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) 2007-2017 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
 */