Namespaces
namespace	problems
namespace	detail

Classes
struct	CyqloneData
struct	CyQPALMBackendSettings
struct	CyQPALMBackendStats
struct	CyQPALMBackend
struct	unique_CyQPALMBackend
struct	DetailedStats
struct	Breakpoint
struct	ABSums
struct	PartitionedBreakpoints
struct	BreakpointsResult
struct	compute_breakpoints_fn
struct	get_partitioned_breakpoints_fn
struct	get_breakpoints_fn
struct	LineSearchSettings
struct	LineSearch
struct	SolverImplementation
struct	Settings
struct	SolverTimings
struct	SolverStats
class	Solver

Typedefs
using	ABSum_t = real_t

Enumerations
enum class	WarmStartingStrategy { WarmStartingStrategy::Zeros , WarmStartingStrategy::Copy , WarmStartingStrategy::Shift , WarmStartingStrategy::ShiftNoInequality }
enum class	SolverStatus { SolverStatus::Busy = 0 , SolverStatus::Converged , SolverStatus::MaxTime , SolverStatus::MaxIter , SolverStatus::NotFinite , SolverStatus::NoProgress , SolverStatus::Interrupted , SolverStatus::Exception }
	Exit status of a numerical solver. More...
enum class	StorageOrder

Functions
template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>
unique_CyQPALMBackend< VL, DefaultOrder >	make_cyqpalm_backend (const CyqloneStorage< real_t > &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>
void	update_cyqpalm_backend (CyQPALMBackend< VL, DefaultOrder > &backend, const CyqloneStorage< real_t > &ocp)
template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>
void	update_cyqpalm_backend (CyQPALMBackend< VL, DefaultOrder > &backend, const LinearOCPStorage &ocp)
template<index_t VL, StorageOrder DefaultOrder>
unique_CyQPALMBackend< VL, DefaultOrder >	make_cyqpalm_backend (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template<class R, class F>
static void	sort (R &&range, F key)
template<class R, class I, class F>
static void	nth_element (R &&range, I mid, F key)
template<std::ranges::bidirectional_range R, class F, class C>
static std::ranges::subrange< std::ranges::iterator_t< R > >	partition_min (R &&range, F pred, C cmp)
	A variant of std::ranges::partition where the first element of the return value is the smallest element of the "false" partition.
template<std::ranges::forward_range R, class F>
static decltype(auto)	partition (R &&range, F key)
template<std::permutable I, std::sentinel_for< I > S, class F>
static decltype(auto)	partition (I first, S last, F key)
template<class R, class F>
static decltype(auto)	min_element (R &&range, F key)
template<class I, class T, class BinOp, class UnOp>
T	transform_reduce (I first, I last, T init, BinOp binary_op, UnOp unary_op)
ABSums	partial_sum_negative (PartitionedBreakpoints breakpoints, real_t η=0, real_t β=0)
template<class Vec>
std::span< Breakpoint >	compute_breakpoints_default (std::vector< Breakpoint > &breakpoints, const Vec &Σ, const Vec &y, const Vec &Ad, const Vec &Ax, const Vec &b_min, const Vec &b_max)
	Compute the break points t[i] using formula (3.6) in the QPALM paper.
PartitionedBreakpoints	partition_breakpoints_default (std::span< Breakpoint > breakpoints)
	Moves any non-finite elements in t to the end of the range, and all negative elements to the front.
const char *	enum_name (SolverStatus s)
std::ostream &	operator<< (std::ostream &os, SolverStatus s)
template unique_CyQPALMBackend< 1, StorageOrder::ColMajor >	make_cyqpalm_backend< 1, StorageOrder::ColMajor > (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template void	update_cyqpalm_backend< 1, StorageOrder::ColMajor > (CyQPALMBackend< 1, StorageOrder::ColMajor > &, const CyqloneStorage<> &ocp)
template void	update_cyqpalm_backend< 1, StorageOrder::ColMajor > (CyQPALMBackend< 1, StorageOrder::ColMajor > &, const LinearOCPStorage &ocp)
template unique_CyQPALMBackend< 4, StorageOrder::ColMajor >	make_cyqpalm_backend< 4, StorageOrder::ColMajor > (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template void	update_cyqpalm_backend< 4, StorageOrder::ColMajor > (CyQPALMBackend< 4, StorageOrder::ColMajor > &, const CyqloneStorage<> &ocp)
template void	update_cyqpalm_backend< 4, StorageOrder::ColMajor > (CyQPALMBackend< 4, StorageOrder::ColMajor > &, const LinearOCPStorage &ocp)
template unique_CyQPALMBackend< 8, StorageOrder::ColMajor >	make_cyqpalm_backend< 8, StorageOrder::ColMajor > (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template void	update_cyqpalm_backend< 8, StorageOrder::ColMajor > (CyQPALMBackend< 8, StorageOrder::ColMajor > &, const CyqloneStorage<> &ocp)
template void	update_cyqpalm_backend< 8, StorageOrder::ColMajor > (CyQPALMBackend< 8, StorageOrder::ColMajor > &, const LinearOCPStorage &ocp)
template unique_CyQPALMBackend< 1, StorageOrder::RowMajor >	make_cyqpalm_backend< 1, StorageOrder::RowMajor > (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template void	update_cyqpalm_backend< 1, StorageOrder::RowMajor > (CyQPALMBackend< 1, StorageOrder::RowMajor > &, const CyqloneStorage<> &ocp)
template void	update_cyqpalm_backend< 1, StorageOrder::RowMajor > (CyQPALMBackend< 1, StorageOrder::RowMajor > &, const LinearOCPStorage &ocp)
template unique_CyQPALMBackend< 4, StorageOrder::RowMajor >	make_cyqpalm_backend< 4, StorageOrder::RowMajor > (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template void	update_cyqpalm_backend< 4, StorageOrder::RowMajor > (CyQPALMBackend< 4, StorageOrder::RowMajor > &, const CyqloneStorage<> &ocp)
template void	update_cyqpalm_backend< 4, StorageOrder::RowMajor > (CyQPALMBackend< 4, StorageOrder::RowMajor > &, const LinearOCPStorage &ocp)
template unique_CyQPALMBackend< 8, StorageOrder::RowMajor >	make_cyqpalm_backend< 8, StorageOrder::RowMajor > (const CyqloneStorage<> &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template void	update_cyqpalm_backend< 8, StorageOrder::RowMajor > (CyQPALMBackend< 8, StorageOrder::RowMajor > &, const CyqloneStorage<> &ocp)
template void	update_cyqpalm_backend< 8, StorageOrder::RowMajor > (CyQPALMBackend< 8, StorageOrder::RowMajor > &, const LinearOCPStorage &ocp)
std::ostream &	operator<< (std::ostream &, const SolverTimings &)

