#include <acado/utils/acado_namespace_macros.hpp>

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Classes
class	returnValue
	Allows to pass back messages to the calling function. More...

Macros
#define	BT_FALSE false

#define	BT_TRUE true

#define	NO false

#define	YES true

Typedefs
typedef bool	BooleanType

typedef void(*	cFcnDPtr) (int number, double x, double seed, double f, double df, void *userData)

typedef void(*	cFcnPtr) (double x, double f, void *userData)

Enumerations
enum	AlgebraicRelaxationType { ART_EXPONENTIAL, ART_ADAPTIVE_POLYNOMIAL, ART_UNKNOWN }

enum	BlockName { BN_DEFAULT, BN_SIMULATION_ENVIRONMENT, BN_PROCESS, BN_ACTUATOR, BN_SENSOR, BN_CONTROLLER, BN_ESTIMATOR, BN_REFERENCE_TRAJECTORY, BN_CONTROL_LAW }

enum	BlockStatus { BS_UNDEFINED, BS_NOT_INITIALIZED, BS_READY, BS_RUNNING }

enum	ClockStatus { CS_NOT_INITIALIZED, CS_RUNNING, CS_STOPPED }

enum	CondensedHessianCholeskyDecomposition { EXTERNAL, INTERNAL_N3, INTERNAL_N2 }

enum	CondensingStatus { COS_NOT_INITIALIZED, COS_INITIALIZED, COS_CONDENSED, COS_FROZEN }

enum	CondensingType { CT_LIFTING, CT_SPARSE }

enum	ConicSolverStatus { CSS_NOTINITIALISED, CSS_INITIALIZED, CSS_SOLVED, CSS_UNKNOWN }

enum	ControlParameterizationType { CPT_CONSTANT, CPT_LINEAR, CPT_LINEAR_CONTINUOUS, CPT_CUSTOMIZED, CPT_UNKNOWN }

enum	CurvatureType { CT_CONSTANT, CT_AFFINE, CT_CONVEX, CT_CONCAVE, CT_NEITHER_CONVEX_NOR_CONCAVE, CT_UNKNOWN }

enum	DifferentialEquationType { DET_ODE, DET_DAE, DET_UNKNOWN }

enum	ExportStatementOperator { ESO_ADD, ESO_SUBTRACT, ESO_ADD_ASSIGN, ESO_SUBTRACT_ASSIGN, ESO_MULTIPLY, ESO_MULTIPLY_TRANSPOSE, ESO_DIVIDE, ESO_MODULO, ESO_ASSIGN, ESO_UNDEFINED }

enum	ExportStruct { ACADO_VARIABLES, ACADO_WORKSPACE, ACADO_PARAMS, ACADO_VARS, ACADO_LOCAL, ACADO_ANY, FORCES_PARAMS, FORCES_OUTPUT, FORCES_INFO }

enum	ExportType { INT, REAL, COMPLEX, STATIC_CONST_INT, STATIC_CONST_REAL }

enum	GlobalizationStrategy { GS_FULLSTEP, GS_LINESEARCH, GS_UNKNOWN }

enum	HessianApproximationMode { CONSTANT_HESSIAN, GAUSS_NEWTON, FULL_BFGS_UPDATE, BLOCK_BFGS_UPDATE, GAUSS_NEWTON_WITH_BLOCK_BFGS, EXACT_HESSIAN, DEFAULT_HESSIAN_APPROXIMATION }

enum	HessianRegularizationMode { BLOCK_REG, CONDENSED_REG }

enum	ImplicitIntegratorMode { IFTR, IFT, LIFTED, LIFTED_FEEDBACK }

enum	InfeasibleQPhandling { IQH_STOP, IQH_IGNORE, IQH_RELAX_L1, IQH_RELAX_L2, IQH_UNDEFINED }

enum	IntegratorType { INT_RK12, INT_RK23, INT_RK45, INT_RK78, INT_BDF, INT_DISCRETE, INT_LYAPUNOV45, INT_UNKNOWN }

enum	InterpolationMode { IM_CONSTANT, IM_LINEAR, IM_QUADRATIC, IM_CUBIC, IM_UNKNOWN }

enum	LinearAlgebraSolver { HOUSEHOLDER_QR, GAUSS_LU, SIMPLIFIED_IRK_NEWTON, SINGLE_IRK_NEWTON, HOUSEHOLDER_METHOD, SPARSE_LU, LAS_UNKNOWN }

enum	LogFrequency { LOG_AT_START, LOG_AT_END, LOG_AT_EACH_ITERATION }

enum	LogName { LOG_NOTHING, LOG_NUM_NLP_ITERATIONS, LOG_NUM_SQP_ITERATIONS, LOG_NUM_QP_ITERATIONS, LOG_KKT_TOLERANCE, LOG_OBJECTIVE_VALUE, LOG_MERIT_FUNCTION_VALUE, LOG_LINESEARCH_STEPLENGTH, LOG_NORM_LAGRANGE_GRADIENT, LOG_IS_QP_RELAXED, LOG_DUAL_RESIDUUM, LOG_PRIMAL_RESIDUUM, LOG_SURROGATE_DUALITY_GAP, LOG_NUM_INTEGRATOR_STEPS, LOG_TIME_SQP_ITERATION, LOG_TIME_CONDENSING, LOG_TIME_QP, LOG_TIME_RELAXED_QP, LOG_TIME_EXPAND, LOG_TIME_EVALUATION, LOG_TIME_HESSIAN_COMPUTATION, LOG_TIME_GLOBALIZATION, LOG_TIME_SENSITIVITIES, LOG_TIME_LAGRANGE_GRADIENT, LOG_TIME_PROCESS, LOG_TIME_CONTROLLER, LOG_TIME_ESTIMATOR, LOG_TIME_CONTROL_LAW, LOG_DIFFERENTIAL_STATES, LOG_ALGEBRAIC_STATES, LOG_PARAMETERS, LOG_CONTROLS, LOG_DISTURBANCES, LOG_INTERMEDIATE_STATES, LOG_DISCRETIZATION_INTERVALS, LOG_STAGE_BREAK_POINTS, LOG_FEEDBACK_CONTROL, LOG_NOMINAL_CONTROLS, LOG_NOMINAL_PARAMETERS, LOG_SIMULATED_DIFFERENTIAL_STATES, LOG_SIMULATED_ALGEBRAIC_STATES, LOG_SIMULATED_CONTROLS, LOG_SIMULATED_PARAMETERS, LOG_SIMULATED_DISTURBANCES, LOG_SIMULATED_INTERMEDIATE_STATES, LOG_SIMULATED_OUTPUT, LOG_PROCESS_OUTPUT, LOG_NUMBER_OF_INTEGRATOR_STEPS, LOG_NUMBER_OF_INTEGRATOR_REJECTED_STEPS, LOG_NUMBER_OF_INTEGRATOR_FUNCTION_EVALUATIONS, LOG_NUMBER_OF_BDF_INTEGRATOR_JACOBIAN_EVALUATIONS, LOG_TIME_INTEGRATOR, LOG_TIME_INTEGRATOR_FUNCTION_EVALUATIONS, LOG_TIME_BDF_INTEGRATOR_JACOBIAN_EVALUATION, LOG_TIME_BDF_INTEGRATOR_JACOBIAN_DECOMPOSITION }

