acado_types.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit 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 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit 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 ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_ACADO_TYPES_HPP
#define ACADO_TOOLKIT_ACADO_TYPES_HPP

#include <acado/utils/acado_namespace_macros.hpp>

BEGIN_NAMESPACE_ACADO

typedef unsigned int uint;

typedef bool BooleanType;
#define BT_TRUE true

#define BT_FALSE false

#define YES true

#define NO false

typedef void (*cFcnPtr)( double* x, double* f, void *userData );

typedef void (*cFcnDPtr)( int number, double* x, double* seed, double* f, double* df, void *userData );

enum NeutralElement{

    NE_ZERO,
    NE_ONE,
    NE_NEITHER_ONE_NOR_ZERO
};

enum OperatorName{

    ON_SIN,
    ON_COS,
    ON_TAN,
    ON_ASIN,
    ON_ACOS,
    ON_ATAN,
    ON_LOGARITHM,
    ON_EXP,
    ON_ADDITION,
    ON_SUBTRACTION,
    ON_POWER,
    ON_POWER_INT,
    ON_PRODUCT,
    ON_QUOTIENT,
    ON_VARIABLE,
    ON_DOUBLE_CONSTANT,
    ON_DIFFERENTIAL_STATE,
    ON_CEXPRESSION
};

enum VariableType{

    VT_DIFFERENTIAL_STATE,
    VT_ALGEBRAIC_STATE,
    VT_CONTROL,
    VT_INTEGER_CONTROL,
    VT_PARAMETER,
    VT_INTEGER_PARAMETER,
    VT_DISTURBANCE,
    VT_TIME,
    VT_INTERMEDIATE_STATE,
    VT_DDIFFERENTIAL_STATE,
    VT_OUTPUT,
    VT_VARIABLE,
    VT_ONLINE_DATA,
    VT_UNKNOWN
};


enum MergeMethod
{
        MM_KEEP,                        
        MM_REPLACE,                     
        MM_DUPLICATE            
};



enum SubBlockMatrixType{

    SBMT_ZERO,
    SBMT_ONE,
    SBMT_DENSE,
    SBMT_UNKNOWN
};


enum AlgebraicRelaxationType{

    ART_EXPONENTIAL,
    ART_ADAPTIVE_POLYNOMIAL,
    ART_UNKNOWN
};


enum LinearAlgebraSolver{

        HOUSEHOLDER_QR,
        GAUSS_LU,
    HOUSEHOLDER_METHOD,
        SPARSE_LU,
    LAS_UNKNOWN
};


enum ImplicitIntegratorMode{

        IFTR,                   
        IFT                             
};


enum MonotonicityType{

    MT_CONSTANT,
    MT_NONDECREASING,
    MT_NONINCREASING,
    MT_NONMONOTONIC,
    MT_UNKNOWN
};


enum CurvatureType{

    CT_CONSTANT,                     
    CT_AFFINE,                       
    CT_CONVEX,                       
    CT_CONCAVE,                      
    CT_NEITHER_CONVEX_NOR_CONCAVE,   
    CT_UNKNOWN                       
};


enum DifferentialEquationType{

    DET_ODE,                         
    DET_DAE,                         
    DET_UNKNOWN                      
};



enum StateDiscretizationType{

    SINGLE_SHOOTING,        
    MULTIPLE_SHOOTING,      
    COLLOCATION,            
    UNKNOWN_DISCRETIZATION  
};


enum ControlParameterizationType{

    CPT_CONSTANT,           
    CPT_LINEAR,             
    CPT_LINEAR_CONTINUOUS,  
    CPT_CUSTOMIZED,         
    CPT_UNKNOWN             
};


enum GlobalizationStrategy
{
        GS_FULLSTEP,                                    
        GS_LINESEARCH,                                  
        GS_UNKNOWN                                              
};


enum InterpolationMode
{
        IM_CONSTANT,                                    
        IM_LINEAR,                                              
        IM_QUADRATIC,                                   
        IM_CUBIC,                                               
        IM_UNKNOWN                                              
};


enum StateOfAggregation{

    SOA_FREEZING_MESH,             
    SOA_FREEZING_ALL,              
    SOA_MESH_FROZEN,               
    SOA_MESH_FROZEN_FREEZING_ALL,  
    SOA_EVERYTHING_FROZEN,         
    SOA_UNFROZEN,                  
    SOA_UNKNOWN                    
};


