qrecipe_data.hpp
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1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
6  * Christian Kirches et al. All rights reserved.
7  *
8  * qpOASES is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU Lesser General Public
10  * License as published by the Free Software Foundation; either
11  * version 2.1 of the License, or (at your option) any later version.
12  *
13  * qpOASES is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16  * See the GNU Lesser General Public License for more details.
17  *
18  * You should have received a copy of the GNU Lesser General Public
19  * License along with qpOASES; if not, write to the Free Software
20  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21  *
22  */
23 
24 
35 USING_NAMESPACE_QPOASES
36 
37 
38 
39 const real_t Inf = INFTY;
40 
41 sparse_int_t H_jc[] = { 0, 4, 8, 12, 16, 20, 20, 20, 20, 20, 20,
42  24, 28, 32, 36, 40, 40, 40, 40, 40, 40,
43  44, 48, 52, 56, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60,
44  64, 68, 72, 76, 80, 80, 80, 80, 80, 80,
45  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
46  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
47  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
48  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
49  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
50  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
51  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
52  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
53  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
54  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
55  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
56  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
57  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
58  80, 80, 80, 80, 80, 80 };
59 
60 sparse_int_t H_ir[] = {
61  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
62  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
63  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
64  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38};
65 
66 real_t H_val[] = {10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1,
67  1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1,
68  10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1, 10, 1,
69  1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10};
70 
71 sparse_int_t A_jc[] = {
72  0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120,
73  130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270,
74  280, 290, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312,
75  313, 314, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 331,
76  333, 335, 337, 339, 341, 343, 345, 347, 349, 351, 353, 355, 357, 359, 361,
77  363, 365, 367, 369, 371, 373, 383, 393, 403, 405, 408, 410, 413, 415, 418,
78  420, 422, 424, 426, 428, 430, 432, 434, 436, 438, 440, 442, 444, 446, 448,
79  450, 452, 454, 456, 458, 460, 462, 472, 482, 492, 494, 497, 499, 502, 504,
80  507, 509, 511, 513, 515, 517, 519, 521, 523, 525, 527, 529, 531, 533, 535,
81  537, 539, 541, 543, 545, 547, 549, 551, 561, 571, 581, 583, 586, 588, 591,
82  593, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609,
83  610, 611, 612, 613, 614, 615, 616, 617, 618, 628, 638, 648, 650, 653, 655,
84  658, 660, 663};
85 
86 sparse_int_t A_ir[] = {0, 14, 35, 36, 71, 72, 85, 86, 87, 88, 1, 14, 35, 36, 71, 72, 85,
87  86, 87, 88, 2, 14, 35, 36, 71, 72, 85, 86, 87, 88, 3, 14, 35, 36, 71, 72,
88  85, 86, 87, 88, 4, 14, 35, 36, 71, 72, 85, 86, 87, 88, 5, 14, 35, 36, 71,
89  72, 85, 86, 87, 88, 6, 14, 35, 36, 71, 72, 85, 86, 87, 88, 7, 14, 35, 36,
90  71, 72, 85, 86, 87, 88, 8, 14, 35, 36, 71, 72, 85, 86, 87, 88, 9, 14, 35,
91  36, 71, 72, 85, 86, 87, 88, 0, 15, 37, 38, 69, 70, 79, 80, 81, 82, 1, 15,
92  37, 38, 69, 70, 79, 80, 81, 82, 2, 15, 37, 38, 69, 70, 79, 80, 81, 82, 3,
93  15, 37, 38, 69, 70, 79, 80, 81, 82, 4, 15, 37, 38, 69, 70, 79, 80, 81, 82,
94  5, 15, 37, 38, 69, 70, 79, 80, 81, 82, 6, 15, 37, 38, 69, 70, 79, 80, 81,
95  82, 7, 15, 37, 38, 69, 70, 79, 80, 81, 82, 8, 15, 37, 38, 69, 70, 79, 80,
96  81, 82, 9, 15, 37, 38, 69, 70, 79, 80, 81, 82, 0, 16, 39, 40, 67, 68, 73,
97  74, 75, 76, 1, 16, 39, 40, 67, 68, 73, 74, 75, 76, 2, 16, 39, 40, 67, 68,
98  73, 74, 75, 76, 3, 16, 39, 40, 67, 68, 73, 74, 75, 76, 4, 16, 39, 40, 67,
99  68, 73, 74, 75, 76, 5, 16, 39, 40, 67, 68, 73, 74, 75, 76, 6, 16, 39, 40,
100  67, 68, 73, 74, 75, 76, 7, 16, 39, 40, 67, 68, 73, 74, 75, 76, 8, 16, 39,
101  40, 67, 68, 73, 74, 75, 76, 9, 16, 39, 40, 67, 68, 73, 74, 75, 76, 10, 11,
102  12, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 47, 48, 49, 50, 51,
103  52, 53, 54, 55, 56, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62, 52, 63, 53,
104  64, 54, 65, 55, 66, 46, 56, 45, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62,
105  52, 63, 53, 64, 54, 65, 55, 66, 46, 56, 45, 57, 10, 14, 71, 72, 85, 86, 87,
106  88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74,
107  75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78,
108  44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65, 30, 66, 29,