enum	LogPrintMode { PRINT_ITEM_BY_ITEM, PRINT_ITER_BY_ITER, PRINT_LAST_ITER }

enum	LogRecordItemType { LRT_ENUM, LRT_VARIABLE, LRT_UNKNOWN }

enum	MeasurementGrid { OFFLINE_GRID, ONLINE_GRID }

enum	MergeMethod { MM_KEEP, MM_REPLACE, MM_DUPLICATE }

enum	MonotonicityType { MT_CONSTANT, MT_NONDECREASING, MT_NONINCREASING, MT_NONMONOTONIC, MT_UNKNOWN }

enum	NeutralElement { NE_ZERO, NE_ONE, NE_NEITHER_ONE_NOR_ZERO }

enum	OperatingSystem { OS_DEFAULT, OS_UNIX, OS_WINDOWS }

enum	OperatorName { ON_SIN, ON_COS, ON_TAN, ON_ASIN, ON_ACOS, ON_ATAN, ON_LOGARITHM, ON_EXP, ON_ADDITION, ON_SUBTRACTION, ON_POWER, ON_POWER_INT, ON_PRODUCT, ON_QUOTIENT, ON_VARIABLE, ON_DOUBLE_CONSTANT, ON_DIFFERENTIAL_STATE, ON_CEXPRESSION }

enum	OptionsName { CG_FORCE_DIAGONAL_HESSIAN, CG_CONDENSED_HESSIAN_CHOLESKY, CG_MODULE_NAME, CG_MODULE_PREFIX, CG_EXPORT_FOLDER_NAME, CG_USE_ARRIVAL_COST, CG_USE_OPENMP, CG_USE_VARIABLE_WEIGHTING_MATRIX, CG_USE_C99, CG_COMPUTE_COVARIANCE_MATRIX, CG_HARDCODE_CONSTRAINT_VALUES, IMPLICIT_INTEGRATOR_MODE, LIFTED_GRADIENT_UPDATE, IMPLICIT_INTEGRATOR_NUM_ITS, IMPLICIT_INTEGRATOR_NUM_ITS_INIT, UNROLL_LINEAR_SOLVER, CONDENSING_BLOCK_SIZE, INTEGRATOR_DEBUG_MODE, OPT_UNKNOWN, MAX_NUM_INTEGRATOR_STEPS, NUM_INTEGRATOR_STEPS, INTEGRATOR_TOLERANCE, MEX_ITERATION_STEPS, MEX_VERBOSE, ABSOLUTE_TOLERANCE, INITIAL_INTEGRATOR_STEPSIZE, MIN_INTEGRATOR_STEPSIZE, MAX_INTEGRATOR_STEPSIZE, STEPSIZE_TUNING, CORRECTOR_TOLERANCE, INTEGRATOR_PRINTLEVEL, LINEAR_ALGEBRA_SOLVER, ALGEBRAIC_RELAXATION, RELAXATION_PARAMETER, PRINT_INTEGRATOR_PROFILE, FEASIBILITY_CHECK, MAX_NUM_ITERATIONS, KKT_TOLERANCE, KKT_TOLERANCE_SAFEGUARD, LEVENBERG_MARQUARDT, PRINTLEVEL, PRINT_COPYRIGHT, HESSIAN_APPROXIMATION, HESSIAN_REGULARIZATION, DYNAMIC_HESSIAN_APPROXIMATION, HESSIAN_PROJECTION_FACTOR, DYNAMIC_SENSITIVITY, OBJECTIVE_SENSITIVITY, CONSTRAINT_SENSITIVITY, DISCRETIZATION_TYPE, LINESEARCH_TOLERANCE, MIN_LINESEARCH_PARAMETER, QP_SOLVER, MAX_NUM_QP_ITERATIONS, HOTSTART_QP, INFEASIBLE_QP_RELAXATION, INFEASIBLE_QP_HANDLING, USE_REALTIME_ITERATIONS, USE_REALTIME_SHIFTS, USE_IMMEDIATE_FEEDBACK, TERMINATE_AT_CONVERGENCE, USE_REFERENCE_PREDICTION, FREEZE_INTEGRATOR, INTEGRATOR_TYPE, MEASUREMENT_GRID, SAMPLING_TIME, SIMULATE_COMPUTATIONAL_DELAY, COMPUTATIONAL_DELAY_FACTOR, COMPUTATIONAL_DELAY_OFFSET, PARETO_FRONT_DISCRETIZATION, PARETO_FRONT_GENERATION, PARETO_FRONT_HOTSTART, SIMULATION_ALGORITHM, CONTROL_PLOTTING, PARAMETER_PLOTTING, OUTPUT_PLOTTING, SPARSE_QP_SOLUTION, GLOBALIZATION_STRATEGY, CONIC_SOLVER_MAXIMUM_NUMBER_OF_STEPS, CONIC_SOLVER_TOLERANCE, CONIC_SOLVER_LINE_SEARCH_TUNING, CONIC_SOLVER_BARRIER_TUNING, CONIC_SOLVER_MEHROTRA_CORRECTION, CONIC_SOLVER_PRINT_LEVEL, PRINT_SCP_METHOD_PROFILE, PLOT_RESOLUTION, FIX_INITIAL_STATE, GENERATE_TEST_FILE, GENERATE_MAKE_FILE, GENERATE_SIMULINK_INTERFACE, GENERATE_MATLAB_INTERFACE, OPERATING_SYSTEM, USE_SINGLE_PRECISION }

enum	ParetoFrontGeneration { PFG_FIRST_OBJECTIVE, PFG_SECOND_OBJECTIVE, PFG_WEIGHTED_SUM, PFG_NORMALIZED_NORMAL_CONSTRAINT, PFG_NORMAL_BOUNDARY_INTERSECTION, PFG_ENHANCED_NORMALIZED_NORMAL_CONSTRAINT, PFG_EPSILON_CONSTRAINT, PFG_UNKNOWN }

enum	PlotFormat { PF_PLAIN, PF_LOG, PF_LOG_LOG, PF_UNKNOWN }

enum	PlotFrequency { PLOT_AT_START, PLOT_AT_END, PLOT_AT_EACH_ITERATION, PLOT_IN_ANY_CASE, PLOT_NEVER }

enum	PlotMode { PM_LINES, PM_POINTS, PM_UNKNOWN }

enum	PlotName { PLOT_NOTHING, PLOT_KKT_TOLERANCE, PLOT_OBJECTIVE_VALUE, PLOT_MERIT_FUNCTION_VALUE, PLOT_LINESEARCH_STEPLENGTH, PLOT_NORM_LAGRANGE_GRADIENT }

enum	PrintLevel { NONE, LOW, MEDIUM, HIGH, DEBUG, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_TABULAR = -1, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH, PL_DEBUG_ITER = -2, PL_TABULAR, PL_NONE, PL_LOW, PL_MEDIUM, PL_HIGH }

enum	PrintScheme { PS_DEFAULT, PS_PLAIN, PS_MATLAB, PS_MATLAB_BINARY }

enum	ProcessPlotName { PLOT_NOMINAL, PLOT_REAL }

enum	ProcessSimulationAlgorithm { SIMULATION_BY_INTEGRATION, SIMULATION_BY_COLLOCATION }