enum IntegratorType{

     INT_RK12,                  
     INT_RK23,                  
     INT_RK45,                  
     INT_RK78,                  
     INT_BDF,                   
     INT_DISCRETE,              
     INT_LYAPUNOV45,        
     INT_UNKNOWN                
};


enum MeasurementGrid{

        OFFLINE_GRID,           
        ONLINE_GRID             
};


enum UnrollOption{

     UNROLL,
     NO_UNROLL,
     HEURISTIC_UNROLL
};



enum PrintLevel
{
    NONE,        
    LOW,         
    MEDIUM,      
    HIGH,        
    DEBUG        
};

enum LogRecordItemType{

    LRT_ENUM,
    LRT_VARIABLE,
    LRT_UNKNOWN
};


enum LogFrequency{

    LOG_AT_START,
    LOG_AT_END,
    LOG_AT_EACH_ITERATION
};


enum LogPrintMode
{
        PRINT_ITEM_BY_ITEM,             
        PRINT_ITER_BY_ITER,             
        PRINT_LAST_ITER                 
};


enum OptionsName
{
        CG_FORCE_DIAGONAL_HESSIAN,                                      
        CG_CONDENSED_HESSIAN_CHOLESKY,                          
        CG_MODULE_NAME,                                                         
        CG_EXPORT_FOLDER_NAME,                                          
        CG_USE_ARRIVAL_COST,                                            
        CG_USE_OPENMP,                                                          
        CG_USE_VARIABLE_WEIGHTING_MATRIX,                       
        CG_USE_C99,                                                                     
        CG_COMPUTE_COVARIANCE_MATRIX,                           
        CG_HARDCODE_CONSTRAINT_VALUES,                          
        IMPLICIT_INTEGRATOR_MODE,                                       
        IMPLICIT_INTEGRATOR_NUM_ITS,                            
        IMPLICIT_INTEGRATOR_NUM_ITS_INIT,                       
        UNROLL_LINEAR_SOLVER,                                           
        INTEGRATOR_DEBUG_MODE,
        OPT_UNKNOWN,
        MAX_NUM_INTEGRATOR_STEPS,
        NUM_INTEGRATOR_STEPS,
        INTEGRATOR_TOLERANCE,
        MEX_ITERATION_STEPS,                                            
        MEX_VERBOSE,
        ABSOLUTE_TOLERANCE,
        INITIAL_INTEGRATOR_STEPSIZE,
        MIN_INTEGRATOR_STEPSIZE,
        MAX_INTEGRATOR_STEPSIZE,
        STEPSIZE_TUNING,
        CORRECTOR_TOLERANCE,
        INTEGRATOR_PRINTLEVEL,
        LINEAR_ALGEBRA_SOLVER,
        ALGEBRAIC_RELAXATION,
        RELAXATION_PARAMETER,
        PRINT_INTEGRATOR_PROFILE,
        FEASIBILITY_CHECK,
        MAX_NUM_ITERATIONS,
        KKT_TOLERANCE,
        KKT_TOLERANCE_SAFEGUARD,
        LEVENBERG_MARQUARDT,
        PRINTLEVEL,
        PRINT_COPYRIGHT,
        HESSIAN_APPROXIMATION,
        DYNAMIC_HESSIAN_APPROXIMATION,
        HESSIAN_PROJECTION_FACTOR,
        DYNAMIC_SENSITIVITY,
        OBJECTIVE_SENSITIVITY,
        CONSTRAINT_SENSITIVITY,
        DISCRETIZATION_TYPE,
        LINESEARCH_TOLERANCE,
        MIN_LINESEARCH_PARAMETER,
        QP_SOLVER,
        MAX_NUM_QP_ITERATIONS,
        HOTSTART_QP,
        INFEASIBLE_QP_RELAXATION,
        INFEASIBLE_QP_HANDLING,
        USE_REALTIME_ITERATIONS,
        USE_REALTIME_SHIFTS,
        USE_IMMEDIATE_FEEDBACK,
        TERMINATE_AT_CONVERGENCE,
        USE_REFERENCE_PREDICTION,
        FREEZE_INTEGRATOR,
        INTEGRATOR_TYPE,
        MEASUREMENT_GRID,
        SAMPLING_TIME,
        SIMULATE_COMPUTATIONAL_DELAY,
        COMPUTATIONAL_DELAY_FACTOR,
        COMPUTATIONAL_DELAY_OFFSET,
        PARETO_FRONT_DISCRETIZATION,
        PARETO_FRONT_GENERATION,
        PARETO_FRONT_HOTSTART,
        SIMULATION_ALGORITHM,
        CONTROL_PLOTTING,
        PARAMETER_PLOTTING,
        OUTPUT_PLOTTING,
        SPARSE_QP_SOLUTION,
        GLOBALIZATION_STRATEGY,
        CONIC_SOLVER_MAXIMUM_NUMBER_OF_STEPS,
        CONIC_SOLVER_TOLERANCE,
        CONIC_SOLVER_LINE_SEARCH_TUNING,
        CONIC_SOLVER_BARRIER_TUNING,
        CONIC_SOLVER_MEHROTRA_CORRECTION,
        CONIC_SOLVER_PRINT_LEVEL,
        PRINT_SCP_METHOD_PROFILE,
        PLOT_RESOLUTION,
        FIX_INITIAL_STATE,
        GENERATE_TEST_FILE,
        GENERATE_MAKE_FILE,
        GENERATE_SIMULINK_INTERFACE,
        GENERATE_MATLAB_INTERFACE,
        OPERATING_SYSTEM,
        USE_SINGLE_PRECISION
};


