#include <stdio.h>
#include <string.h>
#include <qpOASES/Constants.hpp>
#include <qpOASES/MessageHandling.ipp>

Classes
class	MessageHandling
	Handles all kind of error messages, warnings and other information. More...
struct	MessageHandling::ReturnValueList
	Data structure for entries in global message list. More...
Defines
#define	__FILE__ 0
#define	__LINE__ 0
#define	__FUNC__ ("(no function name provided)")
#define	THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
#define	THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
#define	THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
Enumerations
enum	returnValue { TERMINAL_LIST_ELEMENT = -1, SUCCESSFUL_RETURN = 0, RET_DIV_BY_ZERO, RET_INDEX_OUT_OF_BOUNDS, RET_INVALID_ARGUMENTS, RET_ERROR_UNDEFINED, RET_WARNING_UNDEFINED, RET_INFO_UNDEFINED, RET_EWI_UNDEFINED, RET_AVAILABLE_WITH_LINUX_ONLY, RET_UNKNOWN_BUG, RET_PRINTLEVEL_CHANGED, RET_NOT_YET_IMPLEMENTED, RET_INDEXLIST_MUST_BE_REORDERD, RET_INDEXLIST_EXCEEDS_MAX_LENGTH, RET_INDEXLIST_CORRUPTED, RET_INDEXLIST_OUTOFBOUNDS, RET_INDEXLIST_ADD_FAILED, RET_INDEXLIST_INTERSECT_FAILED, RET_INDEX_ALREADY_OF_DESIRED_STATUS, RET_ADDINDEX_FAILED, RET_REMOVEINDEX_FAILED, RET_SWAPINDEX_FAILED, RET_NOTHING_TO_DO, RET_SETUP_BOUND_FAILED, RET_SETUP_CONSTRAINT_FAILED, RET_MOVING_BOUND_FAILED, RET_MOVING_CONSTRAINT_FAILED, RET_SHIFTING_FAILED, RET_ROTATING_FAILED, RET_QPOBJECT_NOT_SETUP, RET_QP_ALREADY_INITIALISED, RET_NO_INIT_WITH_STANDARD_SOLVER, RET_RESET_FAILED, RET_INIT_FAILED, RET_INIT_FAILED_TQ, RET_INIT_FAILED_CHOLESKY, RET_INIT_FAILED_HOTSTART, RET_INIT_FAILED_INFEASIBILITY, RET_INIT_FAILED_UNBOUNDEDNESS, RET_INIT_FAILED_REGULARISATION, RET_INIT_SUCCESSFUL, RET_OBTAINING_WORKINGSET_FAILED, RET_SETUP_WORKINGSET_FAILED, RET_SETUP_AUXILIARYQP_FAILED, RET_NO_CHOLESKY_WITH_INITIAL_GUESS, RET_NO_EXTERN_SOLVER, RET_QP_UNBOUNDED, RET_QP_INFEASIBLE, RET_QP_NOT_SOLVED, RET_QP_SOLVED, RET_UNABLE_TO_SOLVE_QP, RET_INITIALISATION_STARTED, RET_HOTSTART_FAILED, RET_HOTSTART_FAILED_TO_INIT, RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, RET_ITERATION_STARTED, RET_SHIFT_DETERMINATION_FAILED, RET_STEPDIRECTION_DETERMINATION_FAILED, RET_STEPLENGTH_DETERMINATION_FAILED, RET_OPTIMAL_SOLUTION_FOUND, RET_HOMOTOPY_STEP_FAILED, RET_HOTSTART_STOPPED_INFEASIBILITY, RET_HOTSTART_STOPPED_UNBOUNDEDNESS, RET_WORKINGSET_UPDATE_FAILED, RET_MAX_NWSR_REACHED, RET_CONSTRAINTS_NOT_SPECIFIED, RET_INVALID_FACTORISATION_FLAG, RET_UNABLE_TO_SAVE_QPDATA, RET_STEPDIRECTION_FAILED_TQ, RET_STEPDIRECTION_FAILED_CHOLESKY, RET_CYCLING