external_packages/qpOASES-3.2.0/include/qpOASES/Utils.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_UTILS_HPP
#define QPOASES_UTILS_HPP


#include <qpOASES/MessageHandling.hpp>


BEGIN_NAMESPACE_QPOASES


returnValue print(      const real_t* const v,  
                                        int_t n,                                
                                        const char* name = 0    
                                        );

returnValue print(      const real_t* const v,          
                                        int_t n,                                        
                                        const int_t* const V_idx,       
                                        const char* name = 0            
                                        );

returnValue print(      const real_t* const M,  
                                        int_t nrow,                             
                                        int_t ncol,                             
                                        const char* name = 0    
                                        );

returnValue print(      const real_t* const M,          
                                        int_t nrow,                                     
                                        int_t ncol      ,                               
                                        const int_t* const ROW_idx,     
                                        const int_t* const COL_idx,     
                                        const char* name = 0            
                                        );

returnValue print(      const int_t* const index,       
                                        int_t n,                                        
                                        const char* name = 0            
                                        );


returnValue myPrintf(   const char* s   
                                                );


returnValue printCopyrightNotice( );


returnValue readFromFile(       real_t* data,                           
                                                        int_t nrow,                                     
                                                        int_t ncol,                                     
                                                        const char* datafilename        
                                                        );

returnValue readFromFile(       real_t* data,                           
                                                        int_t n,                                        
                                                        const char* datafilename        
                                                        );

returnValue readFromFile(       int_t* data,                            
                                                        int_t n,                                        
                                                        const char* datafilename        
                                                        );


returnValue writeIntoFile(      const real_t* const data,               
                                                        int_t nrow,                                             
                                                        int_t ncol,                                             
                                                        const char* datafilename,               
                                                        BooleanType append = BT_FALSE   
                                                        );

returnValue writeIntoFile(      const real_t* const data,               
                                                        int_t n,                                                
                                                        const char* datafilename,               
                                                        BooleanType append = BT_FALSE   
                                                        );

returnValue writeIntoFile(      const int_t* const integer,             
                                                        int_t n,                                                
                                                        const char* datafilename,               
                                                        BooleanType append = BT_FALSE   
                                                        );

returnValue writeIntoMatFile(   FILE* const matFile,            
                                                                const real_t* const data,       
                                                                int_t nRows,                            
                                                                int_t nCols,                            
                                                                const char* name                        
                                                                );

returnValue writeIntoMatFile(   FILE* const matFile,            
                                                                const int_t* const data,        
                                                                int_t nRows,                            
                                                                int_t nCols,                            
                                                                const char* name                        
                                                                );


real_t getCPUtime( );


real_t getNorm( const real_t* const v,  
                                int_t n,                                
                                int_t type = 2                  
                                );


inline BooleanType isEqual(     real_t x,                       
                                                        real_t y,                       
                                                        real_t TOL = ZERO       
                                                        );


inline BooleanType isZero(      real_t x,                       
                                                        real_t TOL = ZERO       
                                                        );


inline real_t getSign(  real_t arg      
                                                );


inline int_t getMax(    int_t x,        
                                                int_t y         
                                                );
                                        
inline int_t getMin(    int_t x,        
                                                int_t y         
                                                );

        
inline real_t getMax(   real_t x,       
                                                real_t y        
                                                );

inline real_t getMin(   real_t x,       
                                                real_t y        
                                                );

inline real_t getAbs(   real_t x        
                                                );

inline real_t getSqrt(  real_t x        
                                                );


returnValue getKktViolation(    int_t nV,                                                                       
                                                                int_t nC,                                                                       
                                                                const real_t* const H,                                          
                                                                const real_t* const g,                                          
                                                                const real_t* const A,                                          
                                                                const real_t* const lb,                                         
                                                                const real_t* const ub,                                         
                                                                const real_t* const lbA,                                        
                                                                const real_t* const ubA,                                        
                                                                const real_t* const x,                                          
                                                                const real_t* const y,                                          
                                                                real_t& stat,                                                           
                                                                real_t& feas,                                                           
                                                                real_t& cmpl,                                                           
                                                                const real_t* const workingSetB = 0,            
                                                                const real_t* const workingSetC = 0,            
                                                                BooleanType hasIdentityHessian = BT_FALSE       
                                                                );

returnValue getKktViolation(    int_t nV,                                                                       
                                                                const real_t* const H,                                          
                                                                const real_t* const g,                                          
                                                                const real_t* const lb,                                         
                                                                const real_t* const ub,                                         
                                                                const real_t* const x,                                          
                                                                const real_t* const y,                                          
                                                                real_t& stat,                                                           
                                                                real_t& feas,                                                           
                                                                real_t& cmpl,                                                           
                                                                const real_t* const workingSetB = 0,            
                                                                BooleanType hasIdentityHessian = BT_FALSE       
                                                                );


returnValue convertBooleanTypeToString( BooleanType value,              
                                                                                char* const string              
                                                                                );

returnValue convertSubjectToStatusToString(     SubjectToStatus value,  
                                                                                        char* const string              
                                                                                        );

returnValue convertPrintLevelToString(  PrintLevel value,               
                                                                                char* const string              
                                                                                );


int_t getSimpleStatus(  returnValue returnvalue,                                
                                                BooleanType doPrintStatus = BT_FALSE    
                                                );


returnValue normaliseConstraints(       int_t nV,               
                                                                        int_t nC,               
                                                                        real_t* A,              
                                                                        real_t* lbA,    
                                                                        real_t* ubA,    
                                                                        int_t type = 1  
                                                                        );


#ifdef __DEBUG__

extern "C" void gdb_printmat(   const char *fname,                      
                                                                real_t *M,                                      
                                                                int_t n,                                        
                                                                int_t m,                                        
                                                                int_t ldim                                      
                                                                );
#endif /* __DEBUG__ */


#if defined(__DSPACE__) || defined(__XPCTARGET__) || defined(__C_WRAPPER__)
extern "C" void __cxa_pure_virtual( void );
#endif /* __DSPACE__ || __XPCTARGET__*/ 



END_NAMESPACE_QPOASES


#include <qpOASES/Utils.ipp>

#endif  /* QPOASES_UTILS_HPP */


/*
 *      end of file
 */