enum LogName
{
    LOG_NOTHING,
        // 1
        LOG_NUM_NLP_ITERATIONS, 
        LOG_NUM_SQP_ITERATIONS, 
        LOG_NUM_QP_ITERATIONS, 
        LOG_KKT_TOLERANCE,   
        LOG_OBJECTIVE_VALUE, 
        LOG_MERIT_FUNCTION_VALUE, 
        LOG_LINESEARCH_STEPLENGTH, 
        LOG_NORM_LAGRANGE_GRADIENT, 
        LOG_IS_QP_RELAXED, 
        // 10
        LOG_DUAL_RESIDUUM,
        LOG_PRIMAL_RESIDUUM,
        LOG_SURROGATE_DUALITY_GAP,
        LOG_NUM_INTEGRATOR_STEPS,
        LOG_TIME_SQP_ITERATION,
        LOG_TIME_CONDENSING,
        LOG_TIME_QP,
        LOG_TIME_RELAXED_QP,
        LOG_TIME_EXPAND,
        LOG_TIME_EVALUATION,
        // 20
        LOG_TIME_HESSIAN_COMPUTATION,
        LOG_TIME_GLOBALIZATION,
        LOG_TIME_SENSITIVITIES,
        LOG_TIME_LAGRANGE_GRADIENT,
        LOG_TIME_PROCESS,
        LOG_TIME_CONTROLLER,
        LOG_TIME_ESTIMATOR,
        LOG_TIME_CONTROL_LAW,
        LOG_DIFFERENTIAL_STATES, 
        LOG_ALGEBRAIC_STATES, 
        LOG_PARAMETERS, 
        LOG_CONTROLS, 
        LOG_DISTURBANCES, 
        LOG_INTERMEDIATE_STATES, 
        // 30
        LOG_DISCRETIZATION_INTERVALS, 
        LOG_STAGE_BREAK_POINTS,
        LOG_FEEDBACK_CONTROL,
        LOG_NOMINAL_CONTROLS,
        LOG_NOMINAL_PARAMETERS,
        LOG_SIMULATED_DIFFERENTIAL_STATES,
        LOG_SIMULATED_ALGEBRAIC_STATES,
        LOG_SIMULATED_CONTROLS,
        LOG_SIMULATED_PARAMETERS,
        LOG_SIMULATED_DISTURBANCES,
        // 40
        LOG_SIMULATED_INTERMEDIATE_STATES,
        LOG_SIMULATED_OUTPUT,
        LOG_PROCESS_OUTPUT,
    LOG_NUMBER_OF_INTEGRATOR_STEPS,
    LOG_NUMBER_OF_INTEGRATOR_REJECTED_STEPS,
    LOG_NUMBER_OF_INTEGRATOR_FUNCTION_EVALUATIONS,
    LOG_NUMBER_OF_BDF_INTEGRATOR_JACOBIAN_EVALUATIONS,
    LOG_TIME_INTEGRATOR,
    LOG_TIME_INTEGRATOR_FUNCTION_EVALUATIONS,
    LOG_TIME_BDF_INTEGRATOR_JACOBIAN_EVALUATION,
        // 50
    LOG_TIME_BDF_INTEGRATOR_JACOBIAN_DECOMPOSITION
};


enum PlotFrequency
{
        PLOT_AT_START,
        PLOT_AT_END,
        PLOT_AT_EACH_ITERATION,
        PLOT_IN_ANY_CASE,
        PLOT_NEVER
};


