fbb30b1b1d2691bb62471da8f0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a35ef34fbb30b1b1d2691bb62471da8f0">◆ </a></span>QP_SETUP_dense()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structQP.html">QP</a>* QP_SETUP_dense </td>
<td>(</td>
<td class="paramtype">qp_int </td>
<td class="paramname"><em>n</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int </td>
<td class="paramname"><em>m</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int </td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>Ppr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>Apr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>Gpr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>c</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>h</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_real * </td>
<td class="paramname"><em>b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">qp_int * </td>
<td class="paramname"><em>Permut</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>ordering</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>qpSWIFT entry point Function </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">myQP</td><td><a class="el" href="structQP.html">QP</a> structure with all the fields written </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">n</td><td>Number of equality constraints, must be non-zero </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">m</td><td>Number of inequality constraints, must be non-zero </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>Number of equality constraints, can be zero if none specified </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Ppr</td><td>pointer to the matrix P; can be in either column major or row major </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Apr</td><td>pointer to the matrix A; can be in either column major or row major; can be set ot NULL if not needed </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Gpr</td><td>pointer to the matrix G; can be in either column major or row major </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">c</td><td>c vector </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">h</td><td>h vector </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">b</td><td>b vector; can be set to NULL if not needed </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Permut</td><td>permutation vector of the KKT matrix; can be set to NULL to use the default AMD ordering </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">ordering</td><td>ordering of all the three matrices P, A and G; available options are ROW_MAJOR_ORDERING for row major ordering of P, A and G matrices COLUMN_MAJOR_ORDERING for column major ordering of P, A and G matrices</td></tr>
</table>
</dd>
</dl>
<p>-> takes input in dense matrix format only <br />
-> no error checking is performed <br />
</p>
</div>
</div>
<a id="a0a9e1b0e73f8b58c0518d9f382760c6e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0a9e1b0e73f8b58c0518d9f382760c6e">◆ </a></span>QP_SOLVE()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">qp_int QP_SOLVE </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structQP.html">QP</a> * </td>
<td class="paramname"><em>myQP</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>qpSWIFT main function </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">myQP</td><td><a class="el" href="structQP.html">QP</a> structure with all the fields written </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">ExitCode</td><td>Number of equality constraints, must be non-zero</td></tr>
</table>
</dd>
</dl>
<p>all the iterations are performed here must be called after QP_SETUP or QP_SETUP_dense function only</p>
<p>ExitCode = 0 => Optimal Solution Found <br />
ExitCode = 1 => Failure in solving LDL' factorization <br />
ExitCode = 2 => Maximum Number of Iterations Exceeded <br />
ExitCode = 3 => Unknown Problem in Solver <br />
</p>
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