MessageHandling.hpp
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00001 /*
00002  *      This file is part of qpOASES.
00003  *
00004  *      qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
00006  *      Christian Kirches et al. All rights reserved.
00007  *
00008  *      qpOASES is free software; you can redistribute it and/or
00009  *      modify it under the terms of the GNU Lesser General Public
00010  *      License as published by the Free Software Foundation; either
00011  *      version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *      qpOASES is distributed in the hope that it will be useful,
00014  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *      See the GNU Lesser General Public License for more details.
00017  *
00018  *      You should have received a copy of the GNU Lesser General Public
00019  *      License along with qpOASES; if not, write to the Free Software
00020  *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00035 #ifndef QPOASES_MESSAGEHANDLING_HPP
00036 #define QPOASES_MESSAGEHANDLING_HPP
00037 
00038 
00039 #include <stdio.h>
00040 #include <string.h>
00041 
00042 #include <qpOASES/Constants.hpp>
00043 
00044 
00045 BEGIN_NAMESPACE_QPOASES
00046 
00047 
00056 enum returnValue
00057 {
00058 TERMINAL_LIST_ELEMENT = -1,                                             
00059 /* miscellaneous */
00060 SUCCESSFUL_RETURN = 0,                                                  
00061 RET_DIV_BY_ZERO,                                                                
00062 RET_INDEX_OUT_OF_BOUNDS,                                                
00063 RET_INVALID_ARGUMENTS,                                                  
00064 RET_ERROR_UNDEFINED,                                                    
00065 RET_WARNING_UNDEFINED,                                                  
00066 RET_INFO_UNDEFINED,                                                             
00067 RET_EWI_UNDEFINED,                                                              
00068 RET_AVAILABLE_WITH_LINUX_ONLY,                                  
00069 RET_UNKNOWN_BUG,                                                                
00070 RET_PRINTLEVEL_CHANGED,                                                 
00071 RET_NOT_YET_IMPLEMENTED,                                                
00072 /* Indexlist */
00073 RET_INDEXLIST_MUST_BE_REORDERD,                                 
00074 RET_INDEXLIST_EXCEEDS_MAX_LENGTH,                               
00075 RET_INDEXLIST_CORRUPTED,                                                
00076 RET_INDEXLIST_OUTOFBOUNDS,                                              
00077 RET_INDEXLIST_ADD_FAILED,                                               
00078 RET_INDEXLIST_INTERSECT_FAILED,                                 
00079 /* SubjectTo / Bounds / Constraints */
00080 RET_INDEX_ALREADY_OF_DESIRED_STATUS,                    
00081 RET_ADDINDEX_FAILED,                                                    
00082 RET_REMOVEINDEX_FAILED,                                                 
00083 RET_SWAPINDEX_FAILED,                                                   
00084 RET_NOTHING_TO_DO,                                                              
00085 RET_SETUP_BOUND_FAILED,                                                 
00086 RET_SETUP_CONSTRAINT_FAILED,                                    
00087 RET_MOVING_BOUND_FAILED,                                                
00088 RET_MOVING_CONSTRAINT_FAILED,                                   
00089 RET_SHIFTING_FAILED,                                                    
00090 RET_ROTATING_FAILED,                                                    
00091 /* QProblem */
00092 RET_QPOBJECT_NOT_SETUP,                                                 
00093 RET_QP_ALREADY_INITIALISED,                                             
00094 RET_NO_INIT_WITH_STANDARD_SOLVER,                               
00095 RET_RESET_FAILED,                                                               
00096 RET_INIT_FAILED,                                                                
00097 RET_INIT_FAILED_TQ,                                                             
00098 RET_INIT_FAILED_CHOLESKY,                                               
00099 RET_INIT_FAILED_HOTSTART,                                               
00100 RET_INIT_FAILED_INFEASIBILITY,                                  
00101 RET_INIT_FAILED_UNBOUNDEDNESS,                                  
00102 RET_INIT_FAILED_REGULARISATION,                                 
00103 RET_INIT_SUCCESSFUL,                                                    
00104 RET_OBTAINING_WORKINGSET_FAILED,                                
00105 RET_SETUP_WORKINGSET_FAILED,                                    
00106 RET_SETUP_AUXILIARYQP_FAILED,                                   
00107 RET_NO_EXTERN_SOLVER,                                                   
00108 RET_QP_UNBOUNDED,                                                               
