Types.h

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 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_H
#define QPOASES_TYPES_H


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

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

/* 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 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__ */

/* The inline keyword is skipped by default as it is not part of the C90 standard. 
 * However, by uncommenting the following line, use of the inline keyword can be enforced. */
/* #define __USE_INLINE__ */


/* Work-around for Borland BCC 5.5 compiler. */
#ifdef __BORLANDC__
#if __BORLANDC__ < 0x0561
  #define __STDC__ 1
#endif
#endif


/* Work-around for Microsoft compilers. */
#ifdef _MSC_VER
  #define __NO_SNPRINTF__
  #pragma warning( disable : 4061 4100 4250 4514 4996 )
#endif


/* Apply pre-processor settings when using qpOASES within auto-generated code. */
#ifdef __CODE_GENERATION__
  #define __NO_COPYRIGHT__
  #define __EXTERNAL_DIMENSIONS__
#endif /* __CODE_GENERATION__ */


/* Avoid using static variables declaration within functions. */
#ifdef __NO_STATIC__
  #define myStatic 
#else
  #define myStatic static
#endif /* __NO_STATIC__ */


/* Skip inline keyword if not specified otherwise. */
#ifndef __USE_INLINE__
  #define inline 
#endif


/* Avoid any printing on embedded platforms. */
#if defined(__DSPACE__) || defined(__XPCTARGET__) 
  #define __SUPPRESSANYOUTPUT__
  #define __NO_SNPRINTF__
#endif


#ifdef __NO_SNPRINTF__
  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__) 
    /* If snprintf is not available, provide an empty implementation... */
    int snprintf( char* s, size_t n, const char* format, ... );
  #else
        /* ... or substitute snprintf by _snprintf for Microsoft compilers. */
    #define snprintf _snprintf    
  #endif
#endif /* __NO_SNPRINTF__ */


#define BEGIN_NAMESPACE_QPOASES
    
#define END_NAMESPACE_QPOASES

#define USING_NAMESPACE_QPOASES

#define REFER_NAMESPACE_QPOASES /*::*/


#define RR( I,J )  _THIS->R[(I)+NVMAX*(J)]

#define QQ( I,J )  _THIS->Q[(I)+NVMAX*(J)]

#define TT( I,J )  _THIS->T[(I)*NVCMIN+(J)]



BEGIN_NAMESPACE_QPOASES


#ifndef __CODE_GENERATION__

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

#endif /* __CODE_GENERATION__ */


typedef enum
{
        BT_FALSE = 0,                           
        BT_TRUE                                         
} BooleanType;


typedef enum 
{
        PL_DEBUG_ITER = -2,                     
        PL_TABULAR,                                     
        PL_NONE,                                        
        PL_LOW,                                         
        PL_MEDIUM,                                      
        PL_HIGH                                         
} PrintLevel;


typedef enum
{
        VS_HIDDEN,                                      
        VS_VISIBLE                                      
} VisibilityStatus;


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


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


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


typedef enum
{
        ST_LOWER = -1,                  
        ST_INACTIVE,                    
        ST_UPPER,                               
        ST_INFEASIBLE_LOWER,    
        ST_INFEASIBLE_UPPER,    
        ST_UNDEFINED                    
} SubjectToStatus;


typedef struct 
{
        int idxAddB;            
        int idxRemB;            
        int idxAddC;            
        int idxRemC;            
        int excAddB;            
        int excRemB;            
        int excAddC;            
        int excRemC;            
} TabularOutput;

typedef struct
{
        long numericFormat;             
        long nRows;                             
        long nCols;                             
        long imaginaryPart;             
        long nCharName;                 
} MatMatrixHeader;


END_NAMESPACE_QPOASES


#endif  /* QPOASES_TYPES_H */


/*
 *      end of file
 */