export_qpoases_interface.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#include <acado/code_generation/export_qpoases_interface.hpp>
#include <acado/code_generation/templates/templates.hpp>

using namespace std;

BEGIN_NAMESPACE_ACADO


ExportQpOasesInterface::ExportQpOasesInterface(         const std::string& _headerFileName,
                                                                                                        const std::string& _sourceFileName,
                                                                                                        const std::string& _commonHeaderName,
                                                                                                        const std::string& _realString,
                                                                                                        const std::string& _intString,
                                                                                                        int _precision,
                                                                                                        const std::string& _commentString
                                                                                                        )
        : qpoHeader(QPOASES_HEADER, _headerFileName, _commonHeaderName, _realString, _intString, _precision, _commentString),
          qpoSource(QPOASES_SOURCE, _sourceFileName, _commonHeaderName, _realString, _intString, _precision, _commentString)
{}


returnValue ExportQpOasesInterface::configure(  const std::string& _prefix,
                                                                                                const std::string& _solverDefine,
                                                                                                const int nvmax,
                                                                                                const int ncmax,
                                                                                                const int nwsrmax,
                                                                                                const std::string& _printLevel,
                                                                                                bool _useSinglePrecision,

                                                                                                const std::string& _commonHeader,
                                                                                                const std::string& _namespace,
                                                                                                const std::string& _primalSolution,
                                                                                                const std::string& _dualSolution,
                                                                                                const std::string& _sigma,
                                                                                                bool _hotstartQP,
                                                                                                bool _externalCholesky,
                                                                                                const std::string& _qpH,
                                                                                                const std::string& _qpR,
                                                                                                const std::string& _qpg,
                                                                                                const std::string& _qpA,
                                                                                                const std::string& _qplb,
                                                                                                const std::string& _qpub,
                                                                                                const std::string& _qplbA,
                                                                                                const std::string& _qpubA
                                                                                                )
{
        //
        // Source file configuration
        //

        stringstream s, ctor;
        string solverName;
        if (ncmax > 0)
        {
                solverName = "QProblem";

                s       << _qpH << ", ";
                if (_externalCholesky == false)
                        s << _qpR << ", ";
                s       << _qpg << ", " << _qpA << ", " << _qplb << ", " << _qpub << ", "
                        << _qplbA << ", " << _qpubA << ", " << ExportStatement::fcnPrefix << _prefix << "_nWSR";

                if ( (bool)_hotstartQP == true )
                        s << ", " << _dualSolution;

                ctor << solverName << " qp(" << nvmax << ", " << ncmax << ")";
        }
        else
        {
                solverName = "QProblemB";

                s       << _qpH << ", ";
                if (_externalCholesky == false)
                        s << _qpR << ", ";
                s       << _qpg << ", " << _qplb << ", " << _qpub << ", " << ExportStatement::fcnPrefix << _prefix << "_nWSR";

                if ( (bool)_hotstartQP == true )
                        s << ", " << _dualSolution;

                ctor << solverName << " qp( " << nvmax << " )";
        }

        qpoSource.dictionary[ "@ACADO_COMMON_HEADER@" ] =  _commonHeader;
        qpoSource.dictionary[ "@SOLVER_NAME@" ] =  solverName;
        qpoSource.dictionary[ "@PREFIX@" ] =  _prefix;
        qpoSource.dictionary[ "@USE_NAMESPACE@" ] =  _namespace;
        qpoSource.dictionary[ "@CALL_SOLVER@" ] =  s.str();
        qpoSource.dictionary[ "@PRIMAL_SOLUTION@" ] =  _primalSolution;
        qpoSource.dictionary[ "@DUAL_SOLUTION@" ] =  _dualSolution;
        qpoSource.dictionary[ "@CTOR@" ] =  ctor.str();
        qpoSource.dictionary[ "@SIGMA@" ] =  _sigma;
    qpoSource.dictionary[ "@MODULE_NAME@" ] = ExportStatement::fcnPrefix;
    qpoSource.dictionary[ "@MODULE_PREFIX@" ] = ExportStatement::varPrefix;

        // And then fill a template file
        qpoSource.fillTemplate();

        //
        // Header file configuration
        //

        // Configure the dictionary
    qpoHeader.dictionary[ "@MODULE_NAME@" ] = ExportStatement::fcnPrefix;
    qpoHeader.dictionary[ "@MODULE_PREFIX@" ] = ExportStatement::varPrefix;
    
        qpoHeader.dictionary[ "@PREFIX@" ] =  _prefix;
        qpoHeader.dictionary[ "@SOLVER_DEFINE@" ] =  _solverDefine;

        qpoHeader.dictionary[ "@NVMAX@" ] = toString( nvmax );

        qpoHeader.dictionary[ "@NCMAX@" ] = toString( ncmax );

        qpoHeader.dictionary[ "@NWSRMAX@" ] =  toString(nwsrmax > 0 ? nwsrmax : 3 * (nvmax + ncmax));

        qpoHeader.dictionary[ "@PRINT_LEVEL@" ] =  _printLevel;

        double eps;
        string realT;
        if ( _useSinglePrecision )
        {
                eps = 1.193e-07;
                realT = "float";
        }
        else
        {
                eps = 2.221e-16;
                realT = "double";
        }
        qpoHeader.dictionary[ "@EPS@" ] =  toString( eps );
        qpoHeader.dictionary[ "@REAL_T@" ] =  toString( realT );

        // And then fill a template file
        qpoHeader.fillTemplate();

        return SUCCESSFUL_RETURN;
}

returnValue ExportQpOasesInterface::exportCode()
{
        qpoHeader.exportCode();
        qpoSource.exportCode();

        return SUCCESSFUL_RETURN;
}


CLOSE_NAMESPACE_ACADO