enum	QPSolverName { QP_QPOASES, QP_QPOASES3, QP_FORCES, QP_QPDUNES, QP_HPMPC, QP_GENERIC, QP_NONE }

enum	QPStatus { QPS_NOT_INITIALIZED, QPS_INITIALIZED, QPS_SOLVING, QPS_SOLVED, QPS_RELAXED, QPS_SOLVING_RELAXATION, QPS_SOLVED_RELAXATION, QPS_INFEASIBLE, QPS_UNBOUNDED, QPS_NOTSOLVED }

enum	returnValueLevel { LVL_DEBUG = 0, LVL_FATAL, LVL_ERROR, LVL_WARNING, LVL_INFO }

enum	returnValueType { TERMINAL_LIST_ELEMENT = -1, SUCCESSFUL_RETURN = 0, RET_DIV_BY_ZERO, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_ERROR_UNDEFINED, RET_WARNING_UNDEFINED, RET_INFO_UNDEFINED, RET_EWI_UNDEFINED, RET_AVAILABLE_WITH_LINUX_ONLY, RET_UNKNOWN_BUG, RET_PRINTLEVEL_CHANGED, RET_NOT_YET_IMPLEMENTED, RET_NOT_IMPLEMENTED_YET, RET_NOT_IMPLEMENTED_IN_BASE_CLASS, RET_ASSERTION, RET_MEMBER_NOT_INITIALISED, RET_ABSTRACT_BASE_CLASS, RET_NO_DATA_FOUND, RET_INPUT_DIMENSION_MISMATCH, RET_STRING_EXCEEDS_LENGTH, RET_FILE_NOT_FOUND, RET_FILE_CAN_NOT_BE_OPENED, RET_CAN_NOT_WRITE_INTO_FILE, RET_FILE_CAN_NOT_BE_CLOSED, RET_FILE_HAS_NO_VALID_ENTRIES, RET_DOES_DIRECTORY_EXISTS, RET_VECTOR_DIMENSION_MISMATCH, RET_DIFFERENTIAL_STATE_DIMENSION_MISMATCH, RET_ALGEBRAIC_STATE_DIMENSION_MISMATCH, RET_CONTROL_DIMENSION_MISMATCH, RET_PARAMETER_DIMENSION_MISMATCH, RET_DISTURBANCE_DIMENSION_MISMATCH, RET_OUTPUT_DIMENSION_MISMATCH, RET_MATRIX_NOT_SQUARE, RET_LINEAR_SYSTEM_NUMERICALLY_SINGULAR, RET_GRIDPOINT_SETUP_FAILED, RET_GRIDPOINT_HAS_INVALID_TIME, RET_CONFLICTING_GRIDS, RET_TIME_INTERVAL_NOT_VALID, RET_INVALID_TIME_POINT, RET_OPTION_ALREADY_EXISTS, RET_OPTION_DOESNT_EXIST, RET_OPTIONS_LIST_CORRUPTED, RET_INVALID_OPTION, RET_PLOTTING_FAILED, RET_EMPTY_PLOT_DATA, RET_PLOT_WINDOW_CORRUPTED, RET_PLOT_COLLECTION_CORRUPTED, RET_LOG_RECORD_CORRUPTED, RET_LOG_ENTRY_DOESNT_EXIST, RET_LOG_COLLECTION_CORRUPTED, RET_BLOCK_DIMENSION_MISMATCH, RET_NO_PROCESS_SPECIFIED, RET_NO_CONTROLLER_SPECIFIED, RET_ENVIRONMENT_INIT_FAILED, RET_ENVIRONMENT_STEP_FAILED, RET_COMPUTATIONAL_DELAY_TOO_BIG, RET_COMPUTATIONAL_DELAY_NOT_SUPPORTED, RET_BLOCK_NOT_READY, RET_NO_SYSTEM_TIME, RET_CLOCK_NOT_READY, RET_PROCESS_INIT_FAILED, RET_PROCESS_STEP_FAILED, RET_PROCESS_STEP_FAILED_DISTURBANCE, RET_PROCESS_RUN_FAILED, RET_NO_DYNAMICSYSTEM_SPECIFIED, RET_NO_INTEGRATIONALGORITHM_SPECIFIED, RET_NO_DISCRETE_TIME_SYSTEMS_SUPPORTED, RET_WRONG_DISTURBANCE_HORIZON, RET_ACTUATOR_INIT_FAILED, RET_ACTUATOR_STEP_FAILED, RET_SENSOR_INIT_FAILED, RET_SENSOR_STEP_FAILED, RET_GENERATING_NOISE_FAILED, RET_DELAYING_INPUTS_FAILED, RET_DELAYING_OUTPUTS_FAILED, RET_INCOMPATIBLE_ACTUATOR_SAMPLING_TIME, RET_INCOMPATIBLE_SENSOR_SAMPLING_TIME, RET_NO_DIFFERENT_NOISE_SAMPLING_FOR_DISCRETE, RET_NO_NOISE_GENERATED, RET_NO_NOISE_SETTINGS, RET_INVALID_NOISE_SETTINGS, RET_CONTROLLER_INIT_FAILED, RET_CONTROLLER_STEP_FAILED, RET_NO_ESTIMATOR_SPECIFIED, RET_NO_CONTROLLAW_SPECIFIED, RET_NO_REALTIME_MODE_AVAILABLE, RET_DCU_INIT_FAILED, RET_DCU_STEP_FAILED, RET_ESTIMATOR_INIT_FAILED, RET_ESTIMATOR_STEP_FAILED, RET_OPTIMIZER_INIT_FAILED, RET_OPTIMIZER_STEP_FAILED, RET_NO_OCP_SPECIFIED, RET_NO_SOLUTIONALGORITHM_SPECIFIED, RET_CONTROLLAW_INIT_FAILED, RET_CONTROLLAW_STEP_FAILED, RET_NO_OPTIMIZER_SPECIFIED, RET_INVALID_PID_OUTPUT_DIMENSION, RET_IMMEDIATE_FEEDBACK_ONE_ITERATION, RET_OUTPUTTRANSFORMATOR_INIT_FAILED, RET_OUTPUTTRANSFORMATOR_STEP_FAILED, RET_INVALID_USE_OF_FUNCTION, RET_INFEASIBLE_CONSTRAINT, RET_ONLY_SUPPORTED_FOR_SYMBOLIC_FUNCTIONS, RET_INFEASIBLE_ALGEBRAIC_CONSTRAINT, RET_ILLFORMED_ODE, RET_PRECISION_OUT_OF_RANGE, RET_ERROR_WHILE_PRINTING_A_FILE, RET_INDEX_OUT_OF_RANGE, RET_INTERMEDIATE_STATE_HAS_NO_ARGUMENT, RET_DIMENSION_NOT_SPECIFIED, RET_DDQ_DIMENSION_MISMATCH, RET_CAN_ONLY_SOLVE_2ND_ORDER_KINVECS, RET_GAUSS_NEWTON_APPROXIMATION_NOT_SUPPORTED, RET_REFERENCE_SHIFTING_WORKS_FOR_LSQ_TERMS_ONLY, RET_TRIVIAL_RHS, RET_MISSING_INPUTS, RET_TO_SMALL_OR_NEGATIVE_TIME_INTERVAL, RET_FINAL_STEP_NOT_PERFORMED_YET, RET_ALREADY_FROZEN, RET_MAX_NUMBER_OF_STEPS_EXCEEDED, RET_WRONG_DEFINITION_OF_SEEDS, RET_NOT_FROZEN, RET_TO_MANY_DIFFERENTIAL_STATES, RET_TO_MANY_DIFFERENTIAL_STATE_DERIVATIVES, RET_RK45_CAN_NOT_TREAT_DAE, RET_CANNOT_TREAT_DAE, RET_INPUT_HAS_WRONG_DIMENSION, RET_INPUT_OUT_OF_RANGE, RET_THE_DAE_INDEX_IS_TOO_LARGE, RET_UNSUCCESSFUL_RETURN_FROM_INTEGRATOR_RK45, RET_UNSUCCESSFUL_RETURN_FROM_INTEGRATOR_BDF, RET_CANNOT_TREAT_DISCRETE_DE, RET_CANNOT_TREAT_CONTINUOUS_DE, RET_CANNOT_TREAT_IMPLICIT_DE, RET_CANNOT_TREAT_EXPLICIT_DE, RET_TO_MANY_DIFFERENTIAL_EQUATIONS, RET_BREAK_POINT_SETUP_FAILED, RET_WRONG_DEFINITION_OF_STAGE_TRANSITIONS, RET_TRANSITION_DEPENDS_ON_ALGEBRAIC_STATES, RET_NO_VALID_OBJECTIVE, RET_INCONSISTENT_BOUNDS, RET_INCOMPATIBLE_DIMENSIONS, RET_GRID_SETUP_FAILED, RET_OPTALG_INIT_FAILED, RET_OPTALG_STEP_FAILED, RET_OPTALG_FEEDBACK_FAILED, RET_OPTALG_PREPARE_FAILED, RET_OPTALG_SOLVE_FAILED, RET_REALTIME_NO_INITIAL_VALUE, RET_INTALG_INIT_FAILED, RET_INTALG_INTEGRATION_FAILED, RET_INTALG_NOT_READY, RET_PLOT_WINDOW_CAN_NOT_BE_OPEN, CONVERGENCE_ACHIEVED, CONVERGENCE_NOT_YET_ACHIEVED, RET_NLP_INIT_FAILED, RET_NLP_STEP_FAILED, RET_NLP_SOLUTION_FAILED, RET_INITIALIZE_FIRST, RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE, RET_ILLFORMED_HESSIAN_MATRIX, RET_NONSYMMETRIC_HESSIAN_MATRIX, RET_UNABLE_TO_EVALUATE_OBJECTIVE, RET_UNABLE_TO_EVALUATE_CONSTRAINTS, RET_UNABLE_TO_INTEGRATE_SYSTEM, RET_NEED_TO_ACTIVATE_RTI, RET_CONIC_PROGRAM_INFEASIBLE, RET_CONIC_PROGRAM_SOLUTION_FAILED, RET_CONIC_PROGRAM_NOT_SOLVED, RET_UNABLE_TO_CONDENSE, RET_UNABLE_TO_EXPAND, RET_NEED_TO_CONDENSE_FIRST, RET_BANDED_CP_INIT_FAILED, RET_BANDED_CP_SOLUTION_FAILED, RET_TRANSITION_NOT_DEFINED, RET_QP_INIT_FAILED, RET_QP_SOLUTION_FAILED, RET_QP_SOLUTION_REACHED_LIMIT, RET_QP_INFEASIBLE, RET_QP_UNBOUNDED, RET_QP_NOT_SOLVED, RET_RELAXING_QP, RET_COULD_NOT_RELAX_QP, RET_QP_SOLVER_CAN_ONLY_SOLVE_QP, RET_QP_HAS_INCONSISTENT_BOUNDS, RET_UNABLE_TO_HOTSTART_QP, RET_NONPOSITIVE_WEIGHT, RET_INITIAL_CHOLESKY_FAILED, RET_HOMOTOPY_STEP_FAILED, RET_STEPDIRECTION_DETERMINATION_FAILED, RET_STEPDIRECTION_FAILED_CHOLESKY, RET_STEPLENGTH_DETERMINATION_FAILED, RET_OPTIMAL_SOLUTION_FOUND, RET_MAX_NWSR_REACHED, RET_MATRIX_NOT_SPD, RET_CODE_EXPORT_SUCCESSFUL, RET_UNABLE_TO_EXPORT_CODE, RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT, RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT, RET_ONLY_ODE_FOR_CODE_EXPORT, RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT, RET_ONLY_EQUIDISTANT_GRID_FOR_CODE_EXPORT, RET_ONLY_BOUNDS_FOR_CODE_EXPORT, RET_QPOASES_EMBEDDED_NOT_FOUND, RET_UNABLE_TO_EXPORT_STATEMENT, RET_INVALID_CALL_TO_EXPORTED_FUNCTION, RET_INVALID_LINEAR_OUTPUT_FUNCTION }
	Defines all symbols for global return values. More...

