The HQP distribution contains the following sub-directories:

Main modules

hqp

The actual solver for sparse nonlinear optimization

omu

Front-end Omuses for treating dynamic optimization problems

Examples

odc

Omuses Demo Collection (examples using the front-end Omuses)

hqp_docp

Example for directly using the DOCP interface of HQP

External model interfaces

hxi

Hqp eXternal Interfaces (currently S-function)

hqp_cute

Files required to run HQP with CUTE

Additional differential equation solvers

daspk

Place holder for DASPK differential-algebraic equation solver

rksuite

RKsuite differential equation solvers (by R.W. Brankin et al)

Base modules

meschach

Matrix library (by D.E. Steward and Z. Leyk)

iftcl

Interface wrapping Tcl (Tool Command Language; used for configuring solver options and for controlling the execution)

malloc

GNU malloc library (HQP may be configured to use GNU malloc instead of the system malloc)

Documentation

doc

Doxygen input file for generating source code documentation.