enum PlotName
{
        PLOT_NOTHING,
        // 1
//      PLOT_DIFFERENTIAL_STATES,
//      PLOT_ALGEBRAIC_STATES,
//      PLOT_CONTROLS,
//      PLOT_PARAMETERS,
//      PLOT_DISTURBANCES,
//      PLOT_INTERMEDIATE_STATES,
        PLOT_KKT_TOLERANCE,
        PLOT_OBJECTIVE_VALUE,
        PLOT_MERIT_FUNCTION_VALUE,
        PLOT_LINESEARCH_STEPLENGTH,
        PLOT_NORM_LAGRANGE_GRADIENT
};


enum ProcessPlotName
{
        PLOT_NOMINAL,
        PLOT_REAL
};


enum PlotFormat
{
        PF_PLAIN,                                               
        PF_LOG,                                                 
        PF_LOG_LOG,                                             
        PF_UNKNOWN                                              
};



enum PlotMode
{
        PM_LINES,                                               
        PM_POINTS,                                              
        PM_UNKNOWN                                              
};



enum SubPlotType
{
        SPT_VARIABLE,
        SPT_VARIABLE_VARIABLE,
        SPT_VARIABLE_EXPRESSION,
        SPT_VARIABLES_GRID,
        SPT_EXPRESSION,
        SPT_EXPRESSION_EXPRESSION,
        SPT_EXPRESSION_VARIABLE,
        SPT_ENUM,
        SPT_UNKNOWN
};


enum PrintScheme
{
        PS_DEFAULT,                     
        PS_PLAIN,                       
        PS_MATLAB,                      
        PS_MATLAB_BINARY        
};


enum SensitivityType{

    FORWARD_SENSITIVITY       ,    
    FORWARD_SENSITIVITY_LIFTED,    
    BACKWARD_SENSITIVITY      ,    
    UNKNOWN_SENSITIVITY            
};


enum CondensingType{

    CT_LIFTING,                 
    CT_SPARSE                   
};


enum ProcessSimulationAlgorithm
{
        SIMULATION_BY_INTEGRATION,              
        SIMULATION_BY_COLLOCATION               
};



enum HessianApproximationMode{

    CONSTANT_HESSIAN,
        // 1
    GAUSS_NEWTON,
    FULL_BFGS_UPDATE,
    BLOCK_BFGS_UPDATE,
    GAUSS_NEWTON_WITH_BLOCK_BFGS,
    EXACT_HESSIAN,
    DEFAULT_HESSIAN_APPROXIMATION
};


enum QPSolverName
{
        QP_QPOASES,
        QP_QPOASES3,
        QP_FORCES,
        QP_QPDUNES,
        QP_QPDUNES2,
        QP_HPMPC,
        QP_NONE
};


enum ConicSolverStatus{

    CSS_NOTINITIALISED,                 
    CSS_INITIALIZED,                    
    CSS_SOLVED,                                 
    CSS_UNKNOWN                                 
};



enum InfeasibleQPhandling
{
        IQH_STOP,                                       
        IQH_IGNORE,                                     
        IQH_RELAX_L1,                           
        IQH_RELAX_L2,                           
        IQH_UNDEFINED                           
};


enum QPStatus
{
    QPS_NOT_INITIALIZED,                
    QPS_INITIALIZED,                    
    QPS_SOLVING,                                
    QPS_SOLVED,                                 
    QPS_RELAXED,                                
    QPS_SOLVING_RELAXATION,             
    QPS_SOLVED_RELAXATION,              
    QPS_INFEASIBLE,                             
    QPS_UNBOUNDED,                              
    QPS_NOTSOLVED                               
};


enum CondensingStatus
{
    COS_NOT_INITIALIZED,                
    COS_INITIALIZED,                    
    COS_CONDENSED,                              
    COS_FROZEN                                  
};


enum BlockName
{
    BN_DEFAULT,
    BN_SIMULATION_ENVIRONMENT,
    BN_PROCESS,
    BN_ACTUATOR,
    BN_SENSOR,
    BN_CONTROLLER,
    BN_ESTIMATOR,
    BN_REFERENCE_TRAJECTORY,
    BN_CONTROL_LAW
};


enum BlockStatus
{
        BS_UNDEFINED,                           
        BS_NOT_INITIALIZED,                     
        BS_READY,                                       
        BS_RUNNING                                      
};


enum ClockStatus
{
        CS_NOT_INITIALIZED,                     
        CS_RUNNING,                                     
        CS_STOPPED                                      
};


