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value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | ssketch/motorControl-master | optstep.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/optstep.m | 6,443 | utf_8 | 21b6cc713b5ef56473e77a8612c28512 | % [x,y] = optstep(A,b,c, y0,y,d,v,dxmdz, K,L,symLden,...
% dense,Ablkjc,Aord,ADA,DAt, feasratio, R,pars)
% OPTSTEP Implements Mehrotra-Ye type optimality projection for
% IPM-LP solver.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [x,y... |
github | ssketch/motorControl-master | pretransfo.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/pretransfo.m | 12,688 | utf_8 | 881fbde15f9b3cf52ac3365f952ef57d | % [At,b,c,K,prep] = pretransfo(At,b,c,K)
% PRETRANSFO Checks data and then transforms into internal SeDuMi format.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [At,b,c,K,prep,origcoeff] = pretransfo(At,b,c,K,pars)
% This file is par... |
github | ssketch/motorControl-master | deninfac.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/deninfac.m | 4,011 | utf_8 | ef6c9ab0007f59ec3cc9de9b7eb0650e | % [Lden, Ld] = deninfac(symLden, L,dense,DAt, d, absd, qblkstart,pars)
% DENINFAC
% Uses pars.maxuden as max. allowable |L(i,k)|. Otherwise num. reordering.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function [Lden, Ld] = deninfac(symLden, L,dense,D... |
github | ssketch/motorControl-master | eigK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/eigK.m | 4,483 | utf_8 | f86d12675232384fa726b4e514ad8514 | % [lab,q,f] = eigK(x,K)
%
% EIGK Computes the spectral values ("eigenvalues") or even the complete
% spectral decomposition of a vector x with respect to a self-dual
% homogeneous cone K.
%
% > LAB = EIGK(x,K) This yield the spectral values of x wi... |
github | ssketch/motorControl-master | wrapPcg.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/wrapPcg.m | 4,793 | utf_8 | 12cfcfe6ab49a7c989c04b51258c4c84 | % [y,r,k, DAy] = normeqPcg(L,Lden,At,dense,d, DAt,K, b, cgpars, y0,rhs)
%
% WRAPPCG Solve y from AP(d)A' * y = b
% using PCG-method and Cholesky L as conditioner.
% If L is sufficiently accurate, then only 1 CG-step is needed.
% In general, proceeds until ||DAy - DA'(AD^2A')^{-1}b||
% has converged (to zero).... |
github | ssketch/motorControl-master | tdet.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/tdet.m | 1,737 | utf_8 | c2287c26212e36d77c3c07278bbe72c1 | % tdetx = tdet(x,K)
% TDET Computes twice determinant for Lorentz block
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function tdetx = tdet(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005... |
github | ssketch/motorControl-master | ordmmdmex.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/ordmmdmex.m | 1,303 | utf_8 | 278c6d7ec0838f828ff3a5a213d3894f | % perm = ordmmdmex(adjncy)
% Computes multiple-minimum-degree permutation, for sparse
% Cholesky. Adjncy is a sparse symmetric matrix; its diagonal
% is irrelevant.
%
% Invokes SPARSPAK-A Release III.
%
% ********** INTERNAL FUNCTION OF CHOLTOOL **********
function perm = ordmmdmex(adjncy)
%
% ... |
github | ssketch/motorControl-master | quadadd.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/quadadd.m | 1,863 | utf_8 | 7e4b4c6944a4b6b3afac416b8f6b4b46 | % [zhi,zlo] = quadadd(xhi,xlo,y)
% QUADADD Compute (zhi+zlo) = (xhi+xlo) + y.
% x an z are in double-double format (quad precision)
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [zhi,zlo] = quadadd(xhi,xlo,y)
%
% This file is part... |
github | ssketch/motorControl-master | vectril.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/vectril.m | 1,805 | utf_8 | bc3bc920887126a83dc9c3a369bb1f0c | % y = vectril(x,K)
% VECTRIL converts "PSD" blocks to lower triangular form.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = vectril(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copy... |
github | ssketch/motorControl-master | partitA.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/partitA.m | 1,862 | utf_8 | 6e9917c47220d7d6d6b9dcafe9064061 | % Ablkjc = partitA(At,blkstart)
% PARTITA Partition columns of A according to the subscripts listed in blkstart.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function Ablkjc = partitA(At,blkstart)
%
% This file is part ... |
github | ssketch/motorControl-master | psdinvjmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/psdinvjmul.m | 1,828 | utf_8 | 6bf22ae1d0d7d4c2d248639e79ffa700 | % z = psdinvjmul(xlab,xfrm, y, K)
% PSDINVJMUL solves x jmul z = y, with x = XFRM*diag(xlab)*XFRM'
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function z = psdinvjmul(xlab,xfrm, y, K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and... |
github | ssketch/motorControl-master | getDAt.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getDAt.m | 2,090 | utf_8 | c93d1c5b0d98bbdd2581fc2766541947 | % [DAtq, DAts] = getDAt(At,Ablk,colsel, d,ud,K)
%
%Creates
% DAt.s full nnz x 1 vector, containing nonzeroblocks(T) with T a
% sparse N x length(colsel) matrix, with Ablk.s(:,colsel) block struct.
% NOTE: only triu(.) stored per block, with redundant 0's in tril.
% So triu(Ud*Aik*Ud') in nonzero bloc... |
github | ssketch/motorControl-master | bwdpr1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/bwdpr1.m | 1,877 | utf_8 | cb69691e8826f9a16bde0d47405b98f7 | % y = bwdpr1(Lden, b)
% BWDPR1 Solves "PROD_k L(pk,betak)' * y = b", where
% L(p,beta) = eye(n) + tril(p*beta',-1).