_DETECTED, RET_CYCLING_NOT_RESOLVED, RET_CYCLING_RESOLVED, RET_STEPSIZE, RET_STEPSIZE_NONPOSITIVE, RET_SETUPSUBJECTTOTYPE_FAILED, RET_ADDCONSTRAINT_FAILED, RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, RET_ADDBOUND_FAILED, RET_ADDBOUND_FAILED_INFEASIBILITY, RET_REMOVECONSTRAINT_FAILED, RET_REMOVEBOUND_FAILED, RET_REMOVE_FROM_ACTIVESET, RET_ADD_TO_ACTIVESET, RET_REMOVE_FROM_ACTIVESET_FAILED, RET_ADD_TO_ACTIVESET_FAILED, RET_CONSTRAINT_ALREADY_ACTIVE, RET_ALL_CONSTRAINTS_ACTIVE, RET_LINEARLY_DEPENDENT, RET_LINEARLY_INDEPENDENT, RET_LI_RESOLVED, RET_ENSURELI_FAILED, RET_ENSURELI_FAILED_TQ, RET_ENSURELI_FAILED_NOINDEX, RET_ENSURELI_FAILED_CYCLING, RET_BOUND_ALREADY_ACTIVE, RET_ALL_BOUNDS_ACTIVE, RET_CONSTRAINT_NOT_ACTIVE, RET_BOUND_NOT_ACTIVE, RET_HESSIAN_NOT_SPD, RET_HESSIAN_INDEFINITE, RET_MATRIX_SHIFT_FAILED, RET_MATRIX_FACTORISATION_FAILED, RET_PRINT_ITERATION_FAILED, RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, RET_DISABLECONSTRAINTS_FAILED, RET_ENABLECONSTRAINTS_FAILED, RET_ALREADY_ENABLED, RET_ALREADY_DISABLED, RET_NO_HESSIAN_SPECIFIED, RET_USING_REGULARISATION, RET_EPS_MUST_BE_POSITVE, RET_REGSTEPS_MUST_BE_POSITVE, RET_HESSIAN_ALREADY_REGULARISED, RET_CANNOT_REGULARISE_IDENTITY, RET_CANNOT_REGULARISE_SPARSE, RET_NO_REGSTEP_NWSR, RET_FEWER_REGSTEPS_NWSR, RET_CHOLESKY_OF_ZERO_HESSIAN, RET_ZERO_HESSIAN_ASSUMED, RET_CONSTRAINTS_ARE_NOT_SCALED, RET_INITIAL_BOUNDS_STATUS_NYI, RET_ERROR_IN_CONSTRAINTPRODUCT, RET_FIX_BOUNDS_FOR_LP, RET_USE_REGULARISATION_FOR_LP, RET_UPDATEMATRICES_FAILED, RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED, RET_UNABLE_TO_OPEN_FILE, RET_UNABLE_TO_WRITE_FILE, RET_UNABLE_TO_READ_FILE, RET_FILEDATA_INCONSISTENT, RET_OPTIONS_ADJUSTED, RET_UNABLE_TO_ANALYSE_QPROBLEM, RET_NWSR_SET_TO_ONE, RET_UNABLE_TO_READ_BENCHMARK, RET_BENCHMARK_ABORTED, RET_INITIAL_QP_SOLVED, RET_QP_SOLUTION_STARTED, RET_BENCHMARK_SUCCESSFUL, RET_NO_DIAGONAL_AVAILABLE, RET_DIAGONAL_NOT_INITIALISED, RET_ENSURELI_DROPPED, RET_KKT_MATRIX_SINGULAR, RET_QR_FACTORISATION_FAILED, RET_INERTIA_CORRECTION_FAILED, RET_NO_SPARSE_SOLVER, RET_SIMPLE_STATUS_P1, RET_SIMPLE_STATUS_P0, RET_SIMPLE_STATUS_M1, RET_SIMPLE_STATUS_M2, RET_SIMPLE_STATUS_M3 }
	Defines all symbols for global return values. More...
Functions
MessageHandling *	getGlobalMessageHandler ()
Variables
BEGIN_NAMESPACE_QPOASES FILE *	stdFile

Detailed Description

Author:: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)

Version:: 3.2

Date:: 2007-2017

Declaration of the MessageHandling class including global return values.

