acado_utils.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_UTILS_HPP
#define ACADO_TOOLKIT_ACADO_UTILS_HPP

#include <cmath>

#include <acado/utils/acado_types.hpp>
#include <acado/utils/acado_constants.hpp>
#include <acado/utils/acado_default_options.hpp>
#include <acado/utils/acado_message_handling.hpp>
#include <acado/utils/acado_debugging.hpp>
#include <acado/utils/acado_io_utils.hpp>

// A very ugly hack
#if (defined __MINGW32__ || defined __MINGW64__)
namespace std { namespace tr1 { using namespace std; } }
#endif // (defined __MINGW32__ || defined __MINGW64__)

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

BEGIN_NAMESPACE_ACADO

BooleanType acadoIsInteger( double x );

double acadoDiv( double nom, double den );

double acadoMod( double nom, double den );

int acadoMax( const int x, const int y );

double acadoMax( const double x, const double y );

int acadoMin( const int x, const int y );

double acadoMin( const double x, const double y );

int acadoFactorial( int n );

BooleanType acadoIsEqual( double x, double y, double TOL = EQUALITY_EPS );

BooleanType acadoIsGreater( double x, double y, double TOL = EQUALITY_EPS );

BooleanType acadoIsSmaller( double x, double y, double TOL = EQUALITY_EPS );

BooleanType acadoIsStrictlyGreater( double x, double y, double TOL = EQUALITY_EPS );

BooleanType acadoIsStrictlySmaller( double x, double y, double TOL = EQUALITY_EPS );

BooleanType acadoIsPositive( double x, double TOL = EQUALITY_EPS );

BooleanType acadoIsNegative( double x, double TOL = EQUALITY_EPS );

BooleanType acadoIsZero( double x, double TOL = EQUALITY_EPS );

BooleanType acadoIsInfty( double x, double TOL = 0.1 );

BooleanType acadoIsFinite( double x, double TOL = 0.1 );

template<class T>
BooleanType isFinite( const T& _value )
{
        for (unsigned el = 0; el < _value.size(); ++el)
                if ( acadoIsFinite( _value[ el ] ) == BT_TRUE )
            return BT_TRUE;
        return BT_FALSE;
}

BooleanType acadoIsNaN( double x );

inline BooleanType isInfty(const double x)
{
        if (x - 10.0 < -INFTY)
                return BT_TRUE;

        if (x + 10.0 > INFTY)
                return BT_TRUE;

        return BT_FALSE;
}

int acadoRound (double x);

int acadoRoundAway (double x);


CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_ACADO_UTILS_HPP

/*
 *      end of file
 */