enum	SensitivityType { FORWARD_SENSITIVITY, FORWARD_SENSITIVITY_LIFTED, BACKWARD_SENSITIVITY, UNKNOWN_SENSITIVITY }

enum	SparseQPsolutionMethods { SPARSE_SOLVER, CONDENSING, FULL_CONDENSING, FULL_CONDENSING_N2, CONDENSING_N2, BLOCK_CONDENSING_N2, FULL_CONDENSING_N2_FACTORIZATION }

enum	StateDiscretizationType { SINGLE_SHOOTING, MULTIPLE_SHOOTING, COLLOCATION, UNKNOWN_DISCRETIZATION }

enum	StateOfAggregation { SOA_FREEZING_MESH, SOA_FREEZING_ALL, SOA_MESH_FROZEN, SOA_MESH_FROZEN_FREEZING_ALL, SOA_EVERYTHING_FROZEN, SOA_UNFROZEN, SOA_UNKNOWN }

enum	SubBlockMatrixType { SBMT_ZERO, SBMT_ONE, SBMT_DENSE, SBMT_UNKNOWN }

enum	SubPlotType { SPT_VARIABLE, SPT_VARIABLE_VARIABLE, SPT_VARIABLE_EXPRESSION, SPT_VARIABLES_GRID, SPT_EXPRESSION, SPT_EXPRESSION_EXPRESSION, SPT_EXPRESSION_VARIABLE, SPT_ENUM, SPT_UNKNOWN }

enum	TimeHorizonElement { AT_TRANSITION = -3, AT_START, AT_END }

enum	UnrollOption { UNROLL, NO_UNROLL, HEURISTIC_UNROLL }

enum	VariableType { VT_DIFFERENTIAL_STATE, VT_ALGEBRAIC_STATE, VT_CONTROL, VT_INTEGER_CONTROL, VT_PARAMETER, VT_INTEGER_PARAMETER, VT_DISTURBANCE, VT_TIME, VT_INTERMEDIATE_STATE, VT_DDIFFERENTIAL_STATE, VT_OUTPUT, VT_VARIABLE, VT_ONLINE_DATA, VT_UNKNOWN }

Variables
BEGIN_NAMESPACE_ACADO typedef unsigned int	uint

Macro Definition Documentation

#define BT_FALSE false

Aliasing false.

