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198 lines
6.6 KiB
198 lines
6.6 KiB
8 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) 2007-2008 by Hans Joachim Ferreau 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. See the GNU
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* 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/Utils.hpp
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2007-2008
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*
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* Declaration of global utility functions for working with qpOASES.
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*/
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#ifndef QPOASES_UTILS_HPP
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#define QPOASES_UTILS_HPP
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#include <MessageHandling.hpp>
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#ifdef PC_DEBUG /* Define print functions only for debugging! */
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/** Prints a vector.
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* \return SUCCESSFUL_RETURN */
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returnValue print( 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 print( 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 print( 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 print( 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 print( 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 print( 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 print( 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 print( 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 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 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 readFromFile( 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 readFromFile( 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 readFromFile( 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 writeIntoFile( 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 writeIntoFile( 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 writeIntoFile( 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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#endif /* PC_DEBUG */
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/** Returns the current system time.
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* \return current system time */
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real_t getCPUtime( );
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/** Returns the Euclidean norm of a vector.
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* \return 0: successful */
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real_t getNorm( const real_t* const v, /**< Vector. */
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int n /**< Vector's dimension. */
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);
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/** Returns the absolute value of a real_t.
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* \return Absolute value of a real_t */
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inline real_t getAbs( real_t x /**< Input argument. */
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);
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#include <Utils.ipp>
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#endif /* QPOASES_UTILS_HPP */
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/*
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* end of file
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*/
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