Define Documentation

#define __FILE__ 0

Ensures that __FILE__ macro is defined.

Referenced by SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblem::performStep(), QProblemB::performStep(), readFromFile(), QProblem::solveQP(), QProblemB::solveQP(), MessageHandling::throwError(), MessageHandling::throwInfo(), MessageHandling::throwMessage(), MessageHandling::throwWarning(), and writeIntoFile().

#define __FUNC__ ("(no function name provided)")

Define __FUNC__ macro providing current function for debugging.

Referenced by QProblem::addBound_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblem::performStep(), QProblemB::performStep(), readFromFile(), QProblem::solveQP(), QProblemB::solveQP(), MessageHandling::throwError(), MessageHandling::throwInfo(), MessageHandling::throwMessage(), MessageHandling::throwWarning(), and writeIntoFile().

#define __LINE__ 0

Ensures that __LINE__ macro is defined.

Referenced by SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), QProblem::performStep(), QProblemB::performStep(), readFromFile(), QProblem::solveQP(), QProblemB::solveQP(), MessageHandling::throwError(), MessageHandling::throwInfo(), MessageHandling::throwMessage(), MessageHandling::throwWarning(), and writeIntoFile().

#define THROWERROR ( retval ) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )

Short version of throwError with default values, only returnValue is needed

Referenced by SQProblemSchur::addBound(), QProblem::addBound(), QProblemB::addBound(), SQProblemSchur::addBound_ensureLI(), QProblem::addBound_ensureLI(), SQProblemSchur::addConstraint(), QProblem::addConstraint(), SQProblemSchur::addConstraint_ensureLI(), QProblem::addConstraint_ensureLI(), SubjectTo::addIndex(), Indexlist::addNumber(), SparseMatrix::addToDiag(), SparseMatrixRow::addToDiag(), SQProblemSchur::addToSchurComplement(), SQProblemSchur::backsolveR(), QProblemB::backsolveR(), SQProblemSchur::backsolveT(), QProblem::backsolveT(), SymSparseMat::bilinear(), QProblem::changeActiveSet(), QProblemB::changeActiveSet(), SolutionAnalysis::checkCurvatureOnStronglyActiveConstraints(), QProblemB::computeCholesky(), SQProblemSchur::computeMTimes(), SQProblemSchur::computeMTransTimes(), QProblem::computeProjectedCholesky(), SQProblemSchur::correctInertia(), QProblemB::determineHessianType(), SQProblemSchur::determineStepDirection(), QProblem::determineStepDirection(), QProblemB::determineStepDirection(), SQProblemSchur::determineStepDirection2(), SparseMatrix::diag(), SparseMatrixRow::diag(), Constraints::flipFixed(), Bounds::flipFixed(), QProblemB::getBounds(), QProblem::getConstraints(), SolutionAnalysis::getKktViolation(), getNorm(), Indexlist::getNumberArray(), SparseMatrix::getRowNorm(), DenseMatrix::getSparseSubmatrix(), SparseMatrix::getSparseSubmatrix(), SparseMatrixRow::getSparseSubmatrix(), SolutionAnalysis::getVarianceCovariance(), QProblem::getWorkingSet(), QProblemB::getWorkingSetBounds(), QProblemB::getWorkingSetConstraints(), QProblem::getWorkingSetConstraints(), SQProblem::hotstart(), QProblemB::hotstart(), QProblem::hotstart(), Constraints::init(), Bounds::init(), SubjectTo::init(), Indexlist::init(), QProblemB::init(), QProblem::init(), QProblemB::loadQPvectorsFromFile(), QProblem::loadQPvectorsFromFile(), Constraints::moveActiveToInactive(), Bounds::moveFixedToFree(), Bounds::moveFreeToFixed(), Constraints::moveInactiveToActive(), myPrintf(), normaliseConstraints(), QProblemB::obtainAuxiliaryWorkingSet(), QProblem::obtainAuxiliaryWorkingSet(), QProblem::performStep(), QProblem::printIteration(), QProblemB::printIteration(), QProblem::QProblem(), QProblemB::QProblemB(), readOqpData(), readOqpDimensions(), QProblemB::regulariseHessian(), SQProblemSchur::removeBound(), QProblem::removeBound(), QProblemB::removeBound(), SQProblemSchur::removeConstraint(), QProblem::removeConstraint(), SubjectTo::removeIndex(), SQProblemSchur::reset(), QProblem::reset(), QProblemB::reset(), SQProblemSchur::resetSchurComplement(), Constraints::rotate(), Bounds::rotate(), runOqpBenchmark(), QProblem::setA(), QProblemB::setG(), QProblemB::setInfeasibilityFlag(), QProblemB::setLB(), QProblem::setLBA(), SubjectTo::setStatus(), SubjectTo::setType(), QProblemB::setUB(), QProblem::setUBA(), Constraints::setupAll(), Bounds::setupAll(), SQProblemSchur::setupAuxiliaryQP(), QProblem::setupAuxiliaryQP(), QProblemB::setupAuxiliaryQP(), QProblem::setupAuxiliaryQPbounds(), QProblemB::setupAuxiliaryQPbounds(), SQProblemSchur::setupAuxiliaryWorkingSet(), QProblem::setupAuxiliaryWorkingSet(), QProblemB::setupAuxiliaryWorkingSet(), Bounds::setupBound(), Constraints::setupConstraint(), SQProblem::setupNewAuxiliaryQP(), QProblemB::setupQPdata(), QProblem::setupQPdata(), QProblemB::setupQPdataFromFile(), QProblem::setupQPdataFromFile(), QProblem::setupSubjectToType(), Constraints::shift(), Bounds::shift(), QProblem::solveCurrentEQP(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), solveOqpBenchmark(), QProblem::solveQP(), QProblemB::solveQP(), Bounds::swapFree(), SubjectTo::swapIndex(), Indexlist::swapNumbers(), QProblem::updateActivitiesForHotstart(), DenseMatrix::writeToFile(), and SparseMatrixRow::writeToFile().