00109 RET_QP_INFEASIBLE,                                                              
00110 RET_QP_NOT_SOLVED,                                                              
00111 RET_QP_SOLVED,                                                                  
00112 RET_UNABLE_TO_SOLVE_QP,                                                 
00113 RET_INITIALISATION_STARTED,                                             
00114 RET_HOTSTART_FAILED,                                                    
00115 RET_HOTSTART_FAILED_TO_INIT,                                    
00116 RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,              
00117 RET_ITERATION_STARTED,                                                  
00118 RET_SHIFT_DETERMINATION_FAILED,                                 
00119 RET_STEPDIRECTION_DETERMINATION_FAILED,                 
00120 RET_STEPLENGTH_DETERMINATION_FAILED,                    
00121 RET_OPTIMAL_SOLUTION_FOUND,                                             
00122 RET_HOMOTOPY_STEP_FAILED,                                               
00123 RET_HOTSTART_STOPPED_INFEASIBILITY,                             
00124 RET_HOTSTART_STOPPED_UNBOUNDEDNESS,                             
00125 RET_WORKINGSET_UPDATE_FAILED,                                   
00126 RET_MAX_NWSR_REACHED,                                                   
00127 RET_CONSTRAINTS_NOT_SPECIFIED,                                  
00128 RET_INVALID_FACTORISATION_FLAG,                                 
00129 RET_UNABLE_TO_SAVE_QPDATA,                                              
00130 RET_STEPDIRECTION_FAILED_TQ,                                    
00131 RET_STEPDIRECTION_FAILED_CHOLESKY,                              
00132 RET_CYCLING_DETECTED,                                                   
00133 RET_CYCLING_NOT_RESOLVED,                                               
00134 RET_CYCLING_RESOLVED,                                                   
00135 RET_STEPSIZE,                                                                   
00136 RET_STEPSIZE_NONPOSITIVE,                                               
00137 RET_SETUPSUBJECTTOTYPE_FAILED,                                  
00138 RET_ADDCONSTRAINT_FAILED,                                               
00139 RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,                 
00140 RET_ADDBOUND_FAILED,                                                    
00141 RET_ADDBOUND_FAILED_INFEASIBILITY,                              
00142 RET_REMOVECONSTRAINT_FAILED,                                    
00143 RET_REMOVEBOUND_FAILED,                                                 
00144 RET_REMOVE_FROM_ACTIVESET,                                              
00145 RET_ADD_TO_ACTIVESET,                                                   
00146 RET_REMOVE_FROM_ACTIVESET_FAILED,                               
00147 RET_ADD_TO_ACTIVESET_FAILED,                                    
00148 RET_CONSTRAINT_ALREADY_ACTIVE,                                  
00149 RET_ALL_CONSTRAINTS_ACTIVE,                                             
00150 RET_LINEARLY_DEPENDENT,                                                 
00151 RET_LINEARLY_INDEPENDENT,                                               
00152 RET_LI_RESOLVED,                                                                
00153 RET_ENSURELI_FAILED,                                                    
00154 RET_ENSURELI_FAILED_TQ,                                                 
00155 RET_ENSURELI_FAILED_NOINDEX,                                    
00156 RET_ENSURELI_FAILED_CYCLING,                                    
00157 RET_BOUND_ALREADY_ACTIVE,                                               
00158 RET_ALL_BOUNDS_ACTIVE,                                                  
00159 RET_CONSTRAINT_NOT_ACTIVE,                                              
00160 RET_BOUND_NOT_ACTIVE,                                                   
00161 RET_HESSIAN_NOT_SPD,                                                    
00162 RET_HESSIAN_INDEFINITE,                                                 
00163 RET_MATRIX_SHIFT_FAILED,                                                
00164 RET_MATRIX_FACTORISATION_FAILED,                                
00165 RET_PRINT_ITERATION_FAILED,                                             
00166 RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,                               
00167 RET_DISABLECONSTRAINTS_FAILED,                                  
00168 RET_ENABLECONSTRAINTS_FAILED,                                   
00169 RET_ALREADY_ENABLED,                                                    
00170 RET_ALREADY_DISABLED,                                                   
00171 RET_NO_HESSIAN_SPECIFIED,                                               
00172 RET_USING_REGULARISATION,                                               
00173 RET_EPS_MUST_BE_POSITVE,                                                
00174 RET_REGSTEPS_MUST_BE_POSITVE,                                   