enum TimeHorizonElement
{
        AT_TRANSITION = -3,
    AT_START,
    AT_END
};


enum ParetoFrontGeneration{

    PFG_FIRST_OBJECTIVE,
    PFG_SECOND_OBJECTIVE,
    PFG_WEIGHTED_SUM,
    PFG_NORMALIZED_NORMAL_CONSTRAINT,
    PFG_NORMAL_BOUNDARY_INTERSECTION,
    PFG_ENHANCED_NORMALIZED_NORMAL_CONSTRAINT,
    PFG_EPSILON_CONSTRAINT,
    PFG_UNKNOWN
};



enum SparseQPsolutionMethods
{
        SPARSE_SOLVER,
        CONDENSING,
        FULL_CONDENSING,
        FULL_CONDENSING_N2,
        CONDENSING_N2,
        FULL_CONDENSING_N2_FACTORIZATION
};



enum ExportStatementOperator
{
        ESO_ADD,
        ESO_SUBTRACT,
        ESO_ADD_ASSIGN,
        ESO_SUBTRACT_ASSIGN,
        ESO_MULTIPLY,
        ESO_MULTIPLY_TRANSPOSE,
        ESO_DIVIDE,
        ESO_MODULO,
        ESO_ASSIGN,
        ESO_UNDEFINED
};


enum OperatingSystem
{
        OS_DEFAULT,
        OS_UNIX,
        OS_WINDOWS
};


enum ExportType
{
        INT,
        REAL,
        STATIC_CONST_INT,
        STATIC_CONST_REAL
};

enum ExportStruct
{
        ACADO_VARIABLES,
        ACADO_WORKSPACE,
        ACADO_PARAMS,
        ACADO_VARS,
        ACADO_LOCAL,
        ACADO_ANY,
        FORCES_PARAMS,
        FORCES_OUTPUT,
        FORCES_INFO
};

enum CondensedHessianCholeskyDecomposition
{
        EXTERNAL,               
        INTERNAL_N3,    
        INTERNAL_N2             
};