Definition at line 49 of file acado_types.hpp.

#define BT_TRUE true

Aliasing true.

Definition at line 47 of file acado_types.hpp.

#define NO false

Aliasing no.

Definition at line 53 of file acado_types.hpp.

#define YES true

Aliasing yes.

Definition at line 51 of file acado_types.hpp.

Typedef Documentation

typedef bool BooleanType

Boolean type aliasing.

Definition at line 45 of file acado_types.hpp.

typedef void(* cFcnDPtr) (int number, double *x, double *seed, double *f, double *df, void *userData)

Function pointer type for derivatives given as C source code.

Definition at line 59 of file acado_types.hpp.

typedef void(* cFcnPtr) (double *x, double *f, void *userData)

Function pointer type for functions given as C source code.

Definition at line 56 of file acado_types.hpp.

Enumeration Type Documentation

enum AlgebraicRelaxationType

Defines all possible relaxation type used in DAE integration routines

Enumerator
ART_EXPONENTIAL
ART_ADAPTIVE_POLYNOMIAL
ART_UNKNOWN

Definition at line 136 of file acado_types.hpp.

enum BlockName

Summarizes all possible block names.

Enumerator
BN_DEFAULT
BN_SIMULATION_ENVIRONMENT
BN_PROCESS
BN_ACTUATOR
BN_SENSOR
BN_CONTROLLER
BN_ESTIMATOR
BN_REFERENCE_TRAJECTORY
BN_CONTROL_LAW

Definition at line 695 of file acado_types.hpp.

enum BlockStatus

Summarizes all possible states of a block or algorithmic module.

Enumerator
BS_UNDEFINED	Status is undefined.
BS_NOT_INITIALIZED	Block/algorithm has been instantiated but not initialized.
BS_READY	Block/algorithm has been initialized and is ready to run.
BS_RUNNING	Block/algorithm is running.

Definition at line 710 of file acado_types.hpp.

enum ClockStatus

Summarizes all possible states of a clock.

Enumerator
CS_NOT_INITIALIZED	Clock has not been initialized.
CS_RUNNING	Clock is running.
CS_STOPPED	Clock has been initialized and stopped.

Definition at line 720 of file acado_types.hpp.

enum CondensedHessianCholeskyDecomposition

Enumerator
EXTERNAL	External, performed within a QP solver.
INTERNAL_N3	n-cube version, performed within the exported code and passed to a QP solver.
INTERNAL_N2	n-square version, performed within the exported code, and passed to a QP solver.

Definition at line 815 of file acado_types.hpp.

enum CondensingStatus

Summarizes all possible states of the condensing used within condensing based CP solvers.

Enumerator
COS_NOT_INITIALIZED	Condensing has not been initialised yet.
COS_INITIALIZED	Condensing has been initialised, banded CP ready for condensing.
COS_CONDENSED	Banded CP has been condensed.
COS_FROZEN	Banded CP has been condensed and is frozen in this status.

Definition at line 685 of file acado_types.hpp.

enum CondensingType

Condensing type

Enumerator
CT_LIFTING	Sensitivities are lifted
CT_SPARSE	Sensitivities are sparse

Definition at line 594 of file acado_types.hpp.

enum ConicSolverStatus

Summarises all possible states of the Conic Solver.

Enumerator
CSS_NOTINITIALISED	The ConicSolver object is freshly instantiated or reset.
CSS_INITIALIZED	The ConicSolver object is initialised
CSS_SOLVED	The solution of the actual Convex Optimization Problem was found.
CSS_UNKNOWN	Status unknown.

Definition at line 646 of file acado_types.hpp.

enum ControlParameterizationType

Summarises all possible ways of discretising the system's states.

Enumerator
CPT_CONSTANT	piece wise constant parametrization
CPT_LINEAR	piece wise linear parametrization
CPT_LINEAR_CONTINUOUS	contious linear parametrization
CPT_CUSTOMIZED	costumized
CPT_UNKNOWN	unknown

Definition at line 210 of file acado_types.hpp.

enum CurvatureType

Defines all possible curvature types.

Enumerator
CT_CONSTANT	constant expression
CT_AFFINE	affine expression
CT_CONVEX	convex expression
CT_CONCAVE	concave expression
CT_NEITHER_CONVEX_NOR_CONCAVE	neither convex nor concave
CT_UNKNOWN	unknown

Definition at line 179 of file acado_types.hpp.

enum DifferentialEquationType

Enumerator
DET_ODE	ordinary differential equation
DET_DAE	differential algebraic equation
DET_UNKNOWN	unknown

Definition at line 190 of file acado_types.hpp.

enum ExportStatementOperator

Defines .

Enumerator
ESO_ADD
ESO_SUBTRACT
ESO_ADD_ASSIGN
ESO_SUBTRACT_ASSIGN
ESO_MULTIPLY
ESO_MULTIPLY_TRANSPOSE
ESO_DIVIDE
ESO_MODULO
ESO_ASSIGN
ESO_UNDEFINED

Definition at line 770 of file acado_types.hpp.

enum ExportStruct

Enumerator
ACADO_VARIABLES
ACADO_WORKSPACE
ACADO_PARAMS
ACADO_VARS
ACADO_LOCAL
ACADO_ANY
FORCES_PARAMS
FORCES_OUTPUT
FORCES_INFO

Definition at line 802 of file acado_types.hpp.

enum ExportType

Enumerator
INT
REAL
COMPLEX
STATIC_CONST_INT
STATIC_CONST_REAL

Definition at line 793 of file acado_types.hpp.

enum GlobalizationStrategy

Summarises all possible ways of globablizing NLP steps.

Enumerator
GS_FULLSTEP	Full step.
GS_LINESEARCH	Linesearch.
GS_UNKNOWN	Unknown.

Definition at line 221 of file acado_types.hpp.

enum HessianApproximationMode

Definition of several Hessian approximation modes.

Enumerator
CONSTANT_HESSIAN
GAUSS_NEWTON
FULL_BFGS_UPDATE
BLOCK_BFGS_UPDATE
GAUSS_NEWTON_WITH_BLOCK_BFGS
EXACT_HESSIAN
DEFAULT_HESSIAN_APPROXIMATION

Definition at line 611 of file acado_types.hpp.

enum HessianRegularizationMode

Definition of several Hessian regularization modes.

Enumerator
BLOCK_REG
CONDENSED_REG

Definition at line 626 of file acado_types.hpp.

enum ImplicitIntegratorMode

Defines the mode of the exported implicit integrator.

Enumerator
IFTR	With the reuse of the matrix evaluation and factorization from the previous step (1 evaluation and factorization per integration step).
IFT	Without the reuse of the matrix from the previous step (2 evaluations and factorizations per integration step).
LIFTED
LIFTED_FEEDBACK

Definition at line 158 of file acado_types.hpp.

enum InfeasibleQPhandling

Summarizes all available strategies for handling infeasible QPs within an SQP-type NLP solver.

Enumerator
IQH_STOP	Stop solution.
IQH_IGNORE	Ignore infeasibility and continue solution.
IQH_RELAX_L1	Re-solve relaxed QP using a L1 penalty.
IQH_RELAX_L2	Re-solve relaxed QP using a L2 penalty.
IQH_UNDEFINED	No infeasibility handling strategy defined.

