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501 lines
16 KiB
501 lines
16 KiB
4 years ago
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/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
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* Christian Kirches et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/qpOASES_e/Utils.h
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* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
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* \version 3.1embedded
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* \date 2007-2015
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*
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* Declaration of some utilities for working with the different QProblem classes.
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*/
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#ifndef QPOASES_UTILS_H
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#define QPOASES_UTILS_H
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#include <qpOASES_e/MessageHandling.h>
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BEGIN_NAMESPACE_QPOASES
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/** Prints a vector.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printV( const real_t* const v, /**< Vector to be printed. */
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int n /**< Length of vector. */
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);
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/** Prints a permuted vector.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printPV( const real_t* const v, /**< Vector to be printed. */
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int n, /**< Length of vector. */
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const int* const V_idx /**< Pemutation vector. */
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);
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/** Prints a named vector.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printNV( const real_t* const v, /**< Vector to be printed. */
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int n, /**< Length of vector. */
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const char* name /** Name of vector. */
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);
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/** Prints a matrix.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printM( const real_t* const M, /**< Matrix to be printed. */
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int nrow, /**< Row number of matrix. */
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int ncol /**< Column number of matrix. */
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);
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/** Prints a permuted matrix.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printPM( const real_t* const M, /**< Matrix to be printed. */
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int nrow, /**< Row number of matrix. */
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int ncol , /**< Column number of matrix. */
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const int* const ROW_idx, /**< Row pemutation vector. */
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const int* const COL_idx /**< Column pemutation vector. */
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);
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/** Prints a named matrix.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printNM( const real_t* const M, /**< Matrix to be printed. */
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int nrow, /**< Row number of matrix. */
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int ncol, /**< Column number of matrix. */
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const char* name /** Name of matrix. */
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);
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/** Prints an index array.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printI( const int* const _index, /**< Index array to be printed. */
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int n /**< Length of index array. */
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);
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/** Prints a named index array.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printNI( const int* const _index, /**< Index array to be printed. */
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int n, /**< Length of index array. */
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const char* name /**< Name of index array. */
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);
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/** Prints a string to desired output target (useful also for MATLAB output!).
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_myPrintf( const char* s /**< String to be written. */
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);
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/** Prints qpOASES copyright notice.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_printCopyrightNotice( );
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/** Reads a real_t matrix from file.
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* \return SUCCESSFUL_RETURN \n
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RET_UNABLE_TO_OPEN_FILE \n
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RET_UNABLE_TO_READ_FILE */
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returnValue qpOASES_readFromFileM( real_t* data, /**< Matrix to be read from file. */
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int nrow, /**< Row number of matrix. */
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int ncol, /**< Column number of matrix. */
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const char* datafilename /**< Data file name. */
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);
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/** Reads a real_t vector from file.
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* \return SUCCESSFUL_RETURN \n
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RET_UNABLE_TO_OPEN_FILE \n
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RET_UNABLE_TO_READ_FILE */
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returnValue qpOASES_readFromFileV( real_t* data, /**< Vector to be read from file. */
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int n, /**< Length of vector. */
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const char* datafilename /**< Data file name. */
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);
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/** Reads an integer (column) vector from file.
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* \return SUCCESSFUL_RETURN \n
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RET_UNABLE_TO_OPEN_FILE \n
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RET_UNABLE_TO_READ_FILE */
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returnValue qpOASES_readFromFileI( int* data, /**< Vector to be read from file. */
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int n, /**< Length of vector. */
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const char* datafilename /**< Data file name. */
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);
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/** Writes a real_t matrix into a file.
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* \return SUCCESSFUL_RETURN \n
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RET_UNABLE_TO_OPEN_FILE */
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returnValue qpOASES_writeIntoFileM( const real_t* const data, /**< Matrix to be written into file. */
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int nrow, /**< Row number of matrix. */
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int ncol, /**< Column number of matrix. */
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const char* datafilename, /**< Data file name. */
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BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
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);
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/** Writes a real_t vector into a file.
