qpOASES_matlab_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
 *
 */


/* 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"
#include <vector>


/*
 * QProblem instance class
 */
class QPInstance
{
        private:
                static int_t s_nexthandle;

        public:
                QPInstance(     uint_t _nV = 0,
                                        uint_t _nC = 0,
                                        HessianType _hessianType = HST_UNKNOWN,
                                        BooleanType _isSimplyBounded = BT_FALSE
                                        );

                ~QPInstance( );
        
                returnValue deleteQPMatrices();
                
                int_t getNV() const;
                int_t getNC() const;

                int_t handle;

                SQProblem* sqp;
                QProblemB* qpb;
                BooleanType isSimplyBounded;

                SymmetricMatrix* H;
                Matrix* A;
                sparse_int_t* Hir; 
                sparse_int_t* Hjc; 
                sparse_int_t* Air; 
                sparse_int_t* Ajc;
                real_t* Hv;
                real_t* Av;
};


/*
 *      end of file
 */