#define THROWINFO ( retval ) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )

Short version of throwInfo with default values, only returnValue is needed

Referenced by QProblem::addBound_checkLI(), SQProblemSchur::addBound_checkLISchur(), QProblem::addConstraint_checkLI(), SQProblemSchur::addConstraint_checkLISchur(), QProblemB::determineHessianType(), getSimpleStatus(), QProblemB::regulariseHessian(), QProblemB::setPrintLevel(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), QProblem::solveQP(), and QProblemB::solveQP().

#define THROWWARNING ( retval ) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )

Short version of throwWarning with default values, only returnValue is needed

Referenced by Options::ensureConsistency(), QProblemB::init(), QProblem::init(), QProblem::solveInitialQP(), QProblemB::solveInitialQP(), QProblem::solveRegularisedQP(), QProblemB::solveRegularisedQP(), and SubjectTo::swapIndex().

Enumeration Type Documentation

enum returnValue

The enumeration returnValueType defines all symbols for global return values. Important: All return values are assumed to be nonnegative!

Author:: Hans Joachim Ferreau

Enumerator:

TERMINAL_LIST_ELEMENT	Terminal list element, internal usage only!
SUCCESSFUL_RETURN	Successful return.
RET_DIV_BY_ZERO	Division by zero.
RET_INDEX_OUT_OF_BOUNDS	Index out of bounds.
RET_INVALID_ARGUMENTS	At least one of the arguments is invalid.
RET_ERROR_UNDEFINED	Error number undefined.
RET_WARNING_UNDEFINED	Warning number undefined.
RET_INFO_UNDEFINED	Info number undefined.
RET_EWI_UNDEFINED	Error/warning/info number undefined.
RET_AVAILABLE_WITH_LINUX_ONLY	This function is available under Linux only.
RET_UNKNOWN_BUG	The error occurred is not yet known.
RET_PRINTLEVEL_CHANGED	Print level changed. (10)
RET_NOT_YET_IMPLEMENTED	Requested function is not yet implemented in this version of qpOASES.
RET_INDEXLIST_MUST_BE_REORDERD	Index list has to be reordered.
RET_INDEXLIST_EXCEEDS_MAX_LENGTH	Index list exceeds its maximal physical length.
RET_INDEXLIST_CORRUPTED	Index list corrupted.
RET_INDEXLIST_OUTOFBOUNDS	Physical index is out of bounds.
RET_INDEXLIST_ADD_FAILED	Adding indices from another index set failed.
RET_INDEXLIST_INTERSECT_FAILED	Intersection with another index set failed.
RET_INDEX_ALREADY_OF_DESIRED_STATUS	Index is already of desired status. (18)
RET_ADDINDEX_FAILED	Adding index to index set failed.
RET_REMOVEINDEX_FAILED	Removing index from index set failed. (20)
RET_SWAPINDEX_FAILED	Cannot swap between different indexsets.
RET_NOTHING_TO_DO	Nothing to do.
RET_SETUP_BOUND_FAILED	Setting up bound index failed.
RET_SETUP_CONSTRAINT_FAILED	Setting up constraint index failed.
RET_MOVING_BOUND_FAILED	Moving bound between index sets failed.
RET_MOVING_CONSTRAINT_FAILED	Moving constraint between index sets failed.
RET_SHIFTING_FAILED	Shifting of bounds/constraints failed.
