qpOASES: examples/qrecipe_data.hpp Source File

00001 /*
00002  *  This file is part of qpOASES.
00003  *
00004  *  qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *  Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
00006  *  Christian Kirches et al. All rights reserved.
00007  *
00008  *  qpOASES is free software; you can redistribute it and/or
00009  *  modify it under the terms of the GNU Lesser General Public
00010  *  License as published by the Free Software Foundation; either
00011  *  version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *  qpOASES is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *  See the GNU Lesser General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU Lesser General Public
00019  *  License along with qpOASES; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00035 USING_NAMESPACE_QPOASES
00036 
00037 
00038 
00039 const real_t Inf = INFTY;
00040 
00041 sparse_int_t H_jc[] = { 0,  4,  8, 12, 16, 20, 20, 20, 20, 20, 20,
00042                        24, 28, 32, 36, 40, 40, 40, 40, 40, 40,
00043                        44, 48, 52, 56, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60,
00044                        64, 68, 72, 76, 80, 80, 80, 80, 80, 80,
00045                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00046                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00047                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00048                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00049                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00050                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00051                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00052                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00053                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00054                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00055                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00056                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00057                        80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
00058                        80, 80, 80, 80, 80, 80 };
00059 
00060 sparse_int_t H_ir[] = {
00061     0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
00062     0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
00063     0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
00064     0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38};
00065 
00066 real_t H_val[] = {10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1,
00067     1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1,
00068     10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1, 10, 1,
00069     1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10};
00070 
00071 sparse_int_t A_jc[] = {
00072       0,  10,  20,  30,  40,  50,  60,  70,  80,  90, 100, 110, 120,
00073     130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270,
00074     280, 290, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312,
00075     313, 314, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 331,
00076     333, 335, 337, 339, 341, 343, 345, 347, 349, 351, 353, 355, 357, 359, 361,
00077     363, 365, 367, 369, 371, 373, 383, 393, 403, 405, 408, 410, 413, 415, 418,
00078     420, 422, 424, 426, 428, 430, 432, 434, 436, 438, 440, 442, 444, 446, 448,
00079     450, 452, 454, 456, 458, 460, 462, 472, 482, 492, 494, 497, 499, 502, 504,
00080     507, 509, 511, 513, 515, 517, 519, 521, 523, 525, 527, 529, 531, 533, 535,
00081     537, 539, 541, 543, 545, 547, 549, 551, 561, 571, 581, 583, 586, 588, 591,
00082     593, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609,
00083     610, 611, 612, 613, 614, 615, 616, 617, 618, 628, 638, 648, 650, 653, 655,
00084     658, 660, 663};
00085 
00086 sparse_int_t A_ir[] = {0, 14, 35, 36, 71, 72, 85, 86, 87, 88, 1, 14, 35, 36, 71, 72, 85,
00087     86, 87, 88, 2, 14, 35, 36, 71, 72, 85, 86, 87, 88, 3, 14, 35, 36, 71, 72,
00088     85, 86, 87, 88, 4, 14, 35, 36, 71, 72, 85, 86, 87, 88, 5, 14, 35, 36, 71,
00089     72, 85, 86, 87, 88, 6, 14, 35, 36, 71, 72, 85, 86, 87, 88, 7, 14, 35, 36,
00090     71, 72, 85, 86, 87, 88, 8, 14, 35, 36, 71, 72, 85, 86, 87, 88, 9, 14, 35,
00091     36, 71, 72, 85, 86, 87, 88, 0, 15, 37, 38, 69, 70, 79, 80, 81, 82, 1, 15,
00092     37, 38, 69, 70, 79, 80, 81, 82, 2, 15, 37, 38, 69, 70, 79, 80, 81, 82, 3,
00093     15, 37, 38, 69, 70, 79, 80, 81, 82, 4, 15, 37, 38, 69, 70, 79, 80, 81, 82,
00094     5, 15, 37, 38, 69, 70, 79, 80, 81, 82, 6, 15, 37, 38, 69, 70, 79, 80, 81,
00095     82, 7, 15, 37, 38, 69, 70, 79, 80, 81, 82, 8, 15, 37, 38, 69, 70, 79, 80,
00096     81, 82, 9, 15, 37, 38, 69, 70, 79, 80, 81, 82, 0, 16, 39, 40, 67, 68, 73,
00097     74, 75, 76, 1, 16, 39, 40, 67, 68, 73, 74, 75, 76, 2, 16, 39, 40, 67, 68,
00098     73, 74, 75, 76, 3, 16, 39, 40, 67, 68, 73, 74, 75, 76, 4, 16, 39, 40, 67,
00099     68, 73, 74, 75, 76, 5, 16, 39, 40, 67, 68, 73, 74, 75, 76, 6, 16, 39, 40,
00100     67, 68, 73, 74, 75, 76, 7, 16, 39, 40, 67, 68, 73, 74, 75, 76, 8, 16, 39,
00101     40, 67, 68, 73, 74, 75, 76, 9, 16, 39, 40, 67, 68, 73, 74, 75, 76, 10, 11,
00102     12, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 47, 48, 49, 50, 51,