Definition at line 658 of file acado_types.hpp.

enum IntegratorType

Summarizes all available integrators in standard ACADO.

Enumerator
INT_RK12	Explicit Runge-Kutta integrator of order 1/2
INT_RK23	Explicit Runge-Kutta integrator of order 2/3
INT_RK45	Explicit Runge-Kutta integrator of order 4/5
INT_RK78	Explicit Runge-Kutta integrator of order 7/8
INT_BDF	Implicit backward differentiation formula integrator.
INT_DISCRETE	Discrete time integrator
INT_LYAPUNOV45	Explicit Runge-Kutta integrator of order 4/5 with Lyapunov structure exploiting
INT_UNKNOWN	unkown.

Definition at line 256 of file acado_types.hpp.

enum InterpolationMode

Summarises all possible interpolation modes for VariablesGrids, Curves and the like.

Enumerator
IM_CONSTANT	Piecewise constant interpolation (not continous).
IM_LINEAR	Linear interpolation.
IM_QUADRATIC	Quadratic interpolation.
IM_CUBIC	Cubic interpolation.
IM_UNKNOWN	Unknown interpolation mode.

Definition at line 230 of file acado_types.hpp.

enum LinearAlgebraSolver

Defines all possible linear algebra solvers.

Enumerator
HOUSEHOLDER_QR
GAUSS_LU
SIMPLIFIED_IRK_NEWTON
SINGLE_IRK_NEWTON
HOUSEHOLDER_METHOD
SPARSE_LU
LAS_UNKNOWN

Definition at line 145 of file acado_types.hpp.

enum LogFrequency

Defines logging frequency.

Enumerator
LOG_AT_START
LOG_AT_END
LOG_AT_EACH_ITERATION

Definition at line 313 of file acado_types.hpp.

enum LogName

Defines possible logging output

Enumerator
LOG_NOTHING
LOG_NUM_NLP_ITERATIONS	Log number of NLP interations
LOG_NUM_SQP_ITERATIONS	Log number of SQP interations
LOG_NUM_QP_ITERATIONS	Log number of QP iterations
LOG_KKT_TOLERANCE	Log KKT tolerances
LOG_OBJECTIVE_VALUE	Log values objective function
LOG_MERIT_FUNCTION_VALUE	Log Merit function value
LOG_LINESEARCH_STEPLENGTH	Steplength of the line search routine (if used)
LOG_NORM_LAGRANGE_GRADIENT	Log norm of Lagrange gradient
LOG_IS_QP_RELAXED	Log whether the QP is relaxed or not
LOG_DUAL_RESIDUUM
LOG_PRIMAL_RESIDUUM
LOG_SURROGATE_DUALITY_GAP
LOG_NUM_INTEGRATOR_STEPS
LOG_TIME_SQP_ITERATION
LOG_TIME_CONDENSING
LOG_TIME_QP
LOG_TIME_RELAXED_QP
LOG_TIME_EXPAND
LOG_TIME_EVALUATION
LOG_TIME_HESSIAN_COMPUTATION
LOG_TIME_GLOBALIZATION
LOG_TIME_SENSITIVITIES
LOG_TIME_LAGRANGE_GRADIENT
LOG_TIME_PROCESS
LOG_TIME_CONTROLLER
LOG_TIME_ESTIMATOR
LOG_TIME_CONTROL_LAW
LOG_DIFFERENTIAL_STATES	Log all differential states in the order of occurrence
LOG_ALGEBRAIC_STATES	Log all algebraic states in the order of occurrence
LOG_PARAMETERS	Log all parameters in the order of occurrence
LOG_CONTROLS	Log all controls in the order of occurrence
LOG_DISTURBANCES	Log all disturbances in the order of occurrence
LOG_INTERMEDIATE_STATES	Log all intermediate states in the order of occurrence
LOG_DISCRETIZATION_INTERVALS	Log discretization intervals
LOG_STAGE_BREAK_POINTS
LOG_FEEDBACK_CONTROL
LOG_NOMINAL_CONTROLS
LOG_NOMINAL_PARAMETERS
LOG_SIMULATED_DIFFERENTIAL_STATES
LOG_SIMULATED_ALGEBRAIC_STATES
LOG_SIMULATED_CONTROLS
LOG_SIMULATED_PARAMETERS
LOG_SIMULATED_DISTURBANCES
LOG_SIMULATED_INTERMEDIATE_STATES
LOG_SIMULATED_OUTPUT
LOG_PROCESS_OUTPUT
LOG_NUMBER_OF_INTEGRATOR_STEPS
LOG_NUMBER_OF_INTEGRATOR_REJECTED_STEPS
LOG_NUMBER_OF_INTEGRATOR_FUNCTION_EVALUATIONS
LOG_NUMBER_OF_BDF_INTEGRATOR_JACOBIAN_EVALUATIONS
LOG_TIME_INTEGRATOR
LOG_TIME_INTEGRATOR_FUNCTION_EVALUATIONS
LOG_TIME_BDF_INTEGRATOR_JACOBIAN_EVALUATION
LOG_TIME_BDF_INTEGRATOR_JACOBIAN_DECOMPOSITION

Definition at line 432 of file acado_types.hpp.

enum LogPrintMode

Defines all possibilities to print LogRecords.

Enumerator
PRINT_ITEM_BY_ITEM	Print all numerical values of one item and continue with next item.
PRINT_ITER_BY_ITER	Print all numerical values of all items at one time instant (or iteration) and continue with next time instant.
PRINT_LAST_ITER	Print all numerical values of all items at last time instant (or iteration) only.

Definition at line 323 of file acado_types.hpp.

enum LogRecordItemType

Enumerator
LRT_ENUM
LRT_VARIABLE
LRT_UNKNOWN

Definition at line 303 of file acado_types.hpp.

enum MeasurementGrid

The available options for providing the grid of measurements.

Enumerator
OFFLINE_GRID	An equidistant grid specified independent of the integration grid.
ONLINE_GRID	A random grid, provided online by the user.

Definition at line 271 of file acado_types.hpp.

enum MergeMethod

Defines all possible methods of merging variables grids in case a grid point exists in both grids.

Enumerator
MM_KEEP	Keeps original values.
MM_REPLACE	Replace by new values.
MM_DUPLICATE	Duplicate grid point (i.e. keeping old and adding new).

Definition at line 116 of file acado_types.hpp.

enum MonotonicityType

Defines all possible monotonicity types.

Enumerator
MT_CONSTANT
MT_NONDECREASING
MT_NONINCREASING
MT_NONMONOTONIC
MT_UNKNOWN

Definition at line 168 of file acado_types.hpp.

enum NeutralElement

Defines the Neutral Elements ZERO and ONE as well as the default NEITHER_ONE_NOR_ZERO

Enumerator
NE_ZERO
NE_ONE
NE_NEITHER_ONE_NOR_ZERO

Definition at line 64 of file acado_types.hpp.

enum OperatingSystem

Enumerator
OS_DEFAULT
OS_UNIX
OS_WINDOWS

Definition at line 785 of file acado_types.hpp.

enum OperatorName

Defines the names of all implemented symbolic operators.