Variables
struct cyqlone::qpalm::compute_breakpoints_fn	compute_breakpoints
struct cyqlone::qpalm::get_partitioned_breakpoints_fn	get_partitioned_breakpoints
struct cyqlone::qpalm::get_breakpoints_fn	get_breakpoints

Class Documentation

◆ cyqlone::qpalm::PartitionedBreakpoints

struct cyqlone::qpalm::PartitionedBreakpoints

Class Members
span< Breakpoint >	neg_bp
span< Breakpoint >	pos_bp

◆ cyqlone::qpalm::BreakpointsResult

struct cyqlone::qpalm::BreakpointsResult

Class Members
PartitionedBreakpoints	bp
ABSums	ab_neg

◆ cyqlone::qpalm::LineSearchSettings

struct cyqlone::qpalm::LineSearchSettings

Class Members
bool	find_smallest_breakpoint_first = false

Typedef Documentation

◆ ABSum_t

using cyqlone::qpalm::ABSum_t = real_t

Definition at line 26 of file breakpoint.hpp.

Enumeration Type Documentation

◆ StorageOrder

enum class guanaqo::StorageOrder

strong

Function Documentation

◆ make_cyqpalm_backend()

template<index_t VL, StorageOrder DefaultOrder>

unique_CyQPALMBackend< VL, DefaultOrder > cyqlone::qpalm::make_cyqpalm_backend	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

Definition at line 602 of file ocp-backend-cyqlone.tpp.

◆ sort()

template<class R, class F>

void cyqlone::qpalm::sort	(	R &&	range,
		F	key )

static

Definition at line 17 of file algorithms.hpp.

◆ nth_element()

template<class R, class I, class F>

void cyqlone::qpalm::nth_element	(	R &&	range,
		I	mid,
		F	key )

static

Definition at line 28 of file algorithms.hpp.

◆ partition_min()

template<std::ranges::bidirectional_range R, class F, class C>

std::ranges::subrange< std::ranges::iterator_t< R > > cyqlone::qpalm::partition_min	(	R &&	range,
		F	pred,
		C	cmp )

static

A variant of std::ranges::partition where the first element of the return value is the smallest element of the "false" partition.

Definition at line 37 of file algorithms.hpp.

◆ partition() [1/2]

template<std::ranges::forward_range R, class F>

decltype(auto) cyqlone::qpalm::partition	(	R &&	range,
		F	key )

static

Definition at line 93 of file algorithms.hpp.

◆ partition() [2/2]

template<std::permutable I, std::sentinel_for< I > S, class F>

decltype(auto) cyqlone::qpalm::partition	(	I	first,
		S	last,
		F	key )

static

Definition at line 98 of file algorithms.hpp.