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* \return SUCCESSFUL_RETURN \n
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RET_UNABLE_TO_OPEN_FILE */
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returnValue qpOASES_writeIntoFileV( const real_t* const data, /**< Vector to be written into file. */
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int n, /**< Length of vector. */
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const char* datafilename, /**< Data file name. */
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BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
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);
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/** Writes an integer (column) vector into a file.
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* \return SUCCESSFUL_RETURN \n
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RET_UNABLE_TO_OPEN_FILE */
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returnValue qpOASES_writeIntoFileI( const int* const integer, /**< Integer vector to be written into file. */
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int n, /**< Length of vector. */
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const char* datafilename, /**< Data file name. */
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BooleanType append /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
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);
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/** Writes a real_t matrix/vector into a Matlab binary file.
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* \return SUCCESSFUL_RETURN \n
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RET_INVALID_ARGUMENTS
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RET_UNABLE_TO_WRITE_FILE */
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returnValue qpOASES_writeIntoMatFile( FILE* const matFile, /**< Pointer to Matlab binary file. */
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const real_t* const data, /**< Data to be written into file. */
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int nRows, /**< Row number of matrix. */
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int nCols, /**< Column number of matrix. */
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const char* name /**< Matlab name of matrix/vector to be stored. */
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);
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/** Writes in integer matrix/vector into a Matlab binary file.
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* \return SUCCESSFUL_RETURN \n
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RET_INVALID_ARGUMENTS
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RET_UNABLE_TO_WRITE_FILE */
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returnValue qpOASES_writeIntoMatFileI( FILE* const matFile, /**< Pointer to Matlab binary file. */
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const int* const data, /**< Data to be written into file. */
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int nRows, /**< Row number of matrix. */
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int nCols, /**< Column number of matrix. */
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const char* name /**< Matlab name of matrix/vector to be stored. */
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);
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/** Returns the current system time.
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* \return current system time */
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real_t qpOASES_getCPUtime( );
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/** Returns the N-norm of a vector.
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* \return >= 0.0: successful */
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real_t qpOASES_getNorm( const real_t* const v, /**< Vector. */
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int n, /**< Vector's dimension. */
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int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */
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);
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/** Tests whether two real-valued arguments are (numerically) equal.
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* \return BT_TRUE: arguments differ not more than TOL \n
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BT_FALSE: arguments differ more than TOL */
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static inline BooleanType qpOASES_isEqual( real_t x, /**< First real number. */
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real_t y, /**< Second real number. */
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real_t TOL /**< Tolerance for comparison. */
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);
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/** Tests whether a real-valued argument is (numerically) zero.
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* \return BT_TRUE: argument differs from 0.0 not more than TOL \n
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BT_FALSE: argument differs from 0.0 more than TOL */
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static inline BooleanType qpOASES_isZero( real_t x, /**< Real number. */
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real_t TOL /**< Tolerance for comparison. */
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);
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/** Returns sign of a real-valued argument.
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* \return 1.0: argument is non-negative \n
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-1.0: argument is negative */
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static inline real_t qpOASES_getSign( real_t arg /**< real-valued argument whose sign is to be determined. */
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);
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/** Returns maximum of two integers.
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* \return Maximum of two integers */
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static inline int qpOASES_getMaxI( int x, /**< First integer. */
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int y /**< Second integer. */
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);
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/** Returns minimum of two integers.
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* \return Minimum of two integers */
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static inline int qpOASES_getMinI( int x, /**< First integer. */
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int y /**< Second integer. */
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);
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/** Returns maximum of two reals.
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* \return Maximum of two reals */
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static inline real_t qpOASES_getMax( real_t x, /**< First real number. */
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real_t y /**< Second real number. */
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);
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/** Returns minimum of two reals.
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* \return Minimum of two reals */
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static inline real_t qpOASES_getMin( real_t x, /**< First real number. */
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real_t y /**< Second real number. */
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);
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/** Returns the absolute value of a real_t-valued argument.
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* \return Absolute value of a real_t-valued argument */
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static inline real_t qpOASES_getAbs( real_t x /**< real_t-valued argument. */
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);
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/** Returns the square-root of a real number.