RET_ROTATING_FAILED	Rotating of bounds/constraints failed.
RET_QPOBJECT_NOT_SETUP	The QP object has not been setup correctly, use another constructor.
RET_QP_ALREADY_INITIALISED	QProblem has already been initialised. (30)
RET_NO_INIT_WITH_STANDARD_SOLVER	Initialisation via extern QP solver is not yet implemented.
RET_RESET_FAILED	Reset failed.
RET_INIT_FAILED	Initialisation failed.
RET_INIT_FAILED_TQ	Initialisation failed due to TQ factorisation.
RET_INIT_FAILED_CHOLESKY	Initialisation failed due to Cholesky decomposition.
RET_INIT_FAILED_HOTSTART	Initialisation failed! QP could not be solved!
RET_INIT_FAILED_INFEASIBILITY	Initial QP could not be solved due to infeasibility!
RET_INIT_FAILED_UNBOUNDEDNESS	Initial QP could not be solved due to unboundedness!
RET_INIT_FAILED_REGULARISATION	Initialisation failed as Hessian matrix could not be regularised.
RET_INIT_SUCCESSFUL	Initialisation done. (40)
RET_OBTAINING_WORKINGSET_FAILED	Failed to obtain working set for auxiliary QP.
RET_SETUP_WORKINGSET_FAILED	Failed to setup working set for auxiliary QP.
RET_SETUP_AUXILIARYQP_FAILED	Failed to setup auxiliary QP for initialised homotopy.
RET_NO_CHOLESKY_WITH_INITIAL_GUESS	Externally computed Cholesky factor cannot be combined with an initial guess.
RET_NO_EXTERN_SOLVER	No extern QP solver available.
RET_QP_UNBOUNDED	QP is unbounded.
RET_QP_INFEASIBLE	QP is infeasible.
RET_QP_NOT_SOLVED	Problems occurred while solving QP with standard solver.
RET_QP_SOLVED	QP successfully solved.
RET_UNABLE_TO_SOLVE_QP	Problems occurred while solving QP. (50)
RET_INITIALISATION_STARTED	Starting problem initialisation...
RET_HOTSTART_FAILED	Unable to perform homotopy due to internal error.
RET_HOTSTART_FAILED_TO_INIT	Unable to initialise problem.
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED	Unable to perform homotopy as previous QP is not solved.
RET_ITERATION_STARTED	Iteration...
RET_SHIFT_DETERMINATION_FAILED	Determination of shift of the QP data failed.
RET_STEPDIRECTION_DETERMINATION_FAILED	Determination of step direction failed.
RET_STEPLENGTH_DETERMINATION_FAILED	Determination of step direction failed.
RET_OPTIMAL_SOLUTION_FOUND	Optimal solution of neighbouring QP found.
RET_HOMOTOPY_STEP_FAILED	Unable to perform homotopy step. (60)
RET_HOTSTART_STOPPED_INFEASIBILITY	Premature homotopy termination because QP is infeasible.
RET_HOTSTART_STOPPED_UNBOUNDEDNESS	Premature homotopy termination because QP is unbounded.
RET_WORKINGSET_UPDATE_FAILED	Unable to update working sets according to initial guesses.
RET_MAX_NWSR_REACHED	Maximum number of working set recalculations performed.
RET_CONSTRAINTS_NOT_SPECIFIED	Problem does comprise constraints! You also have to specify new constraints' bounds.
RET_INVALID_FACTORISATION_FLAG	Invalid factorisation flag.
RET_UNABLE_TO_SAVE_QPDATA	Unable to save QP data.
RET_STEPDIRECTION_FAILED_TQ	Abnormal termination due to TQ factorisation.