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi, dpr1fact, fwdpr1
function y = bwdpr1(Lden, b)
%
% Thi... |
github | ssketch/motorControl-master | frameit.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/frameit.m | 1,638 | utf_8 | ff75edc1c04664ac0c62b57b1eb1661e | % x = frameit(lab,frmq,frms,K)
% FRAMEIT
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function x = frameit(lab,frmq,frms,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster Univer... |
github | ssketch/motorControl-master | getada1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getada1.m | 2,396 | utf_8 | 206486ca5437a093fb9a1fdd855ff1f2 | % ADA = getada1(ADA, A,Ajc2,perm, d, blkstart)
% GETADA1 Compute ADA(i,j) = (D(d^2; LP,Lorentz)*A.t(:,i))' *A.t(:,j),
% and exploit sparsity as much as possible.
% Ajc2 points just beyond LP/Lorentz nonzeros for each column
% blkstart = K.qblkstart partitions into Lorentz bloc... |
github | ssketch/motorControl-master | sddir.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sddir.m | 3,345 | utf_8 | 00ebfa573895fcf59bc790b35a0eb489 | % [dx,dy,dz,dy0, err] = sddir(L,Lden,Lsd,p,...
% d,v,vfrm,At,DAt,dense, R,K,y,y0,b, pars)
% SDDIR Direction decomposition for Ye-Todd-Mizuno self-dual embedding.
% Here, p is the direction p = dx+dz. If p=[], then assume p=-v,
% the "affine scalin... |
github | ssketch/motorControl-master | bwblkslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/bwblkslv.m | 1,585 | utf_8 | 7aab88b5b2c5bbc0b8395d1d2a21f1ec | % BWBLKSLV Solves block sparse upper-triangular system.
% y = bwblkslv(L,b) yields the same result as
% y(L.perm,:) = L.L'\b
% However, BWBLKSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% Typical use, with X... |
github | ssketch/motorControl-master | sqrtinv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sqrtinv.m | 1,862 | utf_8 | 5b37f7048bfd0cdc7f02dad339241051 | % y = sqrtinv(q,vlab,K)
% SQRTINV Computes for PSD-cone, y = (Q / diag(sqrt(vlab)))', so that
% Y'*Y = inv(Q * diag(vlab) * Q').
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = sqrtinv(q,vlab,K)
%
% This file is part ... |
github | ssketch/motorControl-master | vecsym.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/vecsym.m | 1,811 | utf_8 | 7f48e3da88265c01b5f864c6904b2c46 | % y = vecsym(x,K)
% VECSYM For the PSD submatrices, we let Yk = (Xk+Xk')/2
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = vecsym(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
... |
github | ssketch/motorControl-master | makereal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/makereal.m | 1,854 | utf_8 | 12d68656c3562650dcde9762b1a0032e | % y = makereal(x,K,cpx)
% MAKEREAL Converts matrix in MATLAB-complex format to internal
% SeDuMi format.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function y = makereal(x,K,cpx)
%
% This file is part of SeDuM... |
github | ssketch/motorControl-master | Amul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/Amul.m | 2,073 | utf_8 | a40d098552f610081ae070716fcd38d0 | % y = Amul(At,dense,x,transp)
% AMUL Computes A*x (transp=0) or A'*x (transp=1), taking care of dense.A.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = Amul(At,dense,x,transp)
%
% This file is part of SeDuMi 1.1 by Imre P... |
github | ssketch/motorControl-master | stepdif.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/stepdif.m | 7,011 | utf_8 | c1865ed77c9842ad9ab6fcaab21d3913 | % [t,rcdx] = stepdif(d,R,y0,x,y,z,dy0,dx,dy,dz,b,mint,tpmtd)
% STEPDIF Implements Primal-Dual Step-Differentiation for self-dual model
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [t,rcdx] = stepdif(d,R,y0,x,y,z,dy0,dx,dy,dz,b,mint,tpmtd)
%
% This file i... |
github | ssketch/motorControl-master | qblkmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/qblkmul.m | 1,896 | utf_8 | 22ce6e66d900889019bc1b7c003b3fa6 | % y = qblkmul(mu,d,blkstart)
% QBLKMUL yields length(y)=blkstart(end)-blkstart(1) vector with
% y[k] = mu(k) * d[k]; the blocks d[k] are partitioned by blkstart.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = qblkmul(mu... |
github | ssketch/motorControl-master | psdjmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/psdjmul.m | 1,930 | utf_8 | e17e0699b98b824d8f759e9d3ece4e16 | % z = psdmul(x,y, K)
% PSDMUL for full x,y. Computes (XY+YX)/2
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function z = psdjmul(x,y, K)
%
% This file is part of SeDuMi 1.3 by Imre Polik
% Copyright (C) 2005 McMaster University... |
github | ssketch/motorControl-master | widelen.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/widelen.m | 4,664 | utf_8 | 85ca6ba0a63cb73f61d19a3d78279cfe | % [t,wr,w] = widelen(xc,zc,y0, dx,dz,dy0,d2y0, maxt,pars,K)
%
% WIDELEN Computes approximate wide-region neighborhood step length.
