qpOASES_e_matlab_utils.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
 *
 */


/* Work-around for settings where mexErrMsgTxt causes unexpected behaviour. */
#ifdef __AVOID_MEXERRMSGTXT__
        #define myMexErrMsgTxt( TEXT ) mexPrintf( "%s\n\n",(TEXT) );
#else
        #define myMexErrMsgTxt mexErrMsgTxt
#endif


#include "mex.h"
#include "matrix.h"
#include "string.h"



static int QPInstance_nexthandle = -1;

/*
 * QProblem instance class
 */
typedef struct
{
        int handle;

        QProblem  sqp;
        QProblemB qpb;
        BooleanType isSimplyBounded;

        DenseMatrix H;
        DenseMatrix A;

} QPInstance;


void QPInstanceCON(     QPInstance* _THIS,
                                        int _nV,
                                        int _nC,
                                        HessianType _hessianType,
                                        BooleanType _isSimplyBounded
                                        );
        
int QPInstance_getNV( QPInstance* _THIS );

int QPInstance_getNC( QPInstance* _THIS );


#define MAX_NUM_QPINSTANCES 10
static QPInstance QPInstances[MAX_NUM_QPINSTANCES];


/*
 *      end of file
 */