<commit_before>/**************************************************************************************************
*                                                                                                 *
* This file is part of HPMPC.                                                                     *
*                                                                                                 *
* HPMPC -- Library for High-Performance implementation of solvers for MPC.                        *
* Copyright (C) 2014 by Technical University of Denmark. All rights reserved.                     *
*                                                                                                 *
* HPMPC 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.                              *
*                                                                                                 *
* HPMPC 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 HPMPC; if not, write to the Free Software                                    *
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA                  *
*                                                                                                 *
* Author: <NAME>, giaf (at) dtu.dk                                                       *
*                                                                                                 *
**************************************************************************************************/



HPMPC -- Library for High-Performance implementation of solvers for MPC.

The library contains an interior-point (IP) solver for the linear MPC (LMPC) problem with box constraints,
and a solver for the the linear-quadratic control problem (LQCP), that is a used as a routine
in the IP method. The library is self-contained and also contains the code for the linear-algebra
routines.

The code is highly-optimized for a number of common architectures, plus a reference version in 
plain C code. The architecture can be set in the Makefile.rule file. The code is intended to be 
used in a Linux machine and using gcc as compiler. Some optimized routine may not work with 
other compilers.

The folder test_problems contains some test problem for the linear-algebra, for the LQCP solver
and for the LMPC solver. The test problem can be chosen by editing the file
/test_problems/Makefile

The code comes in two version: generic and code-generation.

The the generic version is a proper library, that can solver problems of every size. It is 
generated typing in a terminal the command

$ make

that also runs the test problem.

The code-generation version can solver problem on only one size, to be specified in the file
problem_size.h . It is generated typing in a terminal the command

$ make codegen

that also runs the test problem.

Questions and comments can be send to the author <NAME>, at the email address
<commit_msg>fixed readme<commit_after>/**************************************************************************************************
*                                                                                                 *
* This file is part of HPMPC.                                                                     *
*                                                                                                 *
* HPMPC -- Library for High-Performance implementation of solvers for MPC.                        *
* Copyright (C) 2014 by Technical University of Denmark. All rights reserved.                     *
*                                                                                                 *
* HPMPC 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.                              *
*                                                                                                 *
* HPMPC 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 HPMPC; if not, write to the Free Software                                    *
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA                  *
*                                                                                                 *
* Author: <NAME>, giaf (at) dtu.dk                                                       *
*                                                                                                 *
**************************************************************************************************/



HPMPC -- Library for High-Performance implementation of solvers for MPC.

The library contains an interior-point (IP) solver for the linear MPC (LMPC) problem with box 
constraints, and a solver for the the linear-quadratic control problem (LQCP), that is a used as 
a routine in the IP method. The library is self-contained and also contains the code for the 
linear-algebra routines.

The code is highly-optimized for a number of common architectures, plus a reference version in 
plain C code. The architecture can be set in the Makefile.rule file. The code is intended to be 
used in a Linux machine and using gcc as compiler. Some optimized routine may not work with 
other compilers.

The folder test_problems contains some test problem for the linear-algebra, for the LQCP solver
and for the LMPC solver. The test problem can be chosen by editing the file
/test_problems/Makefile

The code comes in two version: generic and code-generation.

The the generic version is a proper library, that can solver problems of every size. It is 
generated typing in a terminal the command

$ make

that also runs the test problem.

The code-generation version can solver problem on only one size, to be specified in the file
problem_size.h . It is generated typing in a terminal the command

$ make codegen

that also runs the test problem.

Questions and comments can be send to the author <NAME>, at the email address

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