% Does extensive line search only if it pays, that is the resulting
% rate will be at most twice the best possible rate, and the step-length
% at least half of the best p... |
github | ssketch/motorControl-master | psdeig.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/psdeig.m | 2,612 | utf_8 | c9b9e8ce67175c165dfac971f67a23a5 | % [lab,q] = psdeig(x,K)
% PSDEIG Computes spectral coefficients of x w.r.t. K
% Arguments "q" is optional - without it's considerably faster.
% FLOPS indication: 1.3 nk^3 versus 9.0 nk^3 for nk=500,
% 1.5 nk^3 9.8 nk^3 for nk=50.
%
% *... |
github | ssketch/motorControl-master | sdfactor.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sdfactor.m | 2,689 | utf_8 | 709222cac79973f9bc08b1f2f0ccdbbf | % [Lsd,Rscl] = sdfactor(L,Lden, dense,DAt, d,v,y, At,K,R,y0,pars)
% SDFACTOR Factor self-dual embedding
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function Lsd = sdfactor(L,Lden, dense,DAt, d,v,y, At,c,K,R,y0,pars)
%
% This file is part of SeDuMi 1.1 by... |
github | ssketch/motorControl-master | maxstep.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/maxstep.m | 2,720 | utf_8 | d29347fc1532f4e8df8358fd237ecb9b | % tp = maxstep(dx,x,auxx,K)
% MAXSTEP Computes maximal step length to the boundary of the cone K.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function tp = maxstep(dx,x,auxx,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr R... |
github | ssketch/motorControl-master | getada3.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getada3.m | 2,105 | utf_8 | 11ceb2c4517a6a6e4b9e5ea48eb7c955 | % [ADA,absd] = getada3(ADA, A,Ajc1,Aord, udsqr,K)
% GETADA3 Compute ADA(i,j) = (D(d^2)*A.t(:,i))' *A.t(:,j),
% and exploit sparsity as much as possible.
% absd - length m output vector, containing
% absd(i) = abs((D(d^2)*A.t(:,i))' *abs(A.t(:,i)).
% Hence, diag(ADA)./absd gi... |
github | ssketch/motorControl-master | mat.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/mat.m | 1,829 | utf_8 | a1a316630e44574ed78920f5612b3e6d | % Y = MAT(x,n) or Y = MAT(x) (the 2nd argument is optional)
% Given a vector of length n^2, this produces the n x n matrix
% Y such that x = vec(Y). In other words, x contains the columns of the
% matrix Y, stacked below each other.
%
% See also vec.
function X = mat(x,n)
%
% This file is par... |
github | ssketch/motorControl-master | blkchol.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/blkchol.m | 2,605 | utf_8 | da4d2517ae14a82752904f11f6cbc84e | % [L.L, L.d, L.skip, L.add] = blkchol(L,X,pars,absd)
% BLKCHOL Fast block sparse Cholesky factorization.
% The sparse Cholesky factor will be placed in the fields L.L, L.d;
% the symbolic factorization fields remain unchanged.
% On input, L should be the symbolic factori... |
github | ssketch/motorControl-master | psdfactor.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/psdfactor.m | 2,456 | utf_8 | 96443c1466de8fa756ed03d2d6cecf4e | % [ux,ispos] = psdfactor(x,K)
% PSDFACTOR UX'*UX Cholesky factorization
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [ux,ispos] = psdfactor(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright... |
github | ssketch/motorControl-master | adendotd.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/adendotd.m | 1,876 | utf_8 | 6485f3519ff8aa417135217d11492b65 | % Ad = Adendotd(dense, d, sparAd, Ablk, blkstart)
% ADENDOTD Computes d[k]'*Aj[k] for Lorentz blocks that are to be factored
% by dpr1fact.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function Ad = Adendotd(dense, d, sparAd, Ablk, blkstart)
%
% This... |
github | ssketch/motorControl-master | qjmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/qjmul.m | 2,538 | utf_8 | a1df3f1c1085dda5f3432444681c0e74 | % z = qjmul(x,y,K)
% QJMUL Implements Jordan product for Lorentz cones
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function z = qjmul(x,y,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) ... |
github | ssketch/motorControl-master | wregion.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/wregion.m | 8,078 | utf_8 | ce92b33341db85f802e7d9e5cd2a69d7 | % [xscl,y,zscl,y0, w,relt, dxmdz,err, wr] = wregion(L,Lden,Lsd,...
% d,v,vfrm,A,DAt,dense, R,K,y,y0,b, pars, wr)
% WREGION Implements Sturm-Zhang Wide-region Interior Point Method.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function... |
github | ssketch/motorControl-master | ddot.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/ddot.m | 2,082 | utf_8 | c709cf41a873a49728a71063ac1b11e7 | % ddotX = ddot(d,X,blkstart [, Xblkjc])
% DDOT Given N x m matrix X, creates (blkstart(end)-blkstart(1)) x m matrix
% ddotX, having entries d[i]'* xj[i] for each (Lorentz norm bound) block
% blkstart(i):blkstart(i+1)-1. If X is sparse, then Xblkjc(:,2:3) should
% point to first... |
github | ssketch/motorControl-master | getdense.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getdense.m | 4,850 | utf_8 | 23575ea33e5467f2687071aae09dcada | % [dense,Adotdden] = getdense(At,Ablkjc,K,pars)
% GETDENSE Creates dense.{l,cols,q}.
% Try to find small proportion of the cone primitives that appear
% in a large proportion of the primal constraints.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% ... |
github | ssketch/motorControl-master | givensrot.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/givensrot.m | 1,768 | utf_8 | c06e2ebf2373bf05293d82dfbba507a1 | % y = givensrot(gjc,g,x,K)
% GIVENSROT
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = givensrot(gjc,g,x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, H... |
github | ssketch/motorControl-master | sparbwslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sparbwslv.m | 2,035 | utf_8 | 0549765090e0d9f6f70449eb65e4c1fb | % SPARBWSLV Solves block sparse upper-triangular system.
