mpt_call_mplp

Purpose

A gateway function to MPLP solver (without errorchecks)

Syntax

R = mpt_call_mplp(S)

Description

The function call to MPLP solver from Opt class. Note that this solver is not capable of solving MPLP with the parameterized cost function, i.e. if there is non-zero pF term. Using option settings for MPLP solver taken from MPT2.6.

Input Arguments

Default: []

S

Object of the Opt class

Class: Opt

S.H

Quadratic part of the objective function.

Class: double

Default: 0

S.f

Linear part of the objective function.

Class: double

S.pF

Linear part of the objective function for parameters.

Class: double

Default: 0

S.A

Linear part of the inequality constraints ../../../../fig/mpt/modules/solvers/mpt_call_mplp1.png.

Class: double

S.b

Right hand side of the inequality constraints ../../../../fig/mpt/modules/solvers/mpt_call_mplp2.png.

Class: double

S.pB

Right hand side of the inequality constraints for parameters ../../../../fig/mpt/modules/solvers/mpt_call_mplp3.png.

Class: double

S.Ae

Linear part of the equality constraints ../../../../fig/mpt/modules/solvers/mpt_call_mplp4.png.

Class: double

Default: []

S.be

Right hand side of the equality constraints ../../../../fig/mpt/modules/solvers/mpt_call_mplp5.png.

Class: double

Default: []

S.pE

Right hand side of the equality constraints for parameters ../../../../fig/mpt/modules/solvers/mpt_call_mplp6.png.

Class: double

Default: []

S.lb

Lower bound for the decision variables ../../../../fig/mpt/modules/solvers/mpt_call_mplp7.png.

Class: double

Default: []

S.ub

Upper bound for the decision variables ../../../../fig/mpt/modules/solvers/mpt_call_mplp8.png.

Class: double

Default: []

S.Ath

Linear part of the inequality constraints ../../../../fig/mpt/modules/solvers/mpt_call_mplp9.png.

Class: double

Default: []

S.bth

Right hand side of the inequality constraints ../../../../fig/mpt/modules/solvers/mpt_call_mplp10.png.

Class: double

Default: []

S.M

Linear matrix involved in LCP.

Class: double

Default: []

S.q

Right hand side vector involved in LCP.

Class: double

Default: []

S.Q

Linear matrix involved in parametric formulation of LCP.

Class: double

Default: []

S.n

Number of decision variables.

Class: double

S.d

Number of parameters.

Class: double

S.m

Number of inequalities in ../../../../fig/mpt/modules/solvers/mpt_call_mplp11.png.

Class: double

S.me

Number of equalities in ../../../../fig/mpt/modules/solvers/mpt_call_mplp12.png.

Class: double

S.problem_type

A string specifying the problem to be solved

Class: char

Default: []

S.varOrder

Order of variables if the problem was processed by YALMIP first.

Class: double

Default: []

S.Internal

Internal property of Opt class.

Class: struct

Default: []

S.recover

Affine map for MPLP problems if there were any equalities present and have been removed by eliminateEquations method.

Class: struct

S.recover.Y

Matrix of the affine map ../../../../fig/mpt/modules/solvers/mpt_call_mplp13.png. The map is from the optimization variables involed in the reduced MPLP ../../../../fig/mpt/modules/solvers/mpt_call_mplp14.png to the original MPLP.

Class: double

Default: []

S.recover.th

Matrix of the affine map ../../../../fig/mpt/modules/solvers/mpt_call_mplp15.png. The map is from the optimization variables involed in the reduced MPLP ../../../../fig/mpt/modules/solvers/mpt_call_mplp16.png to the original MPLP.

Class: double

Default: []

Output Arguments

R

result structure

Class: struct

R.xopt

Optimal solution

Class: PolyUnion

R.mplpsol

Structure with the solution as returned by MPLP solver.

Class: struct

R.mplpsol.Pn

Array of polytopes in MPT2 format.

Class: polytope

R.mplpsol.Fi

Cell array of matrices of the control law given as ../../../../fig/mpt/modules/solvers/mpt_call_mplp17.png.

Class: cell

R.mplpsol.Gi

Cell array of matrices of the control law given as ../../../../fig/mpt/modules/solvers/mpt_call_mplp18.png.

Class: cell

R.mplpsol.activeConstraints

Index set of active constraints

Class: cell

R.mplpsol.Phard

Feasible domain.

Class: polytope

R.mplpsol.details

More details about the solution and the computation.

Class: struct

See Also

opt, mpt_solvemp


© 2010-2013 Martin Herceg: ETH Zurich, herceg@control.ee.ethz.ch