109  46, 28, 45, 44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65,
110  30, 66, 29, 46, 28, 45, 10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69,
111  70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90,
112  36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78, 27, 44, 26, 43, 25, 42,
113  24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28, 27, 44, 26,
114  43, 25, 42, 24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28,
115  10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83,
116  84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38,
117  83, 84, 39, 78, 40, 77, 78, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 27,
118  26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 10, 14, 71, 72, 85, 86, 87, 88, 89,
119  90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76,
120  77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78};
121 
122 real_t A_val[] = {
123 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.8678200000000004e+01,
124  9.3617050000000006e+01, 1.6000000000000000e+01, 8.1999999999999993e+00,
125  9.9000000000000000e+01, 8.0000000000000000e+01, 1.2000000000000000e+01,
126  9.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
127  8.0062830000000005e+01, 9.9224010000000007e+01, 1.0000000000000000e+02,
128  2.1100000000000001e+01, 1.0000000000000000e+02, 1.0000000000000000e+02,
129  1.1400000000000000e+02, 1.1680000000000000e+02, -1.0000000000000000e+00,
130  1.0000000000000000e+00, 7.4697360000000003e+01, 8.3801220000000001e+01,
131 -8.1999999999999993e+00, 2.0000000000000000e+00, 9.0000000000000000e+01,
132  2.3999999999999999e+00, -1.2000000000000000e+01, -1.4800000000000001e+01,
133 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.9194209999999998e+01,
134  9.0175110000000004e+01, 4.3000000000000000e+01, 8.0000000000000000e+00,
135  1.0000000000000000e+02, 9.5000000000000000e+01, 9.0000000000000000e+00,
136  2.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
137  7.8568219999999997e+01, 8.5996200000000002e+01, -1.2500000000000000e+01,
138  1.0000000000000000e+00, 9.6500000000000000e+01, 4.0000000000000000e+00,
139 -1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
140  1.0000000000000000e+00, 8.2922240000000002e+01, 8.6963380000000001e+01,
141  6.5000000000000000e+01, 1.2500000000000000e+01, 1.0000000000000000e+02,
142  9.8000000000000000e+01, 4.9000000000000000e+01, 3.7000000000000000e+01,
143 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.2592740000000006e+01,
144  9.3147599999999997e+01, -1.2000000000000000e+01, 1.0000000000000000e+00,
145  9.6500000000000000e+01, 4.0000000000000000e+00, -1.8000000000000000e+01,
146 -2.1899999999999999e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
147  7.6506460000000004e+01, 7.8210250000000002e+01, 7.9000000000000000e+01,
148  1.2000000000000000e+01, 1.0000000000000000e+02, 9.5000000000000000e+01,
149  6.8000000000000000e+01, 6.1000000000000000e+01, -1.0000000000000000e+00,
150  1.0000000000000000e+00, 8.8357460000000003e+01, 9.4257840000000002e+01,
151  1.2500000000000000e+02, 6.1299999999999997e+01, 1.0000000000000000e+02,
152  1.0000000000000000e+02, 1.4500000000000000e+02, 1.4500000000000000e+02,
153 -1.0000000000000000e+00, 1.0000000000000000e+00, 9.0590469999999996e+01,
154  1.0582863000000000e+02, 6.2000000000000002e+00, 6.0000000000000000e+00,
155  9.7000000000000000e+01, 2.8500000000000000e+01, 4.0000000000000000e+00,
156  3.6000000000000001e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
157  8.8678200000000004e+01, 9.3617050000000006e+01, 1.6000000000000000e+01,
158  8.1999999999999993e+00, 9.9000000000000000e+01, 8.0000000000000000e+01,
159  1.2000000000000000e+01, 9.0000000000000000e+00, -1.0000000000000000e+00,
160  1.0000000000000000e+00, 8.0062830000000005e+01, 9.9224010000000007e+01,
161  1.0000000000000000e+02, 2.1100000000000001e+01, 1.0000000000000000e+02,
162  1.0000000000000000e+02, 1.1400000000000000e+02, 1.1680000000000000e+02,
163 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.4697360000000003e+01,
164  8.3801220000000001e+01, -8.1999999999999993e+00, 2.0000000000000000e+00,
165  9.0000000000000000e+01, 2.3999999999999999e+00, -1.2000000000000000e+01,
166 -1.4800000000000001e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
167  7.9194209999999998e+01, 9.0175110000000004e+01, 4.3000000000000000e+01,
168  8.0000000000000000e+00, 1.0000000000000000e+02, 9.5000000000000000e+01,
169  9.0000000000000000e+00, 2.0000000000000000e+00, -1.0000000000000000e+00,
170  1.0000000000000000e+00, 7.8568219999999997e+01, 8.5996200000000002e+01,
171 -1.2500000000000000e+01, 1.0000000000000000e+00, 9.6500000000000000e+01,
172  4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
173 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.2922240000000002e+01,
174  8.6963380000000001e+01, 6.5000000000000000e+01, 1.2500000000000000e+01,
175  1.0000000000000000e+02, 9.8000000000000000e+01, 4.9000000000000000e+01,
176  3.7000000000000000e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
177  8.2592740000000006e+01, 9.3147599999999997e+01, -1.2000000000000000e+01,