◆ min_element()

template<class R, class F>

decltype(auto) cyqlone::qpalm::min_element	(	R &&	range,
		F	key )

static

Definition at line 104 of file algorithms.hpp.

◆ transform_reduce()

template<class I, class T, class BinOp, class UnOp>

T cyqlone::qpalm::transform_reduce	(	I	first,
		I	last,
		T	init,
		BinOp	binary_op,
		UnOp	unary_op )

Definition at line 110 of file algorithms.hpp.

◆ partial_sum_negative()

ABSums cyqlone::qpalm::partial_sum_negative	(	PartitionedBreakpoints	breakpoints,
		real_t	η = 0,
		real_t	β = 0 )

Definition at line 25 of file breakpoint.cpp.

◆ compute_breakpoints_default()

template<class Vec>

std::span< Breakpoint > cyqlone::qpalm::compute_breakpoints_default	(	std::vector< Breakpoint > &	breakpoints,
		const Vec &	Σ,
		const Vec &	y,
		const Vec &	Ad,
		const Vec &	Ax,
		const Vec &	b_min,
		const Vec &	b_max )

Compute the break points t[i] using formula (3.6) in the QPALM paper.

Returns: t, α, δ

Definition at line 11 of file breakpoint.tpp.

◆ partition_breakpoints_default()

PartitionedBreakpoints cyqlone::qpalm::partition_breakpoints_default ( std::span< Breakpoint > breakpoints )

Moves any non-finite elements in t to the end of the range, and all negative elements to the front.

Returns the negative and positive partitions.

Definition at line 7 of file breakpoint.cpp.

◆ enum_name()

const char * cyqlone::qpalm::enum_name ( SolverStatus s )

inline

Definition at line 23 of file status.hpp.

◆ operator<<() [1/2]

std::ostream & cyqlone::qpalm::operator<<	(	std::ostream &	os,
		SolverStatus	s )

Definition at line 6 of file status.cpp.

◆ make_cyqpalm_backend< 1, StorageOrder::ColMajor >()

template unique_CyQPALMBackend< 1, StorageOrder::ColMajor > cyqlone::qpalm::make_cyqpalm_backend< 1, StorageOrder::ColMajor >	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

◆ update_cyqpalm_backend< 1, StorageOrder::ColMajor >() [1/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 1, StorageOrder::ColMajor >	(	CyQPALMBackend< 1, StorageOrder::ColMajor > &	,
		const CyqloneStorage<> &	ocp )

◆ update_cyqpalm_backend< 1, StorageOrder::ColMajor >() [2/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 1, StorageOrder::ColMajor >	(	CyQPALMBackend< 1, StorageOrder::ColMajor > &	,
		const LinearOCPStorage &	ocp )

◆ make_cyqpalm_backend< 4, StorageOrder::ColMajor >()

template unique_CyQPALMBackend< 4, StorageOrder::ColMajor > cyqlone::qpalm::make_cyqpalm_backend< 4, StorageOrder::ColMajor >	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

◆ update_cyqpalm_backend< 4, StorageOrder::ColMajor >() [1/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 4, StorageOrder::ColMajor >	(	CyQPALMBackend< 4, StorageOrder::ColMajor > &	,
		const CyqloneStorage<> &	ocp )

◆ update_cyqpalm_backend< 4, StorageOrder::ColMajor >() [2/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 4, StorageOrder::ColMajor >	(	CyQPALMBackend< 4, StorageOrder::ColMajor > &	,
		const LinearOCPStorage &	ocp )

◆ make_cyqpalm_backend< 8, StorageOrder::ColMajor >()

template unique_CyQPALMBackend< 8, StorageOrder::ColMajor > cyqlone::qpalm::make_cyqpalm_backend< 8, StorageOrder::ColMajor >	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

◆ update_cyqpalm_backend< 8, StorageOrder::ColMajor >() [1/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 8, StorageOrder::ColMajor >	(	CyQPALMBackend< 8, StorageOrder::ColMajor > &	,
		const CyqloneStorage<> &	ocp )

◆ update_cyqpalm_backend< 8, StorageOrder::ColMajor >() [2/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 8, StorageOrder::ColMajor >	(	CyQPALMBackend< 8, StorageOrder::ColMajor > &	,
		const LinearOCPStorage &	ocp )

◆ make_cyqpalm_backend< 1, StorageOrder::RowMajor >()

template unique_CyQPALMBackend< 1, StorageOrder::RowMajor > cyqlone::qpalm::make_cyqpalm_backend< 1, StorageOrder::RowMajor >	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

◆ update_cyqpalm_backend< 1, StorageOrder::RowMajor >() [1/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 1, StorageOrder::RowMajor >	(	CyQPALMBackend< 1, StorageOrder::RowMajor > &	,
		const CyqloneStorage<> &	ocp )