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* \return Square-root of a real number */
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static inline real_t qpOASES_getSqrt( real_t x /**< Non-negative real number. */
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);
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/** Computes the maximum violation of the KKT optimality conditions
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* of given iterate for given QP data. */
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returnValue qpOASES_getKktViolation( int nV, /**< Number of variables. */
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int nC, /**< Number of constraints. */
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const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
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const real_t* const g, /**< Gradient vector. */
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const real_t* const A, /**< Constraint matrix. */
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const real_t* const lb, /**< Lower bound vector (on variables). */
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const real_t* const ub, /**< Upper bound vector (on variables). */
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const real_t* const lbA, /**< Lower constraints' bound vector. */
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const real_t* const ubA, /**< Upper constraints' bound vector. */
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const real_t* const x, /**< Primal trial vector. */
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const real_t* const y, /**< Dual trial vector. */
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real_t* const _stat, /**< Output: maximum value of stationarity condition residual. */
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real_t* const feas, /**< Output: maximum value of primal feasibility violation. */
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real_t* const cmpl /**< Output: maximum value of complementarity residual. */
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);
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/** Computes the maximum violation of the KKT optimality conditions
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* of given iterate for given QP data. */
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returnValue qpOASES_getKktViolationSB( int nV, /**< Number of variables. */
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const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
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const real_t* const g, /**< Gradient vector. */
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const real_t* const lb, /**< Lower bound vector (on variables). */
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const real_t* const ub, /**< Upper bound vector (on variables). */
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const real_t* const x, /**< Primal trial vector. */
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const real_t* const y, /**< Dual trial vector. */
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real_t* const _stat, /**< Output: maximum value of stationarity condition residual. */
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real_t* const feas, /**< Output: maximum value of primal feasibility violation. */
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real_t* const cmpl /**< Output: maximum value of complementarity residual. */
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);
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/** Writes a value of BooleanType into a string.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_convertBooleanTypeToString( BooleanType value, /**< Value to be written. */
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char* const string /**< Input: String of sufficient size, \n
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Output: String containing value. */
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);
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/** Writes a value of SubjectToStatus into a string.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_convertSubjectToStatusToString( SubjectToStatus value, /**< Value to be written. */
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char* const string /**< Input: String of sufficient size, \n
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Output: String containing value. */
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);
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/** Writes a value of PrintLevel into a string.
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* \return SUCCESSFUL_RETURN */
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returnValue qpOASES_convertPrintLevelToString( PrintLevel value, /**< Value to be written. */
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char* const string /**< Input: String of sufficient size, \n
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Output: String containing value. */
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);
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/** Converts a returnValue from an QProblem(B) object into a more
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* simple status flag.
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*
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* \return 0: QP problem solved
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* 1: QP could not be solved within given number of iterations
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* -1: QP could not be solved due to an internal error
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* -2: QP is infeasible (and thus could not be solved)
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* -3: QP is unbounded (and thus could not be solved)
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*/
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int qpOASES_getSimpleStatus( returnValue returnvalue, /**< ReturnValue to be analysed. */
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BooleanType doPrintStatus /**< Flag indicating whether simple status shall be printed to screen. */
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);
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/** Normalises QP constraints.
