Changes between Version 32 and Version 33 of WikiStart


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Feb 23, 2020 5:34:52 AM (6 weeks ago)
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stefan
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  • WikiStart

    v32 v33  
    1 = Welcome to the qpOASES webpage =
    2 
    3 ''Note that these project webpages are based on Wiki, which allows webusers to modify certain parts of the content or share their experience and tips with other users. You are welcome to contribute to the qpOASES project. To contribute to the Wiki or submit a ticket you must first [http://www.coin-or.org/usingTrac.html register and login].''
    4 
    5 
    6 == Introduction ==
    7 
    8 qpOASES is an open-source C++ implementation of the recently proposed **o**nline **a**ctive **se**t **s**trategy, which was inspired by important observations from the field of parametric quadratic programming (QP). It has several theoretical features that make it particularly suited for model predictive control (MPC) applications. Further numerical modifications have made qpOASES a reliable QP solver, even when tackling semi-definite, ill-posed or degenerated QP problems. Moreover, several interfaces to third-party software like [http://www.mathworks.com/products/matlab Matlab] or [http://www.mathworks.ch/products/simulink Simulink] are provided that make qpOASES easy-to-use even for users without knowledge of C/C++.
    9 
    10 qpOASES can solve quadratic programming (QP) problems of any form equivalent to
    11 {{{
    12 min   1/2*x'Hx + x'g
    13 s.t.  lb  <=  x <= ub
    14       lbA <= Ax <= ubA
    15 }}}
    16 where {{{H}}} denotes a (typically positive semi-definite) symmetric Hessian matrix and all other quantities match common notation. qpOASES also does a good job in detecting infeasible or unbounded QP problem formulations.
    17 
    18 qpOASES has been initially released and developed at [http://www.kuleuven.be KU Leuven] within the [http://set.kuleuven.be/optec/ Optimization in Engineering Center (OPTEC)]. Current development is mainly supported by researchers at the [http://www.iwr.uni-heidelberg.de/ Interdisciplinary Center for Scientific Computing] at [http://www.uni-heidelberg.de/ Heidelberg University] and at [http://www.abb.com/cawp/abbzh254/ec72bb280fd24d47c1256b5700522f3a.aspx ABB Corporate Research].
    19 
    20 Note that there also exists a [wiki:QpoasesEmbedded Plain C Translation] of qpOASES for use cases where using C++ code is highly undesirable or even impossible.
    21 
    22 == License and Download ==
    23 
    24 qpOASES is open-source software, distributed under the [http://www.gnu.org/licenses/lgpl-2.1.html GNU Lesser General Public License (LGPL)], version 2.1.
    25 
    26 qpOASES is part of the [http://www.coin-or.org/ COIN-OR Initiative] and its code base is hosted in an SVN repository with public read access. You can either obtain the source code by using an SVN client or by downloading a zipped archive. More details are given on the [wiki:QpoasesDownload Download] page.
    27 
    28 
    29 == Installation and Dependencies ==
    30 
    31 qpOASES is self-contained! Except for a couple of standard C libraries, no further external software packages are required. Optionally, the [http://www.netlib.org/lapack LAPACK] and [http://www.netlib.org/blas BLAS] libraries can be linked for performing internal linear algebra operations.
    32 
    33 qpOASES has been successfully installed on PCs running Linux, Windows or Mac OS X, and can also run on embedded computing hardware. Detailled information on how
    34 to install qpOASES can be found on the [wiki:QpoasesInstallation Installation] page.
    35 
    36 
    37 == Documentation and Support ==
    38 
    39 qpOASES has a fully documented source code (see its doxygen-generated [http://www.qpoases.org/go/doxygen source code documentation]) and provides
    40 a concise [http://www.qpoases.org/go/manual User's Manual]. New users are recommended to get started by following the tutorial examples described in the manual.
    41 
    42 In case you encounter any kind of troubles when installing or running qpOASES, please follow these steps:
    43 
    44 1. check whether you can find any hint in the [http://www.qpoases.org/go/manual User's Manual];
    45 2. browse the [https://projects.coin-or.org/qpOASES/report/4 User Support] knowledge base to see whether other users have encountered your problem before;
    46 3. browse [https://projects.coin-or.org/qpOASES/report/2 All Issues] reported by other users to see whether you find a solution to your problem.
    47 
    48 If none of the above helps you to overcome your troubles, '''you are most welcome to ask for support'''. We strongly encourage you to send your bug report, question, remark, features request or any other kind of feedback by '''[https://projects.coin-or.org/qpOASES/newticket creating a new ticket]'''. When doing so, please follow our simple [wiki:QpoasesFeedback Feedback Guidelines] in order to receive our help as soon as possible.