% y = sparbwslv(L,b) yields the same result as
% y(L.perm,:) = L.L'\b
% However, SPARBWSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% Typical use, wit... |
github | ssketch/motorControl-master | cellK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/cellK.m | 3,587 | utf_8 | 16c58714b6e3f669c6a2647fbfa79272 | % xcell = cellK(x,K)
% CELLK Stores SeDuMi cone K-vector in cell-array format.
%
% On output xcell.f and xcell.l are the free and >=0 components,
% xcell.q{k}, xcell.r{k} and xcell.s{k} contain the Lorentz,
% Rotated Lorentz, and PSD-components, resp.
% xc... |
github | ssketch/motorControl-master | rotlorentz.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/rotlorentz.m | 1,734 | utf_8 | 2360f679ed280039c549592a3c993aff | % c = rotlorentz(c,K)
% Rotates vectors from Qcone to Rcone or from Rcone into Qcone.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function c = rotlorentz(c,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Ham... |
github | ssketch/motorControl-master | PopK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/PopK.m | 2,058 | utf_8 | f5d78e3b27636285dfc03b5da8fcbc93 | % [y, ddotx, Dx, xTy] = PopK(d,x,K,lpq)
% POPK Implements the quadratic operator for symmetric cones K.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [y, ddotx, Dx, xTy] = PopK(d,x,K,lpq)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Olek... |
github | ssketch/motorControl-master | updtransfo.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/updtransfo.m | 4,731 | utf_8 | c73de722512195da9daad6fa6bf75a0d | % [d,vfrm] = updtransfo(x,z,w, dIN,K)
% UPDTRANSFO Updated the Nesterov-Todd transformation using a
% numerically stable method.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [d,vfrm] = updtransfo(x,z,w, dIN,K)
%
% This file is par... |
github | ssketch/motorControl-master | symbcholden.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/symbcholden.m | 2,555 | utf_8 | ba6fe026b0102d1fd909b6903c62aa1f | % Lden = symbcholden(L,dense,DAt)
% SYMBCHOLDEN Creates Lden.{LAD, perm,dz, sign, first}
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, dpr1fact
function Lden = symbcholden(L,dense,DAt)
%
% This file is part of SeDuMi ... |
github | ssketch/motorControl-master | psdinvscale.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/psdinvscale.m | 2,422 | utf_8 | 06f82b385e12594de31afb4f00a28806 | % y = psdinvscale(ud,x,K ,transp)
% PSDINVSCALE Computes length lenud (=sum(K.s.^2)) vector y.
% Computes y = D(d^{-1}) x with d in K.
% Y = Ud' \ X / Ud
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also scaleK, factorK.
function y = psdinvscale(... |
github | ssketch/motorControl-master | eyeK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/eyeK.m | 1,833 | utf_8 | 3e5751a6b689151b000068b15e4c6e3f | % eyeK Identity w.r.t. symmetric cone.
% x = eyeK(K) produces the identity solution w.r.t. the symmetric cone,
% that is described by the structure K. This is the vector for which
% eigK(x) is the all-1 vector.
%
% See also eigK.
function x = eyeK(K)
% This file is part of SeDuMi 1.1 by Imre Poli... |
github | ssketch/motorControl-master | sparfwslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/sparfwslv.m | 2,276 | utf_8 | b0e876743c52edb4ceb0cee125503411 | % SPARFWSLV Solves block sparse upper-triangular system.
% y = sparfwslv(L,b) yields the same result as
% y = L.L\b(L.perm,:)
% However, SPARFWSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% For sparse b, one... |
github | ssketch/motorControl-master | fwdpr1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/fwdpr1.m | 1,880 | utf_8 | 750b7c554452e985b5efa0cf663e2a6f | % y = fwdpr1(Lden, b)
% FWDPR1 Solves "PROD_k L(pk,betak) * y = b", where
% where L(p,beta) = eye(n) + tril(p*beta',-1).
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi, dpr1fact, bwdpr1
function y = fwdpr1(Lden, b)
%
% ... |
github | ssketch/motorControl-master | sortnnz.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/sortnnz.m | 2,004 | utf_8 | 5787292e2973a25b28e10c4231898cd3 | % perm = sortnnz(At,Ajc1,Ajc2)
% SORTNNZ Sorts columns in At
% in increasing order of nnzs; only the nnzs between Ajc1 and Ajc2
% are considered for each column. If Ajc1 or Ajc2 is empty, we use
% the start or end of the columns in At.
%
% *******************... |
github | ssketch/motorControl-master | loopPcg.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/loopPcg.m | 6,270 | utf_8 | c663b50c5b75f46e8f1ed2b8234e7b12 | % [y,k, DAy] = loopPcg(L,Lden,At,dense,d, DAt,K, b,p,ssqrNew,cgpars, restol)
%
% LOOPPCG Solve y from AP(d)A' * y = b
% using PCG-method and Cholesky L as conditioner.
% If L is sufficiently accurate, then only 1 CG-step is needed.