Enumerator
ON_SIN
ON_COS
ON_TAN
ON_ASIN
ON_ACOS
ON_ATAN
ON_LOGARITHM
ON_EXP
ON_ADDITION
ON_SUBTRACTION
ON_POWER
ON_POWER_INT
ON_PRODUCT
ON_QUOTIENT
ON_VARIABLE
ON_DOUBLE_CONSTANT
ON_DIFFERENTIAL_STATE
ON_CEXPRESSION

Definition at line 72 of file acado_types.hpp.

enum OptionsName

Enumerator
CG_FORCE_DIAGONAL_HESSIAN	Force diagonal (stage) Hessian during the code export phase.
CG_CONDENSED_HESSIAN_CHOLESKY	Type of the Cholesky decomposition of the condensed Hessian. See also CondensedHessianCholeskyDecomposition
CG_MODULE_NAME	Name of the module, used as a prefix for the file-names and functions (shall be all lowercase).
CG_MODULE_PREFIX	Prefix used for all global variables (shall be all uppercase).
CG_EXPORT_FOLDER_NAME	Export folder name.
CG_USE_ARRIVAL_COST	Enable interface for arival cost calculation.
CG_USE_OPENMP	Use OpenMP for parallelization in multiple shooting.
CG_USE_VARIABLE_WEIGHTING_MATRIX	Use variable weighting matrix S on first N shooting nodes.
CG_USE_C99	Code generation is allowed (or not) to export C-code that conforms C99 standard.
CG_COMPUTE_COVARIANCE_MATRIX	Enable computation of the variance-covariance matrix for the last estimate.
CG_HARDCODE_CONSTRAINT_VALUES	Enable/disable hard-coding of the constraint values.
IMPLICIT_INTEGRATOR_MODE	This determines the mode of the implicit integrator (see enum ImplicitIntegratorMode).
LIFTED_GRADIENT_UPDATE	This determines whether the gradient will be updated, based on the lifted implicit integrator.
IMPLICIT_INTEGRATOR_NUM_ITS	This is the performed number of Newton iterations in the implicit integrator.
IMPLICIT_INTEGRATOR_NUM_ITS_INIT	This is the performed number of Newton iterations in the implicit integrator for the initialization of the first step.
UNROLL_LINEAR_SOLVER	This option of the boolean type determines the unrolling of the linear solver (no unrolling recommended for larger systems).
CONDENSING_BLOCK_SIZE	Defines the block size used in a block based condensing approach for code generated RTI.
INTEGRATOR_DEBUG_MODE
OPT_UNKNOWN
MAX_NUM_INTEGRATOR_STEPS
NUM_INTEGRATOR_STEPS
INTEGRATOR_TOLERANCE
MEX_ITERATION_STEPS	The number of real-time iterations performed in the auto generated mex function.
MEX_VERBOSE
ABSOLUTE_TOLERANCE
INITIAL_INTEGRATOR_STEPSIZE
MIN_INTEGRATOR_STEPSIZE
MAX_INTEGRATOR_STEPSIZE
STEPSIZE_TUNING
CORRECTOR_TOLERANCE
INTEGRATOR_PRINTLEVEL
LINEAR_ALGEBRA_SOLVER
ALGEBRAIC_RELAXATION
RELAXATION_PARAMETER
PRINT_INTEGRATOR_PROFILE
FEASIBILITY_CHECK
MAX_NUM_ITERATIONS
KKT_TOLERANCE
KKT_TOLERANCE_SAFEGUARD
LEVENBERG_MARQUARDT
PRINTLEVEL
PRINT_COPYRIGHT
HESSIAN_APPROXIMATION
HESSIAN_REGULARIZATION
DYNAMIC_HESSIAN_APPROXIMATION
HESSIAN_PROJECTION_FACTOR
DYNAMIC_SENSITIVITY
OBJECTIVE_SENSITIVITY
CONSTRAINT_SENSITIVITY
DISCRETIZATION_TYPE
LINESEARCH_TOLERANCE
MIN_LINESEARCH_PARAMETER
QP_SOLVER
MAX_NUM_QP_ITERATIONS
HOTSTART_QP
INFEASIBLE_QP_RELAXATION
INFEASIBLE_QP_HANDLING
USE_REALTIME_ITERATIONS
USE_REALTIME_SHIFTS
USE_IMMEDIATE_FEEDBACK
TERMINATE_AT_CONVERGENCE
USE_REFERENCE_PREDICTION
FREEZE_INTEGRATOR
INTEGRATOR_TYPE
MEASUREMENT_GRID
SAMPLING_TIME
SIMULATE_COMPUTATIONAL_DELAY
COMPUTATIONAL_DELAY_FACTOR
COMPUTATIONAL_DELAY_OFFSET
PARETO_FRONT_DISCRETIZATION
PARETO_FRONT_GENERATION
PARETO_FRONT_HOTSTART
SIMULATION_ALGORITHM
CONTROL_PLOTTING
PARAMETER_PLOTTING
OUTPUT_PLOTTING
SPARSE_QP_SOLUTION
GLOBALIZATION_STRATEGY
CONIC_SOLVER_MAXIMUM_NUMBER_OF_STEPS
CONIC_SOLVER_TOLERANCE
CONIC_SOLVER_LINE_SEARCH_TUNING
CONIC_SOLVER_BARRIER_TUNING
CONIC_SOLVER_MEHROTRA_CORRECTION
CONIC_SOLVER_PRINT_LEVEL
PRINT_SCP_METHOD_PROFILE
PLOT_RESOLUTION
FIX_INITIAL_STATE
GENERATE_TEST_FILE
GENERATE_MAKE_FILE
GENERATE_SIMULINK_INTERFACE
GENERATE_MATLAB_INTERFACE
OPERATING_SYSTEM
USE_SINGLE_PRECISION

Definition at line 331 of file acado_types.hpp.

enum ParetoFrontGeneration

Defines the pareto front generation options.

Enumerator
PFG_FIRST_OBJECTIVE
PFG_SECOND_OBJECTIVE
PFG_WEIGHTED_SUM
PFG_NORMALIZED_NORMAL_CONSTRAINT
PFG_NORMAL_BOUNDARY_INTERSECTION
PFG_ENHANCED_NORMALIZED_NORMAL_CONSTRAINT
PFG_EPSILON_CONSTRAINT
PFG_UNKNOWN

Definition at line 739 of file acado_types.hpp.

enum PlotFormat

Defines all possible plot formats.

Enumerator
PF_PLAIN	Plot with linear x- and y-axes.
PF_LOG	Plot with linear x-axis and logarithmic y-axis.
PF_LOG_LOG	Plot with logarithmic x- and y-axes.
PF_UNKNOWN	Plot format unknown.

Definition at line 535 of file acado_types.hpp.

enum PlotFrequency

Enumerator
PLOT_AT_START
PLOT_AT_END
PLOT_AT_EACH_ITERATION
PLOT_IN_ANY_CASE
PLOT_NEVER

Definition at line 498 of file acado_types.hpp.

enum PlotMode

Defines all possible plot modes.

Enumerator
PM_LINES	Plot data points linearly interpolated with lines.
PM_POINTS	Plot data points as single points.
PM_UNKNOWN	Plot mode unknown.

