85 lines
2.9 KiB
Plaintext
85 lines
2.9 KiB
Plaintext
|
##
|
|||
|
|
## This file is part of qpOASES.
|
|||
|
|
##
|
|||
|
|
## qpOASES -- An Implementation of the Online Active Set Strategy.
|
|||
|
|
## Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
|
|||
|
|
## Christian Kirches et al. All rights reserved.
|
|||
|
|
##
|
|||
|
|
## qpOASES is free software; you can redistribute it and/or
|
|||
|
|
## modify it under the terms of the GNU Lesser General Public
|
|||
|
|
## License as published by the Free Software Foundation; either
|
|||
|
|
## version 2.1 of the License, or (at your option) any later version.
|
|||
|
|
##
|
|||
|
|
## qpOASES is distributed in the hope that it will be useful,
|
|||
|
|
## but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|||
|
|
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|||
|
|
## See the GNU Lesser General Public License for more details.
|
|||
|
|
##
|
|||
|
|
## You should have received a copy of the GNU Lesser General Public
|
|||
|
|
## License along with qpOASES; if not, write to the Free Software
|
|||
|
|
## Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
|||
|
|
##
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
INTRODUCTION
|
|||
|
|
============
|
|||
|
|
|
|||
|
|
qpOASES is an open-source C++ implementation of the recently proposed
|
|||
|
|
online active set strategy, 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 Matlab or Simulink are provided that make qpOASES easy-to-use even for
|
|||
|
|
users without knowledge of C/C++.
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
GETTING STARTED
|
|||
|
|
===============
|
|||
|
|
|
|||
|
|
1. For installation, usage and additional information on this software package
|
|||
|
|
see the qpOASES User's Manual located at doc/manual.pdf or check its
|
|||
|
|
source code documentation!
|
|||
|
|
|
|||
|
|
|
|||
|
|
2. The file LICENSE.txt contains a copy of the GNU Lesser General Public
|
|||
|
|
License (v2.1). Please read it carefully before using qpOASES!
|
|||
|
|
|
|||
|
|
|
|||
|
|
3. The whole software package can be obtained from
|
|||
|
|
|
|||
|
|
http://www.qpOASES.org/ or
|
|||
|
|
https://projects.coin-or.org/qpOASES/
|
|||
|
|
|
|||
|
|
On this webpage you will also find further support such as a list of
|
|||
|
|
questions posed by other users.
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
CONTACT THE AUTHORS
|
|||
|
|
===================
|
|||
|
|
|
|||
|
|
If you have got questions, remarks or comments on qpOASES, it is strongly
|
|||
|
|
encouraged to report them by creating a new ticket at the qpOASES webpage.
|
|||
|
|
In case you do not want to disclose your feedback to the public, you may
|
|||
|
|
send an e-mail to
|
|||
|
|
|
|||
|
|
support@qpOASES.org
|
|||
|
|
|
|||
|
|
Finally, you may contact one of the main authors directly:
|
|||
|
|
|
|||
|
|
Hans Joachim Ferreau, joachim.ferreau@ch.abb.com
|
|||
|
|
Andreas Potschka, potschka@iwr.uni-heidelberg.de
|
|||
|
|
Christian Kirches, christian.kirches@iwr.uni-heidelberg.de
|
|||
|
|
|
|||
|
|
Also bug reports, source code enhancements or success stories are most welcome!
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
##
|
|||
|
|
## end of file
|
|||
|
|
##
|