00175 RET_HESSIAN_ALREADY_REGULARISED,                                
00176 RET_CANNOT_REGULARISE_IDENTITY,                                 
00177 RET_CANNOT_REGULARISE_SPARSE,                                   
00178 RET_NO_REGSTEP_NWSR,                                                    
00179 RET_FEWER_REGSTEPS_NWSR,                                                
00180 RET_CHOLESKY_OF_ZERO_HESSIAN,                                   
00181 RET_CONSTRAINTS_ARE_NOT_SCALED,                                 
00182 RET_ERROR_IN_CONSTRAINTPRODUCT,                                 
00183 /* SQProblem */
00184 RET_UPDATEMATRICES_FAILED,                                              
00185 RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,             
00186 /* Utils */
00187 RET_UNABLE_TO_OPEN_FILE,                                                
00188 RET_UNABLE_TO_WRITE_FILE,                                               
00189 RET_UNABLE_TO_READ_FILE,                                                
00190 RET_FILEDATA_INCONSISTENT,                                              
00191 /* SolutionAnalysis */
00192 RET_UNABLE_TO_ANALYSE_QPROBLEM,                                 
00193 /* Benchmark */
00194 RET_NWSR_SET_TO_ONE,                                                    
00195 RET_UNABLE_TO_READ_BENCHMARK,                                   
00196 RET_BENCHMARK_ABORTED,                                                  
00197 RET_INITIAL_QP_SOLVED,                                                  
00198 RET_QP_SOLUTION_STARTED,                                                
00199 RET_BENCHMARK_SUCCESSFUL,                                               
00200 /* Sparse matrices */
00201 RET_NO_DIAGONAL_AVAILABLE                                               
00202 };
00203 
00204 
00215 class MessageHandling
00216 {
00217         /*
00218          *      INTERNAL DATA STRUCTURES
00219          */
00220         public:
00228                 typedef struct {
00229                         returnValue key;                                                        
00230                         const char* data;                                                       
00231                         VisibilityStatus globalVisibilityStatus;        
00233                 } ReturnValueList;
00234 
00235 
00236         /*
00237          *      PUBLIC MEMBER FUNCTIONS
00238          */
00239         public:
00241                 MessageHandling( );
00242 
00244                 MessageHandling(  FILE* _outputFile                                             
00245                                                   );
00246 
00248                 MessageHandling(        VisibilityStatus _errorVisibility,      
00249                                                         VisibilityStatus _warningVisibility,
00250                                                         VisibilityStatus _infoVisibility        
00251                                                         );
00252 
00254                 MessageHandling(        FILE* _outputFile,                                      
00255                                                         VisibilityStatus _errorVisibility,      
00256                                                         VisibilityStatus _warningVisibility,
00257                                                         VisibilityStatus _infoVisibility        
00258                                                         );
00259 
00261                 MessageHandling(        const MessageHandling& rhs      
00262                                                         );
00263 
00265                 ~MessageHandling( );
00266 
00268                 MessageHandling& operator=(     const MessageHandling& rhs      
00269                                                                         );
00270 
00271 
00278                 returnValue throwError( returnValue Enumber,                                    
00279                                                                 const char* additionaltext,                             
00280                                                                 const char* functionname,                               
00281                                                                 const char* filename,                                   
00282                                                                 const unsigned long linenumber,                 
00283                                                                 VisibilityStatus localVisibilityStatus  
00286                                                                 );
00287 
00292                 returnValue throwWarning(       returnValue Wnumber,                                    
00293                                                                         const char* additionaltext,                             
00294                                                                         const char* functionname,                               