enum returnValueType
{
TERMINAL_LIST_ELEMENT = -1,                                             
/* miscellaneous */
SUCCESSFUL_RETURN = 0,                                                  
RET_DIV_BY_ZERO,                                                                        
RET_INDEX_OUT_OF_BOUNDS,                                                
RET_INVALID_ARGUMENTS,                                                  
RET_ERROR_UNDEFINED,                                                    
RET_WARNING_UNDEFINED,                                                  
RET_INFO_UNDEFINED,                                                             
RET_EWI_UNDEFINED,                                                              
RET_AVAILABLE_WITH_LINUX_ONLY,                                  
RET_UNKNOWN_BUG,                                                                
RET_PRINTLEVEL_CHANGED,                                                 
RET_NOT_YET_IMPLEMENTED,                                                
RET_NOT_IMPLEMENTED_YET,                                                
RET_NOT_IMPLEMENTED_IN_BASE_CLASS,                              
RET_ASSERTION,                                                                  
RET_MEMBER_NOT_INITIALISED,                                     
RET_ABSTRACT_BASE_CLASS,                                                
RET_NO_DATA_FOUND,                                                              
RET_INPUT_DIMENSION_MISMATCH,                                   
RET_STRING_EXCEEDS_LENGTH,                                              
/* IO utils: */
RET_FILE_NOT_FOUND,                                                             
RET_FILE_CAN_NOT_BE_OPENED,                                             
RET_CAN_NOT_WRITE_INTO_FILE,                                    
RET_FILE_CAN_NOT_BE_CLOSED,                                             
RET_FILE_HAS_NO_VALID_ENTRIES,                                  
RET_DOES_DIRECTORY_EXISTS,                                              
/* DMatrix/DVector */
RET_VECTOR_DIMENSION_MISMATCH,                                  
RET_DIFFERENTIAL_STATE_DIMENSION_MISMATCH,              
RET_ALGEBRAIC_STATE_DIMENSION_MISMATCH,                 
RET_CONTROL_DIMENSION_MISMATCH,                                 
RET_PARAMETER_DIMENSION_MISMATCH,                               
RET_DISTURBANCE_DIMENSION_MISMATCH,                             
RET_OUTPUT_DIMENSION_MISMATCH,                                  
RET_MATRIX_NOT_SQUARE,                                                  
/* Sparse Solver */
RET_LINEAR_SYSTEM_NUMERICALLY_SINGULAR,                 
/* Grid */
RET_GRIDPOINT_SETUP_FAILED,                                             
RET_GRIDPOINT_HAS_INVALID_TIME,                                 
RET_CONFLICTING_GRIDS,                                                  
RET_TIME_INTERVAL_NOT_VALID,                                    
RET_INVALID_TIME_POINT,                                                 
/* Options */
RET_OPTION_ALREADY_EXISTS,                                              
RET_OPTION_DOESNT_EXIST,                                                
RET_OPTIONS_LIST_CORRUPTED,                                             
RET_INVALID_OPTION,                                                             
/* Plotting */
RET_PLOTTING_FAILED,                                                    
RET_EMPTY_PLOT_DATA,                                                    
RET_PLOT_WINDOW_CORRUPTED,                                              
RET_PLOT_COLLECTION_CORRUPTED,                                  
/* Logging */
RET_LOG_RECORD_CORRUPTED,                                               
RET_LOG_ENTRY_DOESNT_EXIST,                                             
RET_LOG_COLLECTION_CORRUPTED,                                   
/* SimulationEnvironment */
RET_BLOCK_DIMENSION_MISMATCH,                                   
RET_NO_PROCESS_SPECIFIED,                                               
RET_NO_CONTROLLER_SPECIFIED,                                    
RET_ENVIRONMENT_INIT_FAILED,                                    
RET_ENVIRONMENT_STEP_FAILED,                                    
RET_COMPUTATIONAL_DELAY_TOO_BIG,                                
RET_COMPUTATIONAL_DELAY_NOT_SUPPORTED,                  
/* Block */
RET_BLOCK_NOT_READY,                                                    
/* Time */
RET_NO_SYSTEM_TIME,                                                             
RET_CLOCK_NOT_READY,                                                    
/* Process */
RET_PROCESS_INIT_FAILED,                                                
RET_PROCESS_STEP_FAILED,                                                
RET_PROCESS_STEP_FAILED_DISTURBANCE,                    
RET_PROCESS_RUN_FAILED,                                                 
RET_NO_DYNAMICSYSTEM_SPECIFIED,                                 
RET_NO_INTEGRATIONALGORITHM_SPECIFIED,                  
RET_NO_DISCRETE_TIME_SYSTEMS_SUPPORTED,                 
RET_WRONG_DISTURBANCE_HORIZON,                                  
/* Actuator / Sensor */
RET_ACTUATOR_INIT_FAILED,                                               
RET_ACTUATOR_STEP_FAILED,                                               
RET_SENSOR_INIT_FAILED,                                                 
RET_SENSOR_STEP_FAILED,                                                 
RET_GENERATING_NOISE_FAILED,                                    