178  1.0000000000000000e+00, 9.6500000000000000e+01, 4.0000000000000000e+00,
179 -1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
180  1.0000000000000000e+00, 7.6506460000000004e+01, 7.8210250000000002e+01,
181  7.9000000000000000e+01, 1.2000000000000000e+01, 1.0000000000000000e+02,
182  9.5000000000000000e+01, 6.8000000000000000e+01, 6.1000000000000000e+01,
183 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.8357460000000003e+01,
184  9.4257840000000002e+01, 1.2500000000000000e+02, 6.1299999999999997e+01,
185  1.0000000000000000e+02, 1.0000000000000000e+02, 1.4500000000000000e+02,
186  1.4500000000000000e+02, -1.0000000000000000e+00, 1.0000000000000000e+00,
187  9.0590469999999996e+01, 1.0582863000000000e+02, 6.2000000000000002e+00,
188  6.0000000000000000e+00, 9.7000000000000000e+01, 2.8500000000000000e+01,
189  4.0000000000000000e+00, 3.6000000000000001e+00, -1.0000000000000000e+00,
190  1.0000000000000000e+00, 8.8678200000000004e+01, 9.3617050000000006e+01,
191  1.6000000000000000e+01, 8.1999999999999993e+00, 9.9000000000000000e+01,
192  8.0000000000000000e+01, 1.2000000000000000e+01, 9.0000000000000000e+00,
193 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.0062830000000005e+01,
194  9.9224010000000007e+01, 1.0000000000000000e+02, 2.1100000000000001e+01,
195  1.0000000000000000e+02, 1.0000000000000000e+02, 1.1400000000000000e+02,
196  1.1680000000000000e+02, -1.0000000000000000e+00, 1.0000000000000000e+00,
197  7.4697360000000003e+01, 8.3801220000000001e+01, -8.1999999999999993e+00,
198  2.0000000000000000e+00, 9.0000000000000000e+01, 2.3999999999999999e+00,
199 -1.2000000000000000e+01, -1.4800000000000001e+01, -1.0000000000000000e+00,
200  1.0000000000000000e+00, 7.9194209999999998e+01, 9.0175110000000004e+01,
201  4.3000000000000000e+01, 8.0000000000000000e+00, 1.0000000000000000e+02,
202  9.5000000000000000e+01, 9.0000000000000000e+00, 2.0000000000000000e+00,
203 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.8568219999999997e+01,
204  8.5996200000000002e+01, -1.2500000000000000e+01, 1.0000000000000000e+00,
205  9.6500000000000000e+01, 4.0000000000000000e+00, -1.8000000000000000e+01,
206 -2.1899999999999999e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
207  8.2922240000000002e+01, 8.6963380000000001e+01, 6.5000000000000000e+01,
208  1.2500000000000000e+01, 1.0000000000000000e+02, 9.8000000000000000e+01,
209  4.9000000000000000e+01, 3.7000000000000000e+01, -1.0000000000000000e+00,
210  1.0000000000000000e+00, 8.2592740000000006e+01, 9.3147599999999997e+01,
211 -1.2000000000000000e+01, 1.0000000000000000e+00, 9.6500000000000000e+01,
212  4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
213 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.6506460000000004e+01,
214  7.8210250000000002e+01, 7.9000000000000000e+01, 1.2000000000000000e+01,
215  1.0000000000000000e+02, 9.5000000000000000e+01, 6.8000000000000000e+01,
216  6.1000000000000000e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
217  8.8357460000000003e+01, 9.4257840000000002e+01, 1.2500000000000000e+02,
218  6.1299999999999997e+01, 1.0000000000000000e+02, 1.0000000000000000e+02,
219  1.4500000000000000e+02, 1.4500000000000000e+02, -1.0000000000000000e+00,
220  1.0000000000000000e+00, 9.0590469999999996e+01, 1.0582863000000000e+02,
221  6.2000000000000002e+00, 6.0000000000000000e+00, 9.7000000000000000e+01,
222  2.8500000000000000e+01, 4.0000000000000000e+00, 3.6000000000000001e+00,
223 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
224 -1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
225  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
226  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
227  1.0000000000000000e+00, 1.0000000000000000e+00, -1.2000000000000000e-01,
228 -3.8000000000000000e-01, -5.0000000000000000e-01, 1.0000000000000000e+00,
229  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
230  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
231  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
232  1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
233  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
234 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
235  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
236 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
237  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
238 -1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
239 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
240 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
241  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
242 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
243  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
244 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
245  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
246  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
247 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
248 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
249 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
250 -9.3000000000000000e+01, -8.9000000000000000e+01, 1.0000000000000000e+00,