% It assumes that the previous step was p, with
% ssqrNew = bOld'*inv(L*THETA*L')*... |
github | ssketch/motorControl-master | finsymbden.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/finsymbden.m | 2,134 | utf_8 | 6655ba7d4743010e2bc35c7b275189e9 | % Lden = finsymbden(LAD,perm,dz,firstq)
% FINSYMBDEN Updates perm and dz by inserting the
% last Lorentz trace columns (last columns of LAD). It creates the fields
% Lden.sign - +1 for "normal" columns, -1 for Lorentz trace columns
% Lden.first - First pivot column that will a... |
github | ssketch/motorControl-master | minpsdeig.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/minpsdeig.m | 2,402 | utf_8 | 76851a44cd0651e86e2cc15f3f3a1a10 | % mineig = minpsdeig(x,K)
% MINPSDEIG Computes the smallest spectral coefficients of x w.r.t. K
% Uses an iterative method if the matrix is large, takes the minimum of all
% the eigenvalues if the matrix is small.
%
% ********** INTERNAL FUNCTION OF SEDUMI *********... |
github | ssketch/motorControl-master | getDAtm.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/getDAtm.m | 2,007 | utf_8 | 34c7a3a2c33ccc2675038ad7141d5ac1 | % DAt = getDAtm(A,Ablkjc,dense,DAtdenq,d,K)
% GETDATM Computes d[k]'*Aj[k] for each lorentz block k and constraint j.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, getada2.
function DAt = getDAtm(A,Ablkjc,dense,DAtdenq,d,K)... |
github | ssketch/motorControl-master | findblks.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/findblks.m | 2,043 | utf_8 | 3f129b5e60da81b88cd358b1cd2e6c3d | % Ablk = findblks(At,Ablkjc,blk0,blk1,blkstart)
% FINDBLKS Find nonzero blocks
% in A, with subscripts per column bounded bij Ablkjc([blk0,blk1]),
% block partitioned by blkstart.
% If blk0 < 1 (blk1 > size(Ablkjc,2)) then start (stop) searching at column
% start (end) of A.
%
% ... |
github | ssketch/motorControl-master | invcholfac.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/invcholfac.m | 1,859 | utf_8 | 755e6abd3ff3729ea8ca73c9f551cf9e | % y = invcholfac(u,K, perm)
% INVCHOLFAC Computes y(perm,perm) = u' * u, with u upper triangular.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, getada3
function y = invcholfac(u,K, perm)
%
% This file is part ... |
github | ssketch/motorControl-master | qframeit.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/qframeit.m | 1,773 | utf_8 | d09af1c0a97090bae278b9ab98bae212 | % x = qframeit(lab,frmq,K)
%
% *********************** INTERNAL FUNCTION OF SEDUMI *******************
%
% See also sedumi
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Hamilton, CANADA (since 1.1)
%
% Copyright (C) 2001 Jos F. Sturm (up to ... |
github | ssketch/motorControl-master | incorder.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/incorder.m | 2,194 | utf_8 | 97e815101c79e061951a6a6d797cdd88 | % [perm, dz] = incorder(At [,Ajc1,ifirst])
% INCORDER
% perm sorts the columns of At greedily, by iteratively picking
% the 1st unprocessed column with the least number of nonzero
% subscripts THAT ARE NOT YET COVERED (hence incremental) by
% the previously processed columns.
% dz... |
github | ssketch/motorControl-master | qreshape.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/qreshape.m | 2,004 | utf_8 | 8858b2ff82c1d786a4839a098e36b22b | % y = qreshape(x,flag, K)
% QRESHAPE Reshuffles entries associated with Lorentz blocks.
% If flag = 0 then y = [x1 for each block; x2 for each block]
% If flag = 1 then y = [x block 1; x block 2; etc], etc
% Thus, x = qreshape(qreshape(x,0,K),1,K).
%
% *********... |
github | ssketch/motorControl-master | dpr1fact.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/dpr1fact.m | 2,130 | utf_8 | a7d6a597603312764583d96eae64edd0 | % [Lden,L.d] = dpr1fact(x, d, Lsym, smult, maxu)
% DPR1FACT Factor d[iag] p[lus] r[ank] 1:
% [Lden,L.d] = dpr1fact(x, d, Lsym, smult, maxu)
% Computes fi and d such that
% diag(d_IN) + x*diag(smult)*x' =
%(PI_{i=1}^n L(p_OUT^i,beta_i)) * diag(d_OUT) * (PI_{i=1}^n L(p_OUT^... |
github | ssketch/motorControl-master | iswnbr.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/iswnbr.m | 4,448 | utf_8 | c9e284b91161b0871549bd7f27bafcbf | % [delta,h,alpha] = iswnbr(vSQR,thetaSQR)
% ISWNBR Checks feasibility w.r.t. wide region/neighborhood of Sturm-Zhang.
% vTAR:= (1-alpha)*max(h,v) projection v onto theta-central region
% delta = (sqrt(n)/theta) * norm(vTAR - v) / norm(v)
%
% ********** INTERNAL FUNCTION OF SEDUMI *... |
github | ssketch/motorControl-master | fwblkslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/fwblkslv.m | 2,004 | utf_8 | 29331f9be35273a4679f1718f0f770c1 | % FWBLKSLV Solves block sparse upper-triangular system.
% y = fwblkslv(L,b) yields the same result as
% y = L.L\b(L.perm,:)
% However, FWBLKSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% Typical use, with X ... |
github | ssketch/motorControl-master | trydif.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/trydif.m | 2,561 | utf_8 | 188705faedb79d0ad34ec9dcdf8d1f2c | % [t,wr,w] = trydif(t,wrIN,wIN, x,z, pars,K)
% TRYDIF Tries feasibility of differentiated step length w.r.t.