RET_STEPDIRECTION_FAILED_CHOLESKY	Abnormal termination due to Cholesky factorisation.
RET_CYCLING_DETECTED	Cycling detected. (70)
RET_CYCLING_NOT_RESOLVED	Cycling cannot be resolved, QP probably infeasible.
RET_CYCLING_RESOLVED	Cycling probably resolved.
RET_STEPSIZE	For displaying performed stepsize.
RET_STEPSIZE_NONPOSITIVE	For displaying non-positive stepsize.
RET_SETUPSUBJECTTOTYPE_FAILED	Setup of SubjectToTypes failed.
RET_ADDCONSTRAINT_FAILED	Addition of constraint to working set failed.
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY	Addition of constraint to working set failed (due to QP infeasibility).
RET_ADDBOUND_FAILED	Addition of bound to working set failed.
RET_ADDBOUND_FAILED_INFEASIBILITY	Addition of bound to working set failed (due to QP infeasibility).
RET_REMOVECONSTRAINT_FAILED	Removal of constraint from working set failed. (80)
RET_REMOVEBOUND_FAILED	Removal of bound from working set failed.
RET_REMOVE_FROM_ACTIVESET	Removing from active set...
RET_ADD_TO_ACTIVESET	Adding to active set...
RET_REMOVE_FROM_ACTIVESET_FAILED	Removing from active set failed.
RET_ADD_TO_ACTIVESET_FAILED	Adding to active set failed.
RET_CONSTRAINT_ALREADY_ACTIVE	Constraint is already active.
RET_ALL_CONSTRAINTS_ACTIVE	All constraints are active, no further constraint can be added.
RET_LINEARLY_DEPENDENT	New bound/constraint is linearly dependent.
RET_LINEARLY_INDEPENDENT	New bound/constraint is linearly independent.
RET_LI_RESOLVED	Linear independence of active constraint matrix successfully resolved. (90)
RET_ENSURELI_FAILED	Failed to ensure linear independence of active constraint matrix.
RET_ENSURELI_FAILED_TQ	Abnormal termination due to TQ factorisation.
RET_ENSURELI_FAILED_NOINDEX	QP is infeasible.
RET_ENSURELI_FAILED_CYCLING	QP is infeasible.
RET_BOUND_ALREADY_ACTIVE	Bound is already active.
RET_ALL_BOUNDS_ACTIVE	All bounds are active, no further bound can be added.
RET_CONSTRAINT_NOT_ACTIVE	Constraint is not active.
RET_BOUND_NOT_ACTIVE	Bound is not active.
RET_HESSIAN_NOT_SPD	Projected Hessian matrix not positive definite.
RET_HESSIAN_INDEFINITE	Hessian matrix is indefinite. (100)
RET_MATRIX_SHIFT_FAILED	Unable to update matrices or to transform vectors.
RET_MATRIX_FACTORISATION_FAILED	Unable to calculate new matrix factorisations.
RET_PRINT_ITERATION_FAILED	Unable to print information on current iteration.
RET_NO_GLOBAL_MESSAGE_OUTPUTFILE	No global message output file initialised.
RET_DISABLECONSTRAINTS_FAILED	Unable to disbable constraints.
RET_ENABLECONSTRAINTS_FAILED	Unable to enbable constraints.
RET_ALREADY_ENABLED	Bound or constraint is already enabled.
RET_ALREADY_DISABLED	Bound or constraint is already disabled.
RET_NO_HESSIAN_SPECIFIED	No Hessian matrix has been specified.
RET_USING_REGULARISATION	Using regularisation as Hessian matrix is not positive definite. (110)