RET_DELAYING_INPUTS_FAILED,                                             
RET_DELAYING_OUTPUTS_FAILED,                                    
RET_INCOMPATIBLE_ACTUATOR_SAMPLING_TIME,                
RET_INCOMPATIBLE_SENSOR_SAMPLING_TIME,                  
RET_NO_DIFFERENT_NOISE_SAMPLING_FOR_DISCRETE,   
/* Noise */
RET_NO_NOISE_GENERATED,                                                 
RET_NO_NOISE_SETTINGS,                                                  
RET_INVALID_NOISE_SETTINGS,                                             
/* Controller */
RET_CONTROLLER_INIT_FAILED,                                             
RET_CONTROLLER_STEP_FAILED,                                             
RET_NO_ESTIMATOR_SPECIFIED,                                             
RET_NO_CONTROLLAW_SPECIFIED,                                    
RET_NO_REALTIME_MODE_AVAILABLE,                                 
/* DynamicControlUnit / Estimator / Optimizer */
RET_DCU_INIT_FAILED,                                                    
RET_DCU_STEP_FAILED,                                                    
RET_ESTIMATOR_INIT_FAILED,                                              
RET_ESTIMATOR_STEP_FAILED,                                              
RET_OPTIMIZER_INIT_FAILED,                                              
RET_OPTIMIZER_STEP_FAILED,                                              
RET_NO_OCP_SPECIFIED,                                                   
RET_NO_SOLUTIONALGORITHM_SPECIFIED,                             
/* ControlLaw */
RET_CONTROLLAW_INIT_FAILED,                                             
RET_CONTROLLAW_STEP_FAILED,                                             
RET_NO_OPTIMIZER_SPECIFIED,                                             
RET_INVALID_PID_OUTPUT_DIMENSION,                               
/* RealTimeAlgorithm */
RET_IMMEDIATE_FEEDBACK_ONE_ITERATION,                   
/* OutputTransformator */
RET_OUTPUTTRANSFORMATOR_INIT_FAILED,                    
RET_OUTPUTTRANSFORMATOR_STEP_FAILED,                    
/* Function */
RET_INVALID_USE_OF_FUNCTION,                                    
RET_INFEASIBLE_CONSTRAINT,                                              
RET_ONLY_SUPPORTED_FOR_SYMBOLIC_FUNCTIONS,              
RET_INFEASIBLE_ALGEBRAIC_CONSTRAINT,                    
RET_ILLFORMED_ODE,                                                              
/* Expression */
RET_PRECISION_OUT_OF_RANGE,                                             
RET_ERROR_WHILE_PRINTING_A_FILE,                                
RET_INDEX_OUT_OF_RANGE,                                                 
RET_INTERMEDIATE_STATE_HAS_NO_ARGUMENT,                 
RET_DIMENSION_NOT_SPECIFIED,                                    
/* Modeling Tools */
RET_DDQ_DIMENSION_MISMATCH,                                             
RET_CAN_ONLY_SOLVE_2ND_ORDER_KINVECS,                   
/* OBJECTIVE */
RET_GAUSS_NEWTON_APPROXIMATION_NOT_SUPPORTED,   
RET_REFERENCE_SHIFTING_WORKS_FOR_LSQ_TERMS_ONLY,        
/* Integrator */
RET_TRIVIAL_RHS,                                                                
RET_MISSING_INPUTS,                                                             
RET_TO_SMALL_OR_NEGATIVE_TIME_INTERVAL,                 
RET_FINAL_STEP_NOT_PERFORMED_YET,                               
RET_ALREADY_FROZEN,                                                             
RET_MAX_NUMBER_OF_STEPS_EXCEEDED,                               
RET_WRONG_DEFINITION_OF_SEEDS,                                  
RET_NOT_FROZEN,                                                                 
RET_TO_MANY_DIFFERENTIAL_STATES,                                
RET_TO_MANY_DIFFERENTIAL_STATE_DERIVATIVES,             
RET_RK45_CAN_NOT_TREAT_DAE,                                             
RET_CANNOT_TREAT_DAE,                                                   
RET_INPUT_HAS_WRONG_DIMENSION,                                  
RET_INPUT_OUT_OF_RANGE,                                                 
RET_THE_DAE_INDEX_IS_TOO_LARGE,                                 
RET_UNSUCCESSFUL_RETURN_FROM_INTEGRATOR_RK45,   
RET_UNSUCCESSFUL_RETURN_FROM_INTEGRATOR_BDF,    
RET_CANNOT_TREAT_DISCRETE_DE,                                   
RET_CANNOT_TREAT_CONTINUOUS_DE,                                 
RET_CANNOT_TREAT_IMPLICIT_DE,                                   
RET_CANNOT_TREAT_EXPLICIT_DE,                                   
/* DynamicDiscretization */
RET_TO_MANY_DIFFERENTIAL_EQUATIONS,                             
RET_BREAK_POINT_SETUP_FAILED,                                   
RET_WRONG_DEFINITION_OF_STAGE_TRANSITIONS,              
RET_TRANSITION_DEPENDS_ON_ALGEBRAIC_STATES,             
/* OPTIMIZATION_ALGORITHM: */
RET_NO_VALID_OBJECTIVE,                                                 
RET_INCONSISTENT_BOUNDS,                                                
RET_INCOMPATIBLE_DIMENSIONS,                                    
RET_GRID_SETUP_FAILED,                                                  
RET_OPTALG_INIT_FAILED,                                                 
RET_OPTALG_STEP_FAILED,                                                 
RET_OPTALG_FEEDBACK_FAILED,                                     
RET_OPTALG_PREPARE_FAILED,                                              
RET_OPTALG_SOLVE_FAILED,                                                
RET_REALTIME_NO_INITIAL_VALUE,                                  
/* INTEGRATION_ALGORITHM: */
RET_INTALG_INIT_FAILED,                                                 