% wide region and its neighborhood.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi, stepdif
function [t,wr,w] = trydif(t,wrIN,wIN, x,z, pars,K)
%
% This... |
github | ssketch/motorControl-master | asmDxq.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/asmDxq.m | 2,803 | utf_8 | 8d99cd2fd94ebd77f97312468887a518 | % y = asmDxq(d, x, K [, ddotx])
% ASMDXQ Assemble y = D(d)x for x in Lorentz part of K.
% [y,t] = AasmDxq(d, x, K [, ddotx]) then y[k]+t(k)*d[k] = D(dk)xk.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [y,t] = asmDxq(d, x, K, ddot... |
github | ssketch/motorControl-master | symfctmex.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/symfctmex.m | 2,036 | utf_8 | f6b84d76ece75f7290517e625e446e0f | % [L,perm,xsuper,split,tmpsiz] = symfctmex(X, perm, cachsz)
% Computes sparse symbolic factor L, updated permutation PERM,
% super-node partition XSUPER, and a splitting of supernodes
% (SPLIT) to optimize use of the computer cache (assuming
% CACHSZ*1024 byte available). TMPSIZ is the amount of floating
... |
github | ssketch/motorControl-master | symbchol.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/symbchol.m | 3,280 | utf_8 | b1399e65f8a5d81fa2cd34978f28f52d | % L = symbchol(X)
% SYMBCHOL Symbolic block sparse Cholesky factorization.
% L = symbchol(X) returns a structure L that can be used
% by the efficient block sparse Cholesky solver SPARCHOL.
% The fields in L have the following meaning:
%
% L.perm ... |
github | ssketch/motorControl-master | getsymbada.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/getsymbada.m | 2,353 | utf_8 | 1cde359d723d90aa1e2d454be98d3642 | % SYMBADA = getsymbada(At,Ajc,DAt,psdblkstart)
% GETSYMBADA
% Ajc points to start of PSD-nonzeros per column
% DAt.q has the nz-structure of ddotA.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, partitA, getada1, getada2.
func... |
github | ssketch/motorControl-master | statsK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/statsK.m | 1,824 | utf_8 | 0a46c333f48d0aca7d2fbf79d3a0f760 | % K = statsK(K)
% STATSK Collects statistics (max and sum of dimensions) of cone K
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function K = statsK(K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksa... |
github | ssketch/motorControl-master | qinvjmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/qinvjmul.m | 2,473 | utf_8 | f77d40ca42c72f1e46286c5ac4b3d71c | % y = qinvjmul(labx,frmx,b,K)
% QINVJMUL Inverse of Jordan multiply for Lorentz blocks
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = qinvjmul(labx,frmx,b,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Roman... |
github | ssketch/motorControl-master | whichcpx.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/whichcpx.m | 1,811 | utf_8 | d327df172a4d2386a5a003c9b1b1c266 | % cpx = whichcpx(K)
% WHICHCPX yields structure cpx.{f,q,r,x}
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function cpx = whichcpx(K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
... |
github | ssketch/motorControl-master | triumtriu.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/triumtriu.m | 2,016 | utf_8 | 64224c5cc11e9543095c85203848fc01 | % y = triumtriu(r,u,K)
% TRIUMTRIU Computes y = r * u
% Both r and u should be upper triangular.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = triumtriu(r,u,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Ol... |
github | ssketch/motorControl-master | getada2.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/getada2.m | 1,955 | utf_8 | f11451d9ac4e7f81983e3db2b9b12e33 | % ADA = getada2(ADA, DAt,Aord, K)
% GETADA2 Compute ADA += DAt.q'*DAt.q
% IMPORTANT: Updated ADA only on triu(ADA(Aord.qperm,Aord.qperm)).
% Remaining entries are not affected.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedu... |
github | ssketch/motorControl-master | urotorder.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/urotorder.m | 1,843 | utf_8 | 3f00fac00ed650f384981a17ffb08e89 | % [u,perm,gjc,g] = urotorder(u,K, maxu,permIN)
% UROTORDER Stable reORDERing of triu U-factor by Givens ROTations.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [u,perm,gjc,g] = urotorder(u,K, maxu,permIN)
%
% This file is part of SeDuMi 1.1 by Im... |
github | ssketch/motorControl-master | extractA.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/extractA.m | 2,236 | utf_8 | 931300071e3c261cefec875eb0a86600 | % Apart = extractA(At,Ajc,blk0,blk1,blkstart[,blkstart2])
% EXTRACTA Fast alternative to
% Apart = At(blkstart(1):blkstart(2)-1,:).
% Instead of blkstart(2), it takes "blkstart2" (if supplied) or
% size(At,1)+1 (if neither blkstart(2) nor blkstart2) are available.
%
% Extract submatrix of
% A ... |
github | ssketch/motorControl-master | veccomplex.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/veccomplex.m | 3,079 | utf_8 | ba07f0641a238be5b9726d1798d6b8ae | % z = veccomplex(x,cpx,K)
% ********** INTERNAL FUNCTION OF SEDUMI **********
function z = veccomplex(x,cpx,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Hamilton, CANADA (since 1.1)
%
% Copyright (C) 2001 Jos F. Sturm (up to 1.05R5)
%... |
github | ssketch/motorControl-master | vec.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/vec.m | 1,606 | utf_8 | 5478f392e563f694b197e427626d7462 | % Y = VEC(x) Given an m x n matrix x, this produces the vector Y of length
% m*n that contains the columns of the matrix x, stacked below each other.