Definition at line 547 of file acado_types.hpp.

enum PlotName

Enumerator
PLOT_NOTHING
PLOT_KKT_TOLERANCE
PLOT_OBJECTIVE_VALUE
PLOT_MERIT_FUNCTION_VALUE
PLOT_LINESEARCH_STEPLENGTH
PLOT_NORM_LAGRANGE_GRADIENT

Definition at line 508 of file acado_types.hpp.

enum PrintLevel

Summarises all possible print levels. Print levels are used to describe the desired amount of output during runtime of ACADO Toolkit.

Enumerator
NONE	No output.
LOW	Print error messages only.
MEDIUM	Print error and warning messages as well as concise info messages.
HIGH	Print all messages with full details.
DEBUG	Print all messages with full details as well * all ugly messages that might be helpful for * debugging the code.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_TABULAR	Tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Normal tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.
PL_DEBUG_ITER	Full tabular debugging output.
PL_TABULAR	Tabular output.
PL_NONE	No output.
PL_LOW	Print error messages only.
PL_MEDIUM	Print error and warning messages as well as concise info messages.
PL_HIGH	Print all messages with full details.

Definition at line 292 of file acado_types.hpp.

enum PrintScheme

Defines possible printing types used in logging.

Enumerator
PS_DEFAULT	Default printing, each row starts with [ and ends with ] and a newline. Colums are separated with a space.
PS_PLAIN	Plain printing, rows are separated with a newline and columns with a space
PS_MATLAB	Matlab style output. List starts with [ and ends with ]. Rows are separated by ; and columns by ,.
PS_MATLAB_BINARY	Outputs a binary data file that can be read by Matlab.

Definition at line 574 of file acado_types.hpp.

enum ProcessPlotName

Enumerator
PLOT_NOMINAL
PLOT_REAL

Definition at line 526 of file acado_types.hpp.

enum ProcessSimulationAlgorithm

Summarizes all possible algorithms for simulating the process.

Enumerator
SIMULATION_BY_INTEGRATION	Simulation by using an integrator.
SIMULATION_BY_COLLOCATION	Simulation by using a collocation scheme.

Definition at line 602 of file acado_types.hpp.

enum QPSolverName

Enumerator
QP_QPOASES
QP_QPOASES3
QP_FORCES
QP_QPDUNES
QP_HPMPC
QP_GENERIC
QP_NONE

Definition at line 633 of file acado_types.hpp.

enum QPStatus

Summarizes all possible states of a QP problem.

Enumerator
QPS_NOT_INITIALIZED	QP problem has not been initialised yet.
QPS_INITIALIZED	QP problem has been initialised.
QPS_SOLVING	QP problem is being solved.
QPS_SOLVED	QP problem successfully solved.
QPS_RELAXED	QP problem has been relaxed.
QPS_SOLVING_RELAXATION	A relaxed QP problem is being solved.
QPS_SOLVED_RELAXATION	A relaxed QP problem has been solved.
QPS_INFEASIBLE	QP problem is infeasible.
QPS_UNBOUNDED	QP problem is unbounded.
QPS_NOTSOLVED	QP problem could not been solved.

Definition at line 669 of file acado_types.hpp.

enum returnValueLevel

Defines the importance level of the message

Enumerator
LVL_DEBUG	Lowest level, the debug level.
LVL_FATAL	Returned value is a fatal error, assert like use, aborts execution is unhandled.
LVL_ERROR	Returned value is a error.
LVL_WARNING	Returned value is a warning.
LVL_INFO	Returned value is a information.

Definition at line 1120 of file acado_types.hpp.

enum SensitivityType

Summarizes all possible sensitivity types

Enumerator
FORWARD_SENSITIVITY	Sensitivities are computed in forward mode
FORWARD_SENSITIVITY_LIFTED	Sensitivities are computed in forward mode using "lifting" if possible.
BACKWARD_SENSITIVITY	Sensitivities are computed in backward mode
UNKNOWN_SENSITIVITY	unknown

Definition at line 584 of file acado_types.hpp.

enum SparseQPsolutionMethods

Defines .

Enumerator
SPARSE_SOLVER
CONDENSING
FULL_CONDENSING
FULL_CONDENSING_N2
CONDENSING_N2
BLOCK_CONDENSING_N2
FULL_CONDENSING_N2_FACTORIZATION

Definition at line 755 of file acado_types.hpp.

enum StateDiscretizationType

Summarises all possible ways of discretising the system's states.

Enumerator
SINGLE_SHOOTING	Single shooting discretisation.
MULTIPLE_SHOOTING	Multiple shooting discretisation.
COLLOCATION	Collocation discretisation.
UNKNOWN_DISCRETIZATION	Discretisation type unknown.

Definition at line 200 of file acado_types.hpp.

enum StateOfAggregation

Summarizes all possible states of aggregation. (e.g. a mesh for an integration routine can be freezed, unfreezed, etc.)

Enumerator
SOA_FREEZING_MESH	freeze the mesh during next evaluation
SOA_FREEZING_ALL	freeze everything during next evaluation
SOA_MESH_FROZEN	the mesh is frozen
SOA_MESH_FROZEN_FREEZING_ALL	the mesh is frozen, freeze also trajectory during next evaluation
SOA_EVERYTHING_FROZEN	everything is frozen
SOA_UNFROZEN	everything is unfrozed
SOA_UNKNOWN	unknown

Definition at line 243 of file acado_types.hpp.

enum SubBlockMatrixType

Defines all possible sub-block matrix types.

Enumerator
SBMT_ZERO
SBMT_ONE
SBMT_DENSE
SBMT_UNKNOWN

Definition at line 126 of file acado_types.hpp.

enum SubPlotType

Defines all possible sub-plot types.

Enumerator
SPT_VARIABLE
SPT_VARIABLE_VARIABLE
SPT_VARIABLE_EXPRESSION
SPT_VARIABLES_GRID
SPT_EXPRESSION
SPT_EXPRESSION_EXPRESSION
SPT_EXPRESSION_VARIABLE
SPT_ENUM
SPT_UNKNOWN

Definition at line 558 of file acado_types.hpp.

enum TimeHorizonElement

Defines the time horizon start and end.

Enumerator
AT_TRANSITION
AT_START
AT_END

Definition at line 729 of file acado_types.hpp.

enum UnrollOption

Unrolling option.

Enumerator
UNROLL
NO_UNROLL
HEURISTIC_UNROLL

Definition at line 280 of file acado_types.hpp.

enum VariableType

Defines the names of all implemented variable types.

Enumerator
VT_DIFFERENTIAL_STATE
VT_ALGEBRAIC_STATE
VT_CONTROL
VT_INTEGER_CONTROL
VT_PARAMETER
VT_INTEGER_PARAMETER
VT_DISTURBANCE
VT_TIME
VT_INTERMEDIATE_STATE
VT_DDIFFERENTIAL_STATE
VT_OUTPUT
VT_VARIABLE
VT_ONLINE_DATA
VT_UNKNOWN

Definition at line 95 of file acado_types.hpp.

Variable Documentation

BEGIN_NAMESPACE_ACADO typedef unsigned int uint

Short-cut for unsigned integer.

Definition at line 42 of file acado_types.hpp.

Classes

Macros

Typedefs

Enumerations

Variables

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Variable Documentation