include/qpOASES/Types.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_TYPES_HPP
#define QPOASES_TYPES_HPP


/* If your compiler does not support the snprintf() function,
 * uncomment the following line and try to compile again. */
/* #define __NO_SNPRINTF__ */


/* Uncomment the following line for setting the __DSPACE__ flag. */
/* #define __DSPACE__ */

/* Uncomment the following line for setting the __XPCTARGET__ flag. */
/* #define __XPCTARGET__ */


/* Uncomment the following line for setting the __NO_FMATH__ flag. */
/* #define __NO_FMATH__ */

/* Uncomment the following line to enable debug information. */
/* #define __DEBUG__ */

/* Uncomment the following line to enable suppress any kind of console output. */
/* #define __SUPPRESSANYOUTPUT__ */


#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__


/* Uncomment the following line to activate the use of an alternative Givens 
 * plane rotation requiring only three multiplications. */
/* #define __USE_THREE_MULTS_GIVENS__ */

/* Uncomment the following line to activate the use of single precision arithmetic. */
/* #define __USE_SINGLE_PRECISION__ */



/* Work-around for Borland BCC 5.5 compiler. */
#ifdef __BORLANDC__
#if __BORLANDC__ < 0x0561
  #define __STDC__ 1
#endif
#endif


/* Work-around for Microsoft compilers. */
#ifdef _MSC_VER
  #define __NO_SNPRINTF__
  #pragma warning( disable : 4061 4100 4250 4514 4996 )
#endif


#ifdef __DSPACE__

    #define BEGIN_NAMESPACE_QPOASES
    
    #define END_NAMESPACE_QPOASES

    #define USING_NAMESPACE_QPOASES

    #define REFER_NAMESPACE_QPOASES ::

#else

    #define BEGIN_NAMESPACE_QPOASES  namespace qpOASES {

    #define END_NAMESPACE_QPOASES    }
    
    #define USING_NAMESPACE_QPOASES  using namespace qpOASES;
    
    #define REFER_NAMESPACE_QPOASES  qpOASES::

#endif


/* Avoid any printing on embedded platforms. */
#if defined(__DSPACE__) || defined(__XPCTARGET__) 
  #define __SUPPRESSANYOUTPUT__
  #define __NO_SNPRINTF__
#endif


#ifdef __NO_SNPRINTF__
  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__) 
    /* If snprintf is not available, provide an empty implementation... */
    int snprintf( char* s, size_t n, const char* format, ... );
  #else
    /* ... or substitute snprintf by _snprintf for Microsoft compilers. */
    #define snprintf _snprintf    
  #endif
#endif /* __NO_SNPRINTF__ */



#define RR( I,J )  R[(I)+nV*(J)]

#define QQ( I,J )  Q[(I)+nV*(J)]

#define TT( I,J )  T[(I)*sizeT+(J)]



BEGIN_NAMESPACE_QPOASES


#ifdef __USE_SINGLE_PRECISION__
typedef float real_t;
#else
typedef double real_t;
#endif /* __USE_SINGLE_PRECISION__ */


enum BooleanType
{
    BT_FALSE,                   
    BT_TRUE                     
};


enum PrintLevel
{
    PL_DEBUG_ITER = -2,         
    PL_TABULAR,                 
    PL_NONE,                    
    PL_LOW,                     
    PL_MEDIUM,                  
    PL_HIGH                     
};


enum VisibilityStatus
{
    VS_HIDDEN,                  
    VS_VISIBLE                  
};


enum QProblemStatus
{
    QPS_NOTINITIALISED,         
    QPS_PREPARINGAUXILIARYQP,   
    QPS_AUXILIARYQPSOLVED,      
    QPS_PERFORMINGHOMOTOPY,     
    QPS_HOMOTOPYQPSOLVED,       
    QPS_SOLVED                  
};


enum HessianType
{
    HST_ZERO,               
    HST_IDENTITY,           
    HST_POSDEF,             
    HST_POSDEF_NULLSPACE,   
    HST_SEMIDEF,            
    HST_INDEF,              
    HST_UNKNOWN             
};


enum SubjectToType
{
    ST_UNBOUNDED,       
    ST_BOUNDED,         
    ST_EQUALITY,        
    ST_DISABLED,        
    ST_UNKNOWN          
};


enum SubjectToStatus
{
    ST_LOWER = -1,          
    ST_INACTIVE,            
    ST_UPPER,               
    ST_INFEASIBLE_LOWER,    
    ST_INFEASIBLE_UPPER,    
    ST_UNDEFINED            
};

struct TabularOutput {
    int idxAddB;        
    int idxRemB;        
    int idxAddC;        
    int idxRemC;        
    int excAddB;        
    int excRemB;        
    int excAddC;        
    int excRemC;        
};



typedef struct {
    long numericFormat;     
    long nRows;             
    long nCols;             
    long imaginaryPart;     
    long nCharName;         
} MatMatrixHeader;




END_NAMESPACE_QPOASES


#endif  /* QPOASES_TYPES_HPP */


/*
 *  end of file
 */