◆ update_cyqpalm_backend< 1, StorageOrder::RowMajor >() [2/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 1, StorageOrder::RowMajor >	(	CyQPALMBackend< 1, StorageOrder::RowMajor > &	,
		const LinearOCPStorage &	ocp )

◆ make_cyqpalm_backend< 4, StorageOrder::RowMajor >()

template unique_CyQPALMBackend< 4, StorageOrder::RowMajor > cyqlone::qpalm::make_cyqpalm_backend< 4, StorageOrder::RowMajor >	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

◆ update_cyqpalm_backend< 4, StorageOrder::RowMajor >() [1/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 4, StorageOrder::RowMajor >	(	CyQPALMBackend< 4, StorageOrder::RowMajor > &	,
		const CyqloneStorage<> &	ocp )

◆ update_cyqpalm_backend< 4, StorageOrder::RowMajor >() [2/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 4, StorageOrder::RowMajor >	(	CyQPALMBackend< 4, StorageOrder::RowMajor > &	,
		const LinearOCPStorage &	ocp )

◆ make_cyqpalm_backend< 8, StorageOrder::RowMajor >()

template unique_CyQPALMBackend< 8, StorageOrder::RowMajor > cyqlone::qpalm::make_cyqpalm_backend< 8, StorageOrder::RowMajor >	(	const CyqloneStorage<> &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

◆ update_cyqpalm_backend< 8, StorageOrder::RowMajor >() [1/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 8, StorageOrder::RowMajor >	(	CyQPALMBackend< 8, StorageOrder::RowMajor > &	,
		const CyqloneStorage<> &	ocp )

◆ update_cyqpalm_backend< 8, StorageOrder::RowMajor >() [2/2]

template void cyqlone::qpalm::update_cyqpalm_backend< 8, StorageOrder::RowMajor >	(	CyQPALMBackend< 8, StorageOrder::RowMajor > &	,
		const LinearOCPStorage &	ocp )

Variable Documentation

◆ compute_breakpoints

struct cyqlone::qpalm::compute_breakpoints_fn cyqlone::qpalm::compute_breakpoints

◆ get_partitioned_breakpoints

struct cyqlone::qpalm::get_partitioned_breakpoints_fn cyqlone::qpalm::get_partitioned_breakpoints

◆ get_breakpoints

struct cyqlone::qpalm::get_breakpoints_fn cyqlone::qpalm::get_breakpoints

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Class Documentation

◆ cyqlone::qpalm::PartitionedBreakpoints

◆ cyqlone::qpalm::BreakpointsResult

◆ cyqlone::qpalm::LineSearchSettings

Typedef Documentation

◆ ABSum_t

Enumeration Type Documentation

◆ StorageOrder

Function Documentation

◆ make_cyqpalm_backend()

◆ sort()

◆ nth_element()

◆ partition_min()

◆ partition() [1/2]

◆ partition() [2/2]

◆ min_element()

◆ transform_reduce()

◆ partial_sum_negative()

◆ compute_breakpoints_default()

◆ partition_breakpoints_default()

◆ enum_name()

◆ operator<<() [1/2]

◆ make_cyqpalm_backend< 1, StorageOrder::ColMajor >()

◆ update_cyqpalm_backend< 1, StorageOrder::ColMajor >() [1/2]

◆ update_cyqpalm_backend< 1, StorageOrder::ColMajor >() [2/2]

◆ make_cyqpalm_backend< 4, StorageOrder::ColMajor >()

◆ update_cyqpalm_backend< 4, StorageOrder::ColMajor >() [1/2]

◆ update_cyqpalm_backend< 4, StorageOrder::ColMajor >() [2/2]

◆ make_cyqpalm_backend< 8, StorageOrder::ColMajor >()

◆ update_cyqpalm_backend< 8, StorageOrder::ColMajor >() [1/2]

◆ update_cyqpalm_backend< 8, StorageOrder::ColMajor >() [2/2]

◆ make_cyqpalm_backend< 1, StorageOrder::RowMajor >()

◆ update_cyqpalm_backend< 1, StorageOrder::RowMajor >() [1/2]

◆ update_cyqpalm_backend< 1, StorageOrder::RowMajor >() [2/2]

◆ make_cyqpalm_backend< 4, StorageOrder::RowMajor >()

◆ update_cyqpalm_backend< 4, StorageOrder::RowMajor >() [1/2]

◆ update_cyqpalm_backend< 4, StorageOrder::RowMajor >() [2/2]

◆ make_cyqpalm_backend< 8, StorageOrder::RowMajor >()

◆ update_cyqpalm_backend< 8, StorageOrder::RowMajor >() [1/2]

◆ update_cyqpalm_backend< 8, StorageOrder::RowMajor >() [2/2]

Variable Documentation

◆ compute_breakpoints

◆ get_partitioned_breakpoints

◆ get_breakpoints