251 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
252 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
253 -1.0000000000000000e+01, -8.9000000000000000e+01, -8.5000000000000000e+01,
254  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
255 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
256 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.1000000000000000e+01,
257 -8.8000000000000000e+01, -1.0000000000000000e+00, 5.0000000000000000e-01,
258 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
259 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
260  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
261  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
262  5.0000000000000000e-01, 1.0000000000000000e+00, -1.0000000000000000e+00,
263  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
264 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
265  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
266 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
267  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
268 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
269  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
270 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
271  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
272 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
273  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
274 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
275  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
276 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
277  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
278 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
279 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
280 -8.9000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
281 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
282 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
283 -8.9000000000000000e+01, -8.5000000000000000e+01, 1.0000000000000000e+00,
284 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
285 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
286 -1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
287 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
288  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
289  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
290  5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
291 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
292  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
293 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
294  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
295 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
296  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
297 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
298  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
299 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
300  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
301 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
302  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
303 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
304  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
305 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
306  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
307 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
308 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
309 -1.0000000000000000e+01, -9.3000000000000000e+01, -8.9000000000000000e+01,
310  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
311 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
312 -1.0000000000000000e+01, -1.0000000000000000e+01, -8.9000000000000000e+01,
313 -8.5000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
314 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
315 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
316 -9.1000000000000000e+01, -8.8000000000000000e+01, -1.0000000000000000e+00,
317  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
318  5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
319 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
320 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
321  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
322 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
323 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
324 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
325 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
326 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
327 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
328 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
329  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
330 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
331 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
332 -8.9000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
333 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
334 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
335 -8.9000000000000000e+01, -8.5000000000000000e+01, 1.0000000000000000e+00,
