Types.hpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES 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.
 *
 *      qpOASES 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 qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_TYPES_HPP
#define QPOASES_TYPES_HPP


/* If your compiler does not support the snprintf() function,
 * uncomment the following line and try to compile again. */
/* #define snprintf _snprintf */


/* Uncomment the following line for setting the __DSPACE__ flag. */
/* #define __DSPACE__ */

/* Uncomment the following line for setting the __XPCTARGET__ flag. */
/* #define __XPCTARGET__ */


/* Uncomment the following line to enable debug information. */
/* #define __DEBUG__ */

/* Uncomment the following line to enable debug iteration output. */
/* #define __DEBUG_ITER__ */

/* Uncomment the following line to enable suppress any kind of console output. */
/* #define __SUPPRESSANYOUTPUT__ */


#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__

/* Uncomment the following line to activate the use of a special treatment of 
 * inactive constraints that is more efficient in case of QP formulations 
 * comprising many constraints. */
/* #define __MANY_CONSTRAINTS__ */

/* Uncomment the following line to activate the use of an alternative Givens 
 * plane rotation requiring only three multiplications. */
/* #define __USE_THREE_MULTS_GIVENS__ */

/* Uncomment the following line to activate the use of single precision arithmetic. */
/* #define __USE_SINGLE_PRECISION__ */



/* Work-around for Borland BCC 5.5 compiler. */
#ifdef __BORLANDC__
  #define __STDC__ 1
#endif


/* Work-around for Microsoft compilers. */
#ifdef _MSC_VER
  #define snprintf _snprintf
#endif


#ifdef __DSPACE__
  /* This fix ensures a compilable code only,
   * but all snprintf commands won't work. */
  #define snprintf printf
#endif

#ifdef __DSPACE__

        #define BEGIN_NAMESPACE_QPOASES
    
        #define END_NAMESPACE_QPOASES

        #define USING_NAMESPACE_QPOASES

        #define REFER_NAMESPACE_QPOASES

#else

        #define BEGIN_NAMESPACE_QPOASES  namespace qpOASES {

        #define END_NAMESPACE_QPOASES    }
        
        #define USING_NAMESPACE_QPOASES  using namespace qpOASES;
        
        #define REFER_NAMESPACE_QPOASES  qpOASES::

#endif


#define RR( I,J )  R[(I)+nV*(J)]

#define QQ( I,J )  Q[(I)+nV*(J)]

#define TT( I,J )  T[(I)*sizeT+(J)]



BEGIN_NAMESPACE_QPOASES


#ifdef __USE_SINGLE_PRECISION__
typedef float real_t;
#else
typedef double real_t;
#endif /* __USE_SINGLE_PRECISION__ */


#if defined( BT_FALSE ) && defined( BT_TRUE )
#undef BT_FALSE
#undef BT_TRUE
#endif /* defined( BT_TRUE ) && defined( BT_FALSE ) */
enum BooleanType
{
        BT_FALSE,                                       
        BT_TRUE                                         
};


enum PrintLevel
{
        PL_TABULAR = -1,                        
        PL_NONE,                                        
        PL_LOW,                                         
        PL_MEDIUM,                                      
        PL_HIGH                                         
};


enum VisibilityStatus
{
        VS_HIDDEN,                                      
        VS_VISIBLE                                      
};


enum QProblemStatus
{
        QPS_NOTINITIALISED,                     
        QPS_PREPARINGAUXILIARYQP,       
        QPS_AUXILIARYQPSOLVED,          
        QPS_PERFORMINGHOMOTOPY,         
        QPS_HOMOTOPYQPSOLVED,           
        QPS_SOLVED                                      
};


enum HessianType
{
        HST_ZERO,                                       
        HST_IDENTITY,                           
        HST_POSDEF,                                     
        HST_POSDEF_NULLSPACE,           
        HST_SEMIDEF,                            
        HST_UNKNOWN                                     
};


enum SubjectToType
{
        ST_UNBOUNDED,           
        ST_BOUNDED,                     
        ST_EQUALITY,            
        ST_UNKNOWN                      
};


enum SubjectToStatus
{
        ST_INACTIVE,                    
        ST_LOWER,                               
        ST_UPPER,                               
        ST_UNDEFINED                    
};



END_NAMESPACE_QPOASES


#endif  /* QPOASES_TYPES_HPP */


/*
 *      end of file
 */