external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp

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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_HPP
#define QPOASES_TYPES_HPP


/* 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__ */



/* 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
#if (_MSC_VER < 1900)
/* Work-around for Microsoft compilers with version older than 2015. */
  #define __NO_SNPRINTF__
  #pragma warning( disable : 4061 4100 4250 4514 4996 )
#endif
#endif


#ifdef __DSPACE__

        #define BEGIN_NAMESPACE_QPOASES

        #define END_NAMESPACE_QPOASES

        #define USING_NAMESPACE_QPOASES

        #define REFER_NAMESPACE_QPOASES ::

#else

        #define BEGIN_NAMESPACE_QPOASES  namespace qpOASES {

        #define END_NAMESPACE_QPOASES    }

        #define USING_NAMESPACE_QPOASES  using namespace qpOASES;

        #define REFER_NAMESPACE_QPOASES  qpOASES::

#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 RR( I,J )  R[(I)+nV*(J)]

#define QQ( I,J )  Q[(I)+nV*(J)]

#define TT( I,J )  T[(I)*sizeT+(J)]


/* If neither MA57 nor MA27 are selected, activate the dummy solver */
#if !defined(SOLVER_MA27) && !defined(SOLVER_MA57) && !defined(SOLVER_NONE)
#define SOLVER_NONE
#endif

BEGIN_NAMESPACE_QPOASES


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


#ifdef __USE_LONG_INTEGERS__
typedef long int_t;
typedef unsigned long uint_t;
#else
typedef int int_t;
typedef unsigned int uint_t;
#endif /* __USE_LONG_INTEGERS__ */


typedef int fint;


typedef int_t sparse_int_t;


#if defined( BT_FALSE ) && defined( BT_TRUE )
#undef BT_FALSE
#undef BT_TRUE
#endif /* defined( BT_TRUE ) && defined( BT_FALSE ) */


enum BooleanType
{
        BT_FALSE,                                       
        BT_TRUE                                         
};


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


enum VisibilityStatus
{
        VS_HIDDEN,                                      
        VS_VISIBLE                                      
};


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


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


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


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

enum SchurUpdateType
{
        SUT_VarFixed,                   
        SUT_VarFreed,                   
        SUT_ConAdded,                   
        SUT_ConRemoved,                 
        SUT_UNDEFINED                   
};

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



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




END_NAMESPACE_QPOASES


#endif  /* QPOASES_TYPES_HPP */


/*
 *      end of file
 */