%
% See also mat.
function x = vec(X)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Hami... |
github | ssketch/motorControl-master | sdinit.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/sdinit.m | 4,613 | utf_8 | c23c6956e3a8fe19e16dfdd700b278eb | % [d, v,vfrm,y,y0, R] = sdinit(At,b,c,dense,K,pars)
% SDINIT Initialize with identity solution, for self-dual model.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [d, v,vfrm,y,y0, R] = sdinit(At,b,c,dense,K,pars)
%
% This file is part of SeD... |
github | ssketch/motorControl-master | psdscale.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/psdscale.m | 6,304 | utf_8 | 3cf74e984e9d00ce8d8ed7aff240230d | % y = psdscale(ud,x,K [,transp])
% PSDSCALE Computes length lenud (=sum(K.s.^2)) vector y.
% !transp (default) then y[k] = vec(Ldk' * Xk * Ldk)
% transp == 1 then y[k] = vec(Udk' * Xk * Udk)
% Uses pivot ordering ud.perm if available and nonempty.
%
% ********** I... |
github | ssketch/motorControl-master | checkpars.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/checkpars.m | 6,176 | utf_8 | 971e0b44a6edc0150d639e30dc50a98f | % pars = checkpars(pars,lponly)
% CHECKPARS Fills in defaults for missing fields in "pars" structure.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function pars = checkpars(pars,lponly)
%
% This file is part of SeDuMi 1.1 by Imre Polik ... |
github | ssketch/motorControl-master | optstep.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/optstep.m | 6,443 | utf_8 | 21b6cc713b5ef56473e77a8612c28512 | % [x,y] = optstep(A,b,c, y0,y,d,v,dxmdz, K,L,symLden,...
% dense,Ablkjc,Aord,ADA,DAt, feasratio, R,pars)
% OPTSTEP Implements Mehrotra-Ye type optimality projection for
% IPM-LP solver.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [x,y... |
github | ssketch/motorControl-master | pretransfo.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/pretransfo.m | 12,688 | utf_8 | 881fbde15f9b3cf52ac3365f952ef57d | % [At,b,c,K,prep] = pretransfo(At,b,c,K)
% PRETRANSFO Checks data and then transforms into internal SeDuMi format.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [At,b,c,K,prep,origcoeff] = pretransfo(At,b,c,K,pars)
% This file is par... |
github | ssketch/motorControl-master | deninfac.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/deninfac.m | 4,011 | utf_8 | ef6c9ab0007f59ec3cc9de9b7eb0650e | % [Lden, Ld] = deninfac(symLden, L,dense,DAt, d, absd, qblkstart,pars)
% DENINFAC
% Uses pars.maxuden as max. allowable |L(i,k)|. Otherwise num. reordering.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function [Lden, Ld] = deninfac(symLden, L,dense,D... |
github | ssketch/motorControl-master | eigK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/eigK.m | 4,483 | utf_8 | f86d12675232384fa726b4e514ad8514 | % [lab,q,f] = eigK(x,K)
%
% EIGK Computes the spectral values ("eigenvalues") or even the complete
% spectral decomposition of a vector x with respect to a self-dual
% homogeneous cone K.
%
% > LAB = EIGK(x,K) This yield the spectral values of x wi... |
github | ssketch/motorControl-master | wrapPcg.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/wrapPcg.m | 4,793 | utf_8 | 12cfcfe6ab49a7c989c04b51258c4c84 | % [y,r,k, DAy] = normeqPcg(L,Lden,At,dense,d, DAt,K, b, cgpars, y0,rhs)
%
% WRAPPCG Solve y from AP(d)A' * y = b
% using PCG-method and Cholesky L as conditioner.
% If L is sufficiently accurate, then only 1 CG-step is needed.
% In general, proceeds until ||DAy - DA'(AD^2A')^{-1}b||
% has converged (to zero).... |
github | ssketch/motorControl-master | tdet.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/tdet.m | 1,737 | utf_8 | c2287c26212e36d77c3c07278bbe72c1 | % tdetx = tdet(x,K)
% TDET Computes twice determinant for Lorentz block
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function tdetx = tdet(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005... |
github | ssketch/motorControl-master | ordmmdmex.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/ordmmdmex.m | 1,303 | utf_8 | 278c6d7ec0838f828ff3a5a213d3894f | % perm = ordmmdmex(adjncy)
% Computes multiple-minimum-degree permutation, for sparse
% Cholesky. Adjncy is a sparse symmetric matrix; its diagonal
% is irrelevant.
%
% Invokes SPARSPAK-A Release III.
%
% ********** INTERNAL FUNCTION OF CHOLTOOL **********
function perm = ordmmdmex(adjncy)
%
% ... |
github | ssketch/motorControl-master | quadadd.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/quadadd.m | 1,863 | utf_8 | 7e4b4c6944a4b6b3afac416b8f6b4b46 | % [zhi,zlo] = quadadd(xhi,xlo,y)
% QUADADD Compute (zhi+zlo) = (xhi+xlo) + y.
