Utils.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_UTILS_HPP
#define QPOASES_UTILS_HPP


#include <qpOASES/MessageHandling.hpp>



BEGIN_NAMESPACE_QPOASES


returnValue print(      const real_t* const v,  
                                        int n                                   
                                        );

returnValue print(      const real_t* const v,          
                                        int n,                                          
                                        const int* const V_idx          
                                        );

returnValue print(      const real_t* const v,  
                                        int n,                                  
                                        const char* name                
                                        );

returnValue print(      const real_t* const M,  
                                        int nrow,                               
                                        int ncol                                
                                        );

returnValue print(      const real_t* const M,          
                                        int nrow,                                       
                                        int ncol        ,                               
                                        const int* const ROW_idx,       
                                        const int* const COL_idx        
                                        );

returnValue print(      const real_t* const M,  
                                        int nrow,                               
                                        int ncol,                               
                                        const char* name                
                                        );

returnValue print(      const int* const index, 
                                        int n                                   
                                        );

returnValue print(      const int* const index, 
                                        int n,                                  
                                        const char* name                
                                        );


returnValue myPrintf(   const char* s   
                                                );


returnValue printCopyrightNotice( );


returnValue readFromFile(       real_t* data,                           
                                                        int nrow,                                       
                                                        int ncol,                                       
                                                        const char* datafilename        
                                                        );

returnValue readFromFile(       real_t* data,                           
                                                        int n,                                          
                                                        const char* datafilename        
                                                        );

returnValue readFromFile(       int* data,                                      
                                                        int n,                                          
                                                        const char* datafilename        
                                                        );


returnValue writeIntoFile(      const real_t* const data,       
                                                        int nrow,                                       
                                                        int ncol,                                       
                                                        const char* datafilename,       
                                                        BooleanType append                      
                                                        );

returnValue writeIntoFile(      const real_t* const data,       
                                                        int n,                                          
                                                        const char* datafilename,       
                                                        BooleanType append                      
                                                        );

returnValue writeIntoFile(      const int* const integer,       
                                                        int n,                                          
                                                        const char* datafilename,       
                                                        BooleanType append                      
                                                        );


real_t getCPUtime( );


real_t getNorm( const real_t* const v,  
                                int n                                   
                                );


inline real_t getSign(  real_t arg      
                                                );


inline int getMax(      int x,  
                                        int y   
                                        );

inline real_t getMax(   real_t x,       
                                                real_t y        
                                                );


inline real_t getMin(   real_t x,       
                                                real_t y        
                                                );

void getKKTResidual(    int nV,                                         
                                                int nC,                                         
                                                const real_t* const H,          
                                                const real_t* const g,          
                                                const real_t* const A,          
                                                const real_t* const lb,         
                                                const real_t* const ub,         
                                                const real_t* const lbA,        
                                                const real_t* const ubA,        
                                                const real_t* const x,          
                                                const real_t* const y,          
                                                real_t& stat,                           
                                                real_t& feas,                           
                                                real_t& cmpl                            
                                                );


returnValue convertBooleanTypeToString( BooleanType value,              
                                                                                char* const string              
                                                                                );

returnValue convertSubjectToStatusToString(     SubjectToStatus value,  
                                                                                        char* const string              
                                                                                        );

returnValue convertPrintLevelToString(  PrintLevel value,               
                                                                                char* const string              
                                                                                );


#ifdef __DEBUG__

extern "C" void gdb_printmat(   const char *fname,                      
                                                                real_t *M,                                      
                                                                int n,                                          
                                                                int m,                                          
                                                                int ldim                                        
                                                                );
#endif /* __DEBUG__ */


END_NAMESPACE_QPOASES


#include <qpOASES/Utils.ipp>

#endif  /* QPOASES_UTILS_HPP */


/*
 *      end of file
 */