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# Modified by Alexander Sherikov, 2012. # https://github/asherikov/qpOASES # # - Removed documentation. # - Removed interfaces. # - Modified Makefile to use cmake. # - Disabled all output to stdout. # - Fixed optimization flags for compilation with cmake. # # Original version is available at https://www.qpOASES.org/ # ## ## This file is part of qpOASES. ## ## qpOASES -- An Implementation of the Online Active Set Strategy. ## Copyright (C) 2007-2012 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 (see [1], [2]), which was inspired by important observations from the field of parametric quadratic programming. It has several theoretical features that make it particularly suited for model predictive control (MPC) applications. The software package qpOASES implements these ideas and has already been successfully used for many academic and industrial real-world applications, e.g. closed-loop control of a real-world Diesel engine testbench (see [3]). Recently, a couple of numerical modifications (as proposed in [4]) have been introduced that greatly increase qpOASES's reliability when solving semi-definite, ill-posed or degenerated convex QPs. References: [1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of Parametric Quadratic Programs with Applications to Predictive Engine Control. Diplom thesis, University of Heidelberg, 2006. [2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to overcome the limitations of explicit MPC. International Journal of Robust and Nonlinear Control, 18 (8), pp. 816-830, 2008. [3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive Control of a Real-World Diesel Engine using an Extended Online Active Set Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007. [4] A. Potschka, C. Kirches, H.G. Bock, and J.P. Schloeder. Reliable solution of convex quadratic programs with parametric active set methods. Technical report, IWR, Heidelberg University, Germany, November 2010. 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. Please read it carefully before using qpOASES! 3. The whole software package can be downloaded from https://www.qpOASES.org/ On this webpage you will also find a list of frequently asked questions. CONTACT THE AUTHORS =================== If you have got questions, remarks or comments on qpOASES, send them to [email protected] Alternatively, you can directly contact one of the main authors: Hans Joachim Ferreau, [email protected] Andreas Potschka, [email protected] Christian Kirches, [email protected] Also bug reports and source code extensions are most welcome! ## ## end of file ##
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