RET_EPS_MUST_BE_POSITVE	Eps for regularisation must be sufficiently positive.
RET_REGSTEPS_MUST_BE_POSITVE	Maximum number of regularisation steps must be non-negative.
RET_HESSIAN_ALREADY_REGULARISED	Hessian has been already regularised.
RET_CANNOT_REGULARISE_IDENTITY	Identity Hessian matrix cannot be regularised.
RET_CANNOT_REGULARISE_SPARSE	Sparse matrix cannot be regularised as diagonal entry is missing.
RET_NO_REGSTEP_NWSR	No additional regularisation step could be performed due to limits.
RET_FEWER_REGSTEPS_NWSR	Fewer additional regularisation steps have been performed due to limits.
RET_CHOLESKY_OF_ZERO_HESSIAN	Cholesky decomposition of (unregularised) zero Hessian matrix.
RET_ZERO_HESSIAN_ASSUMED	Zero Hessian matrix assumed as null pointer passed without specifying hessianType.
RET_CONSTRAINTS_ARE_NOT_SCALED	(no longer in use) (120)
RET_INITIAL_BOUNDS_STATUS_NYI	(no longer in use)
RET_ERROR_IN_CONSTRAINTPRODUCT	Error in user-defined constraint product function.
RET_FIX_BOUNDS_FOR_LP	All initial bounds must be fixed when solving an (unregularised) LP.
RET_USE_REGULARISATION_FOR_LP	Set options.enableRegularisation=BT_TRUE for solving LPs.
RET_UPDATEMATRICES_FAILED	Unable to update QP matrices.
RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED	Unable to update matrices as previous QP is not solved.
RET_UNABLE_TO_OPEN_FILE	Unable to open file.
RET_UNABLE_TO_WRITE_FILE	Unable to write into file.
RET_UNABLE_TO_READ_FILE	Unable to read from file.
RET_FILEDATA_INCONSISTENT	File contains inconsistent data. (130)
RET_OPTIONS_ADJUSTED	Options needed to be adjusted for consistency reasons.
RET_UNABLE_TO_ANALYSE_QPROBLEM	Unable to analyse (S)QProblem(B) object.
RET_NWSR_SET_TO_ONE	Maximum number of working set changes was set to 1.
RET_UNABLE_TO_READ_BENCHMARK	Unable to read benchmark data.
RET_BENCHMARK_ABORTED	Benchmark aborted.
RET_INITIAL_QP_SOLVED	Initial QP solved.
RET_QP_SOLUTION_STARTED	Solving QP...
RET_BENCHMARK_SUCCESSFUL	Benchmark terminated successfully.
RET_NO_DIAGONAL_AVAILABLE	Sparse matrix does not have entries on full diagonal.
RET_DIAGONAL_NOT_INITIALISED	Diagonal data of sparse matrix has not been initialised. (140)
RET_ENSURELI_DROPPED	Linear independence resolved by dropping blocking constraint.
RET_KKT_MATRIX_SINGULAR	KKT matrix is singular.
RET_QR_FACTORISATION_FAILED	QR factorization of Schur complement failed.
RET_INERTIA_CORRECTION_FAILED	Inertia correction failed after KKT matrix had too many negative eigenvalues.
RET_NO_SPARSE_SOLVER	No factorization routine for the KKT matrix installed.
RET_SIMPLE_STATUS_P1	QP problem could not be solved within given number of iterations.
RET_SIMPLE_STATUS_P0	QP problem solved.
RET_SIMPLE_STATUS_M1	QP problem could not be solved due to an internal error.
RET_SIMPLE_STATUS_M2	QP problem is infeasible (and thus could not be solved).
RET_SIMPLE_STATUS_M3	QP problem is unbounded (and thus could not be solved). (150)