Options.h

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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_OPTIONS_H
#define QPOASES_OPTIONS_H


#include <qpOASES_e/Utils.h>


BEGIN_NAMESPACE_QPOASES


typedef struct
{
        PrintLevel printLevel;                                  
        BooleanType enableRamping;                              
        BooleanType enableFarBounds;                    
        BooleanType enableFlippingBounds;               
        BooleanType enableRegularisation;               
        BooleanType enableFullLITests;                  
        BooleanType enableNZCTests;                             
        int enableDriftCorrection;                              
        int enableCholeskyRefactorisation;              
        BooleanType enableEqualities;                   
        real_t terminationTolerance;                    
        real_t boundTolerance;                                  
        real_t boundRelaxation;                                 
        real_t epsNum;                                                  
        real_t epsDen;                                                  
        real_t maxPrimalJump;                                   
        real_t maxDualJump;                                             
        real_t initialRamping;                                  
        real_t finalRamping;                                    
        real_t initialFarBounds;                                
        real_t growFarBounds;                                   
        SubjectToStatus initialStatusBounds;    
        real_t epsFlipping;                                             
        int numRegularisationSteps;                             
        real_t epsRegularisation;                               
        int numRefinementSteps;                                 
        real_t epsIterRef;                                              
        real_t epsLITests;                                              
        real_t epsNZCTests;                                             
        BooleanType enableDropInfeasibles;              
        int    dropBoundPriority;                               
        int    dropEqConPriority;                               
        int    dropIneqConPriority;                             
} Options;


void OptionsCON(        Options* _THIS
                                        );

void OptionsCPY(        Options* FROM,
                                        Options* TO
                                        );


returnValue Options_setToDefault(       Options* _THIS
                                                                        );

returnValue Options_setToReliable(      Options* _THIS
                                                                        );

returnValue Options_setToMPC(           Options* _THIS
                                                                        );

returnValue Options_setToFast(          Options* _THIS
                                                                        );


returnValue Options_ensureConsistency(  Options* _THIS
                                                                                );


returnValue Options_print(      Options* _THIS
                                                        );


END_NAMESPACE_QPOASES


#endif  /* QPOASES_OPTIONS_H */


/*
 *      end of file
 */