336 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
337 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
338 -1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
339 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
340  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
341  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
342  5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
343 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01};
344 
345 real_t g[] = {+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
346  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
347  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
348  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
349  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
350  +0e+00, +0e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00,
351  -2e+00, +0e+00, -2e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
352  +2e-03, +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03,
353  -2e-03, -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00,
354  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +2e-03,
355  +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +1e-03, +2e-03, +2e-03, +2e-03,
356  +0e+00, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -1e-03, -2e-03,
357  -2e-03, -2e-03, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
358  +0e+00, +0e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
359  +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03, -2e-03,
360  -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00, +0e+00,
361  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +1e-01, +1e-01,
362  +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +0e+00,
363  -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01,
364  -1e-01, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
365  +0e+00};
366 
367 real_t lb[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
368  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
369  0, 0, 0, -Inf, 0, -Inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5,
370  10, 5, 0, 10, 0, 2, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
371  0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0,
372  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0,
373  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
374  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
375 
376 real_t ub[] = {Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
377  Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
378  Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
379  Inf, Inf, 0, 92, 39, 87, 29, 0, 20, 0, 28, 20, 71, Inf, 130, 45, 53, 55, 75,
380  112, 0, 73, 480, 154, 121, 50, 30, 77, 20, 0, 18, 0, 5, 20, 71, Inf, Inf,
381  Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, 130, 55, 93, 60, 75, 115, 0, 67,
382  480, 154, 121, 50, 20, 37, 15, 0, 15, 0, 8, 20, 71, Inf, Inf, Inf, Inf, Inf,
383  Inf, Inf, Inf, Inf, Inf, 130, 55, 93, 60, 75, 105, 0, 67, 4980, 154, 110,
384  50, 20, 37, 15, 0, 25, 0, 8, 20, 71, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
385  Inf, Inf, 20, 20, 20, 20, 0, 20, 0, 20, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
386  0, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf};
387 
388 real_t lbA[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
389  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
390  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -Inf, -Inf,
391  -Inf, -Inf, -Inf, -Inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
392  0};
393 
394 real_t ubA[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
395  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
396  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
397  0, 0, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
398  Inf, Inf, Inf, Inf};
399 
400 long H_nnz = (long) sizeof(H_val) / (long) sizeof(real_t);
401 long A_nnz = (long) sizeof(A_val) / (long) sizeof(real_t);
USING_NAMESPACE_QPOASES
#define USING_NAMESPACE_QPOASES
Definition: external_packages/qpOASES-3.0beta/include/qpOASES/Types.hpp:123
A_ir
sparse_int_t A_ir[]
Definition: qrecipe_data.hpp:86
INFTY
const double INFTY
Definition: acado_constants.hpp:65
lb
real_t lb[]
Definition: qrecipe_data.hpp:367
A_val
real_t A_val[]
Definition: qrecipe_data.hpp:122
sparse_int_t
int_t sparse_int_t
Definition: external_packages/qpOASES-3.2.0/include/qpOASES/Types.hpp:189
ub
real_t ub[]
Definition: qrecipe_data.hpp:376
H_val
real_t H_val[]
Definition: qrecipe_data.hpp:66
Inf
USING_NAMESPACE_QPOASES const real_t Inf
Definition: qrecipe_data.hpp:39
ubA
real_t ubA[]
Definition: qrecipe_data.hpp:394
H_nnz
long H_nnz
Definition: qrecipe_data.hpp:400
lbA
real_t lbA[]
Definition: qrecipe_data.hpp:388
A_jc
sparse_int_t A_jc[]
Definition: qrecipe_data.hpp:71
H_jc
sparse_int_t H_jc[]
Definition: qrecipe_data.hpp:41
real_t
double real_t
Definition: AD_test.c:10
H_ir
sparse_int_t H_ir[]
Definition: qrecipe_data.hpp:60
g
real_t g[]
Definition: qrecipe_data.hpp:345
A_nnz
long A_nnz
Definition: qrecipe_data.hpp:401

acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:02