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* \return SUCCESSFUL_RETURN \n
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* RET_INVALID_ARGUMENTS */
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returnValue qpOASES_normaliseConstraints( int nV, /**< Number of variables. */
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int nC, /**< Number of constraints. */
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real_t* A, /**< Input: Constraint matrix, \n
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Output: Normalised constraint matrix. */
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real_t* lbA, /**< Input: Constraints' lower bound vector, \n
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|
|
Output: Normalised constraints' lower bound vector. */
|
||
|
|
real_t* ubA, /**< Input: Constraints' upper bound vector, \n
|
||
|
|
Output: Normalised constraints' upper bound vector. */
|
||
|
|
int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */
|
||
|
|
);
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef __DEBUG__
|
||
|
|
/** Writes matrix with given dimension into specified file. */
|
||
|
|
void gdb_printmat( const char *fname, /**< File name. */
|
||
|
|
real_t *M, /**< Matrix to be written. */
|
||
|
|
int n, /**< Number of rows. */
|
||
|
|
int m, /**< Number of columns. */
|
||
|
|
int ldim /**< Leading dimension. */
|
||
|
|
);
|
||
|
|
#endif /* __DEBUG__ */
|
||
|
|
|
||
|
|
|
||
|
|
#if defined(__DSPACE__) || defined(__XPCTARGET__)
|
||
|
|
void __cxa_pure_virtual( void );
|
||
|
|
#endif /* __DSPACE__ || __XPCTARGET__*/
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* i s E q u a l
|
||
|
|
*/
|
||
|
|
static inline BooleanType qpOASES_isEqual( real_t x,
|
||
|
|
real_t y,
|
||
|
|
real_t TOL
|
||
|
|
)
|
||
|
|
{
|
||
|
|
if ( qpOASES_getAbs(x-y) <= TOL )
|
||
|
|
return BT_TRUE;
|
||
|
|
else
|
||
|
|
return BT_FALSE;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* i s Z e r o
|
||
|
|
*/
|
||
|
|
static inline BooleanType qpOASES_isZero( real_t x,
|
||
|
|
real_t TOL
|
||
|
|
)
|
||
|
|
{
|
||
|
|
if ( qpOASES_getAbs(x) <= TOL )
|
||
|
|
return BT_TRUE;
|
||
|
|
else
|
||
|
|
return BT_FALSE;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t S i g n
|
||
|
|
*/
|
||
|
|
static inline real_t qpOASES_getSign( real_t arg
|
||
|
|
)
|
||
|
|
{
|
||
|
|
if ( arg >= 0.0 )
|
||
|
|
return 1.0;
|
||
|
|
else
|
||
|
|
return -1.0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t M a x
|
||
|
|
*/
|
||
|
|
static inline int qpOASES_getMaxI( int x,
|
||
|
|
int y
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return (y<x) ? x : y;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t M i n
|
||
|
|
*/
|
||
|
|
static inline int qpOASES_getMinI( int x,
|
||
|
|
int y
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return (y>x) ? x : y;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t M a x
|
||
|
|
*/
|
||
|
|
static inline real_t qpOASES_getMax( real_t x,
|
||
|
|
real_t y
|
||
|
|
)
|
||
|
|
{
|
||
|
|
#ifdef __NO_FMATH__
|
||
|
|
return (y<x) ? x : y;
|
||
|
|
#else
|
||
|
|
return (y<x) ? x : y;
|
||
|
|
/*return fmax(x,y); seems to be slower */
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t M i n
|
||
|
|
*/
|
||
|
|
static inline real_t qpOASES_getMin( real_t x,
|
||
|
|
real_t y
|
||
|
|
)
|
||
|
|
{
|
||
|
|
#ifdef __NO_FMATH__
|
||
|
|
return (y>x) ? x : y;
|
||
|
|
#else
|
||
|
|
return (y>x) ? x : y;
|
||
|
|
/*return fmin(x,y); seems to be slower */
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t A b s
|
||
|
|
*/
|
||
|
|
static inline real_t qpOASES_getAbs( real_t x
|
||
|
|
)
|
||
|
|
{
|
||
|
|
#ifdef __NO_FMATH__
|
||
|
|
return (x>=0.0) ? x : -x;
|
||
|
|
#else
|
||
|
|
return fabs(x);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* g e t S q r t
|
||
|
|
*/
|
||
|
|
static inline real_t qpOASES_getSqrt( real_t x
|
||
|
|
)
|
||
|
|
{
|
||
|
|
#ifdef __NO_FMATH__
|
||
|
|
return sqrt(x); /* put your custom sqrt-replacement here */
|
||
|
|
#else
|
||
|
|
return sqrt(x);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
END_NAMESPACE_QPOASES
|
||
|
|
|
||
|
|
|
||
|
|
#endif /* QPOASES_UTILS_H */
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* end of file
|
||
|
|
*/
|