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

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!
The file LICENSE.txt contains a copy of the GNU Lesser General Public License (v2.1). Please read it carefully before using qpOASES!
The whole software package can be obtained from

http://www.qpOASES.org/ or https://github.com/coin-or/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!

coin-or / qpOASES

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