RET_INTALG_INTEGRATION_FAILED,                                  
RET_INTALG_NOT_READY,                                                   
/* PLOT WINDOW */
RET_PLOT_WINDOW_CAN_NOT_BE_OPEN,                                
/* NLP SOLVER */
CONVERGENCE_ACHIEVED,                                                   
CONVERGENCE_NOT_YET_ACHIEVED,                                   
RET_NLP_INIT_FAILED,                                                    
RET_NLP_STEP_FAILED,                                                    
RET_NLP_SOLUTION_FAILED,                                                
RET_INITIALIZE_FIRST,                                                   
RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE,             
RET_ILLFORMED_HESSIAN_MATRIX,                                   
RET_NONSYMMETRIC_HESSIAN_MATRIX,                                
RET_UNABLE_TO_EVALUATE_OBJECTIVE,                               
RET_UNABLE_TO_EVALUATE_CONSTRAINTS,                             
RET_UNABLE_TO_INTEGRATE_SYSTEM,                                 
RET_NEED_TO_ACTIVATE_RTI,                                               
/* CONIC SOLVER */
RET_CONIC_PROGRAM_INFEASIBLE,                                   
RET_CONIC_PROGRAM_SOLUTION_FAILED,                              
RET_CONIC_PROGRAM_NOT_SOLVED,                                   
/* CP SOLVER */
RET_UNABLE_TO_CONDENSE,                                                 
RET_UNABLE_TO_EXPAND,                                                   
RET_NEED_TO_CONDENSE_FIRST,                                             
RET_BANDED_CP_INIT_FAILED,                                              
RET_BANDED_CP_SOLUTION_FAILED,                                  
/* OCP */
RET_TRANSITION_NOT_DEFINED,                                             
/* QP SOLVER */
RET_QP_INIT_FAILED,                                                             
RET_QP_SOLUTION_FAILED,                                                 
RET_QP_SOLUTION_REACHED_LIMIT,                                  
RET_QP_INFEASIBLE,                                                              
RET_QP_UNBOUNDED,                                                               
RET_QP_NOT_SOLVED,                                                              
RET_RELAXING_QP,                                                                
RET_COULD_NOT_RELAX_QP,                                                 
RET_QP_SOLVER_CAN_ONLY_SOLVE_QP,                                
RET_QP_HAS_INCONSISTENT_BOUNDS,                                 
RET_UNABLE_TO_HOTSTART_QP,                                              
/* MPC SOLVER */
RET_NONPOSITIVE_WEIGHT,                                                 
RET_INITIAL_CHOLESKY_FAILED,                                    
RET_HOMOTOPY_STEP_FAILED,                                               
RET_STEPDIRECTION_DETERMINATION_FAILED,                 
RET_STEPDIRECTION_FAILED_CHOLESKY,                              
RET_STEPLENGTH_DETERMINATION_FAILED,                    
RET_OPTIMAL_SOLUTION_FOUND,                                             
RET_MAX_NWSR_REACHED,                                                   
RET_MATRIX_NOT_SPD,                                                             
/* CODE EXPORT */
RET_CODE_EXPORT_SUCCESSFUL,                                             
RET_UNABLE_TO_EXPORT_CODE,                                              
RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT,                  
RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT,                    
RET_ONLY_ODE_FOR_CODE_EXPORT,                                   
RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT,   
RET_ONLY_EQUIDISTANT_GRID_FOR_CODE_EXPORT,              
RET_ONLY_BOUNDS_FOR_CODE_EXPORT,                                
RET_QPOASES_EMBEDDED_NOT_FOUND,                                 
RET_UNABLE_TO_EXPORT_STATEMENT,                                 
RET_INVALID_CALL_TO_EXPORTED_FUNCTION,                  
/* EXPORTED INTEGRATORS */
RET_INVALID_LINEAR_OUTPUT_FUNCTION                              
};

enum returnValueLevel
{
        LVL_DEBUG = 0,          
        LVL_FATAL,                      
        LVL_ERROR,                      
        LVL_WARNING,            
        LVL_INFO                        
};

class returnValue
{
public:

        returnValue();

        returnValue(returnValueType _type);

        returnValue(int _type);

        returnValue(const returnValue& old);

        returnValue(const char* msg, returnValueLevel level = LVL_ERROR, returnValueType type = RET_UNKNOWN_BUG);

        returnValue(const char* msg, returnValueLevel level,const returnValue& old);

        returnValue& addMessage(const char* msg);

        returnValue& changeLevel(returnValueLevel level);

        returnValue& changeType(returnValueType type);

        returnValueLevel getLevel() const;

        void print();

        void printBasic();

        ~returnValue();

        bool operator!=(returnValueType cmp_type) const;

        bool operator==(returnValueType cmp_type) const;

        bool operator!() const;

        returnValue& operator=(const returnValue& old);

        operator int();

private:
        returnValueType type;
        returnValueLevel level;
        int status;

        class returnValueData;
        returnValueData* data;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_ACADO_TYPES_HPP

/*
 *    end of file
 */