00295                                                                         const char* filename,                                   
00296                                                                         const unsigned long linenumber,                 
00297                                                                         VisibilityStatus localVisibilityStatus  
00300                                                                         );
00301 
00305                 returnValue throwInfo(  returnValue Inumber,                                    
00306                                                                 const char* additionaltext,                             
00307                                                                 const char* functionname,                               
00308                                                                 const char* filename,                                   
00309                                                                 const unsigned long linenumber,                 
00310                                                                 VisibilityStatus localVisibilityStatus  
00313                                                                 );
00314 
00315 
00318                 returnValue reset( );
00319 
00320 
00323                 returnValue listAllMessages( );
00324 
00325 
00328                 inline VisibilityStatus getErrorVisibilityStatus( ) const;
00329 
00332                 inline VisibilityStatus getWarningVisibilityStatus( ) const;
00333 
00336                 inline VisibilityStatus getInfoVisibilityStatus( ) const;
00337 
00340                 inline FILE* getOutputFile( ) const;
00341 
00344                 inline int getErrorCount( ) const;
00345 
00346 
00348                 inline void setErrorVisibilityStatus(   VisibilityStatus _errorVisibility       
00349                                                                                                 );
00350 
00352                 inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility     
00353                                                                                                 );
00354 
00356                 inline void setInfoVisibilityStatus(    VisibilityStatus _infoVisibility        
00357                                                                                                 );
00358 
00360                 inline void setOutputFile(      FILE* _outputFile       
00361                                                                         );
00362 
00366                 inline returnValue setErrorCount(       int _errorCount 
00367                                                                                         );
00368 
00371                 static const char* getErrorCodeMessage( const returnValue _returnValue
00372                                                                                                 );
00373 
00374 
00375         /*
00376          *      PROTECTED MEMBER FUNCTIONS
00377          */
00378         protected:
00382                 returnValue throwMessage(
00383                         returnValue RETnumber,                                  
00384                         const char* additionaltext,                             
00385                         const char* functionname,                               
00386                         const char* filename,                                   
00387                         const unsigned long linenumber,                 
00388                         VisibilityStatus localVisibilityStatus, 
00391                         const char* RETstring                                   
00392                         );
00393 
00394 
00395         /*
00396          *      PROTECTED MEMBER VARIABLES
00397          */
00398         protected:
00399                 VisibilityStatus errorVisibility;               
00400                 VisibilityStatus warningVisibility;             
00401                 VisibilityStatus infoVisibility;                
00403                 FILE* outputFile;                                               
00405                 int errorCount;                                                 
00406 };
00407 
00408 
00409 #ifndef __FUNCTION__
00410 
00411   #define __FUNCTION__ 0
00412 #endif
00413 
00414 #ifndef __FILE__
00415 
00416   #define __FILE__ 0
00417 #endif
00418 
00419 #ifndef __LINE__
00420 
00421   #define __LINE__ 0
00422 #endif
00423 
00424 
00426 #define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
00427 
00429 #define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
00430 
00432 #define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
00433 
00434 
00438 MessageHandling* getGlobalMessageHandler( );
00439 
00440 
00441 END_NAMESPACE_QPOASES
00442 
00443 #include <qpOASES/MessageHandling.ipp>
00444 
00445 #endif /* QPOASES_MESSAGEHANDLING_HPP */
00446 
00447 
00448 /*
00449  *      end of file
00450  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:12