% x an z are in double-double format (quad precision)
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [zhi,zlo] = quadadd(xhi,xlo,y)
%
% This file is part... |
github | ssketch/motorControl-master | vectril.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/vectril.m | 1,805 | utf_8 | bc3bc920887126a83dc9c3a369bb1f0c | % y = vectril(x,K)
% VECTRIL converts "PSD" blocks to lower triangular form.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = vectril(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copy... |
github | ssketch/motorControl-master | partitA.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/partitA.m | 1,862 | utf_8 | 6e9917c47220d7d6d6b9dcafe9064061 | % Ablkjc = partitA(At,blkstart)
% PARTITA Partition columns of A according to the subscripts listed in blkstart.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function Ablkjc = partitA(At,blkstart)
%
% This file is part ... |
github | ssketch/motorControl-master | psdinvjmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/psdinvjmul.m | 1,828 | utf_8 | 6bf22ae1d0d7d4c2d248639e79ffa700 | % z = psdinvjmul(xlab,xfrm, y, K)
% PSDINVJMUL solves x jmul z = y, with x = XFRM*diag(xlab)*XFRM'
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function z = psdinvjmul(xlab,xfrm, y, K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and... |
github | ssketch/motorControl-master | getDAt.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/getDAt.m | 2,090 | utf_8 | c93d1c5b0d98bbdd2581fc2766541947 | % [DAtq, DAts] = getDAt(At,Ablk,colsel, d,ud,K)
%
%Creates
% DAt.s full nnz x 1 vector, containing nonzeroblocks(T) with T a
% sparse N x length(colsel) matrix, with Ablk.s(:,colsel) block struct.
% NOTE: only triu(.) stored per block, with redundant 0's in tril.
% So triu(Ud*Aik*Ud') in nonzero bloc... |
github | ssketch/motorControl-master | bwdpr1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/bwdpr1.m | 1,877 | utf_8 | cb69691e8826f9a16bde0d47405b98f7 | % y = bwdpr1(Lden, b)
% BWDPR1 Solves "PROD_k L(pk,betak)' * y = b", where
% L(p,beta) = eye(n) + tril(p*beta',-1).
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi, dpr1fact, fwdpr1
function y = bwdpr1(Lden, b)
%
% Thi... |
github | ssketch/motorControl-master | frameit.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/frameit.m | 1,638 | utf_8 | ff75edc1c04664ac0c62b57b1eb1661e | % x = frameit(lab,frmq,frms,K)
% FRAMEIT
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function x = frameit(lab,frmq,frms,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster Univer... |
github | ssketch/motorControl-master | getada1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/getada1.m | 2,396 | utf_8 | 206486ca5437a093fb9a1fdd855ff1f2 | % ADA = getada1(ADA, A,Ajc2,perm, d, blkstart)
% GETADA1 Compute ADA(i,j) = (D(d^2; LP,Lorentz)*A.t(:,i))' *A.t(:,j),
% and exploit sparsity as much as possible.
% Ajc2 points just beyond LP/Lorentz nonzeros for each column
% blkstart = K.qblkstart partitions into Lorentz bloc... |
github | ssketch/motorControl-master | sddir.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/sddir.m | 3,345 | utf_8 | 00ebfa573895fcf59bc790b35a0eb489 | % [dx,dy,dz,dy0, err] = sddir(L,Lden,Lsd,p,...
% d,v,vfrm,At,DAt,dense, R,K,y,y0,b, pars)
% SDDIR Direction decomposition for Ye-Todd-Mizuno self-dual embedding.
% Here, p is the direction p = dx+dz. If p=[], then assume p=-v,
% the "affine scalin... |
github | ssketch/motorControl-master | bwblkslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/bwblkslv.m | 1,585 | utf_8 | 7aab88b5b2c5bbc0b8395d1d2a21f1ec | % BWBLKSLV Solves block sparse upper-triangular system.
% y = bwblkslv(L,b) yields the same result as
% y(L.perm,:) = L.L'\b
% However, BWBLKSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% Typical use, with X... |
github | ssketch/motorControl-master | sqrtinv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/sqrtinv.m | 1,862 | utf_8 | 5b37f7048bfd0cdc7f02dad339241051 | % y = sqrtinv(q,vlab,K)
% SQRTINV Computes for PSD-cone, y = (Q / diag(sqrt(vlab)))', so that
% Y'*Y = inv(Q * diag(vlab) * Q').
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = sqrtinv(q,vlab,K)
%
% This file is part ... |
github | ssketch/motorControl-master | vecsym.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/vecsym.m | 1,811 | utf_8 | 7f48e3da88265c01b5f864c6904b2c46 | % y = vecsym(x,K)
% VECSYM For the PSD submatrices, we let Yk = (Xk+Xk')/2
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = vecsym(x,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
... |
github | ssketch/motorControl-master | makereal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/makereal.m | 1,854 | utf_8 | 12d68656c3562650dcde9762b1a0032e | % y = makereal(x,K,cpx)
% MAKEREAL Converts matrix in MATLAB-complex format to internal
% SeDuMi format.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function y = makereal(x,K,cpx)
%
% This file is part of SeDuM... |
github | ssketch/motorControl-master | Amul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/Amul.m | 2,073 | utf_8 | a40d098552f610081ae070716fcd38d0 | % y = Amul(At,dense,x,transp)
% AMUL Computes A*x (transp=0) or A'*x (transp=1), taking care of dense.A.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = Amul(At,dense,x,transp)
%
% This file is part of SeDuMi 1.1 by Imre P... |
github | ssketch/motorControl-master | stepdif.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/maci64/sedumi_1_3_maci64/stepdif.m | 7,011 | utf_8 | c1865ed77c9842ad9ab6fcaab21d3913 | % [t,rcdx] = stepdif(d,R,y0,x,y,z,dy0,dx,dy,dz,b,mint,tpmtd)
% STEPDIF Implements Primal-Dual Step-Differentiation for self-dual model
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [t,rcdx] = stepdif(d,R,y0,x,y,z,dy0,dx,dy,dz,b,mint,tpmtd)
%
% This file i... |
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