Classes | Macros | Typedefs | Enumerations | Variables
acado_types.hpp File Reference
#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

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.

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.

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.

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.

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.

Condensing type

Enumerator
CT_LIFTING 

Sensitivities are lifted

CT_SPARSE 

Sensitivities are sparse

Definition at line 594 of file acado_types.hpp.

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.

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.

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.

Enumerator
DET_ODE 

ordinary differential equation

DET_DAE 

differential algebraic equation

DET_UNKNOWN 

unknown

Definition at line 190 of file acado_types.hpp.

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.

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.

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.

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.

Definition of several Hessian regularization modes.

Enumerator
BLOCK_REG 
CONDENSED_REG 

Definition at line 626 of file acado_types.hpp.

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.

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.

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.

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.

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.

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.

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.

Enumerator
LRT_ENUM 
LRT_VARIABLE 
LRT_UNKNOWN 

Definition at line 303 of file acado_types.hpp.

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.

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.

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.

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.

Enumerator
OS_DEFAULT 
OS_UNIX 
OS_WINDOWS 

Definition at line 785 of file acado_types.hpp.

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.

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.

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.

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.

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.

Enumerator
PLOT_NOMINAL 
PLOT_REAL 

Definition at line 526 of file acado_types.hpp.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Defines the time horizon start and end.

Enumerator
AT_TRANSITION 
AT_START 
AT_END 

Definition at line 729 of file acado_types.hpp.

Unrolling option.

Enumerator
UNROLL 
NO_UNROLL 
HEURISTIC_UNROLL 

Definition at line 280 of file acado_types.hpp.

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.



acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:17