    49 
    50 
    51 
    52 == Interfaces and Applications ==
    53 
    54 qpOASES comes along with a number of interfaces to third-party software, namely [http://www.mathworks.com/products/matlab Matlab], [http://www.mathworks.ch/products/simulink Simulink], [http://octave.sourceforge.net octave], [http://www.scilab.org Scilab], and [https://www.python.org Python]. Please consult Chapter 6 of the [http://www.qpoases.org/go/manual User's Manual] to get more information.
    55 
    56 Moreover, qpOASES can be used as QP solver in a number of third-party software, including the [http://www.acadotoolkit.org ACADO Toolkit], [http://www.iwr.uni-heidelberg.de/~agbock/RESEARCH/muscod.php MUSCOD-II], [http://users.isy.liu.se/johanl/yalmip YALMIP], [http://www.casadi.org CasADi].
    57 
    58 Finally, it is worth mentioning that qpOASES has been successfully used in numerous real-world applications and industrial projects. Some of them can be found on
    59 the [wiki:QpoasesSuccess Success Stories] page. If you also want to report your successful application of qpOASES, please send an e-mail to [[mailto:success@qpoases.org|success@qpoases.org]] or add to the Wiki yourself.
    60 
    61 
    62 == Citing qpOASES ==
    63 
    64 If you use qpOASES within your scientific work, we strongly encourage you to cite at least
    65 one of the following publications.
    66 
    67 * Reference to the **software**:
    68 {{{
    69 @ARTICLE{Ferreau2014,
    70 author = {H.J. Ferreau and C. Kirches and A. Potschka and H.G. Bock and M. Diehl},
    71 title = {{qpOASES}: A parametric active-set algorithm for quadratic programming},
    72 journal = {Mathematical Programming Computation},
    73 year = {2014},
    74 volume = {6},
    75 number = {4},
    76 pages = {327--363},
    77 keywords = {qpOASES, parametric quadratic programming, active set method,
    78             model predictive control}
    79 }
    80 }}}
    81 
    82 * Reference to the **online active set strategy**:
    83 {{{
    84 @ARTICLE{Ferreau2008,
    85 author = {H.J. Ferreau and H.G. Bock and M. Diehl},
    86 title = {An online active set strategy to overcome the limitations of explicit MPC},
    87 journal = {International Journal of Robust and Nonlinear Control},
    88 year = {2008},
    89 volume = {18},
    90 number = {8},
    91 pages = {816--830},
    92 keywords = {model predictive control, parametric quadratic programming,
    93             online active set strategy}
    94 }
    95 }}}
    96 
    97 * Reference to the **webpage**:
    98 {{{
    99 @MISC{qpOASES2017,
    100 author = {H.J. Ferreau and A. Potschka and C. Kirches},
    101 title = {{qpOASES} webpage},
    102 howpublished = {http://www.qpOASES.org/},
    103 year = {2007--2017},
    104 keywords = {qpOASES, model predictive control, parametric quadratic programming,
    105             online active set strategy}
    106 }
    107 }}}
    108 
    109 Further qpOASES-related publications can be found on
    110 the [wiki:QpoasesPublications Publications] page.
    111 
    112 
    113 == Contact and Mailing List ==
    114 
    115 If you want to receive latest information on qpOASES or participate in public discussions on future developments of the code, you should subscribe to the [http://list.coin-or.org/mailman/listinfo/qpoases qpOASES mailing list]. Note that unlike mailing lists of other projects hosted at COIN-OR, this **mailing list is not intended for reporting installation issues, bugs or minor feature requests**. Instead, please use Trac to [https://projects.coin-or.org/qpOASES/newticket create a new ticket] for reporting these kind of issues.
    116 
    117 In case you do not want to disclose your feedback to the public, you may to get in touch with the [wiki:QpoasesAuthors qpOASES developers] by sending an e-mail to [[mailto:support@qpOASES.org|support@qpOASES.org]].
    118 
    119 
    120 ----
    121 
    122 See also  [wiki:QpoasesDownload Download], [wiki:QpoasesInstallation Installation],  [http://www.qpoases.org/go/manual User's Manual],  [http://www.qpoases.org/go/doxygen Source Code Documentation],  [https://projects.coin-or.org/qpOASES/report/4 User Support],  [wiki:QpoasesFeedback Feedback Guidelines],  [wiki:QpoasesSuccess Success Stories],  [wiki:QpoasesPublications Publications],  [wiki:QpoasesAuthors Authors and Contributors],  [wiki:QpoasesEmbedded Plain C Translation]
     1= This project has moved to https://github.com/coin-or/qpOASES =