00103     52, 53, 54, 55, 56, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62, 52, 63, 53,
00104     64, 54, 65, 55, 66, 46, 56, 45, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62,
00105     52, 63, 53, 64, 54, 65, 55, 66, 46, 56, 45, 57, 10, 14, 71, 72, 85, 86, 87,
00106     88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74,
00107     75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78,
00108     44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65, 30, 66, 29,
00109     46, 28, 45, 44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65,
00110     30, 66, 29, 46, 28, 45, 10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69,
00111     70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90,
00112     36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78, 27, 44, 26, 43, 25, 42,
00113     24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28, 27, 44, 26,
00114     43, 25, 42, 24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28,
00115     10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83,
00116     84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38,
00117     83, 84, 39, 78, 40, 77, 78, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 27,
00118     26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 10, 14, 71, 72, 85, 86, 87, 88, 89,
00119     90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76,
00120     77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78};
00121 
00122 real_t A_val[] = {
00123 -1.0000000000000000e+00,  1.0000000000000000e+00,  8.8678200000000004e+01,
00124  9.3617050000000006e+01,  1.6000000000000000e+01,  8.1999999999999993e+00,
00125  9.9000000000000000e+01,  8.0000000000000000e+01,  1.2000000000000000e+01,
00126  9.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00127  8.0062830000000005e+01,  9.9224010000000007e+01,  1.0000000000000000e+02,
00128  2.1100000000000001e+01,  1.0000000000000000e+02,  1.0000000000000000e+02,
00129  1.1400000000000000e+02,  1.1680000000000000e+02, -1.0000000000000000e+00,
00130  1.0000000000000000e+00,  7.4697360000000003e+01,  8.3801220000000001e+01,
00131 -8.1999999999999993e+00,  2.0000000000000000e+00,  9.0000000000000000e+01,
00132  2.3999999999999999e+00, -1.2000000000000000e+01, -1.4800000000000001e+01,
00133 -1.0000000000000000e+00,  1.0000000000000000e+00,  7.9194209999999998e+01,
00134  9.0175110000000004e+01,  4.3000000000000000e+01,  8.0000000000000000e+00,
00135  1.0000000000000000e+02,  9.5000000000000000e+01,  9.0000000000000000e+00,
00136  2.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00137  7.8568219999999997e+01,  8.5996200000000002e+01, -1.2500000000000000e+01,
00138  1.0000000000000000e+00,  9.6500000000000000e+01,  4.0000000000000000e+00,
00139 -1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
00140  1.0000000000000000e+00,  8.2922240000000002e+01,  8.6963380000000001e+01,
00141  6.5000000000000000e+01,  1.2500000000000000e+01,  1.0000000000000000e+02,
00142  9.8000000000000000e+01,  4.9000000000000000e+01,  3.7000000000000000e+01,
00143 -1.0000000000000000e+00,  1.0000000000000000e+00,  8.2592740000000006e+01,
00144  9.3147599999999997e+01, -1.2000000000000000e+01,  1.0000000000000000e+00,
00145  9.6500000000000000e+01,  4.0000000000000000e+00, -1.8000000000000000e+01,
00146 -2.1899999999999999e+01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00147  7.6506460000000004e+01,  7.8210250000000002e+01,  7.9000000000000000e+01,
00148  1.2000000000000000e+01,  1.0000000000000000e+02,  9.5000000000000000e+01,
00149  6.8000000000000000e+01,  6.1000000000000000e+01, -1.0000000000000000e+00,
00150  1.0000000000000000e+00,  8.8357460000000003e+01,  9.4257840000000002e+01,
00151  1.2500000000000000e+02,  6.1299999999999997e+01,  1.0000000000000000e+02,
00152  1.0000000000000000e+02,  1.4500000000000000e+02,  1.4500000000000000e+02,
00153 -1.0000000000000000e+00,  1.0000000000000000e+00,  9.0590469999999996e+01,
00154  1.0582863000000000e+02,  6.2000000000000002e+00,  6.0000000000000000e+00,
00155  9.7000000000000000e+01,  2.8500000000000000e+01,  4.0000000000000000e+00,
00156  3.6000000000000001e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00157  8.8678200000000004e+01,  9.3617050000000006e+01,  1.6000000000000000e+01,
00158  8.1999999999999993e+00,  9.9000000000000000e+01,  8.0000000000000000e+01,
00159  1.2000000000000000e+01,  9.0000000000000000e+00, -1.0000000000000000e+00,
00160  1.0000000000000000e+00,  8.0062830000000005e+01,  9.9224010000000007e+01,
00161  1.0000000000000000e+02,  2.1100000000000001e+01,  1.0000000000000000e+02,
00162  1.0000000000000000e+02,  1.1400000000000000e+02,  1.1680000000000000e+02,
00163 -1.0000000000000000e+00,  1.0000000000000000e+00,  7.4697360000000003e+01,
00164  8.3801220000000001e+01, -8.1999999999999993e+00,  2.0000000000000000e+00,
00165  9.0000000000000000e+01,  2.3999999999999999e+00, -1.2000000000000000e+01,
00166 -1.4800000000000001e+01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00167  7.9194209999999998e+01,  9.0175110000000004e+01,  4.3000000000000000e+01,
00168  8.0000000000000000e+00,  1.0000000000000000e+02,  9.5000000000000000e+01,
00169  9.0000000000000000e+00,  2.0000000000000000e+00, -1.0000000000000000e+00,
00170  1.0000000000000000e+00,  7.8568219999999997e+01,  8.5996200000000002e+01,
00171 -1.2500000000000000e+01,  1.0000000000000000e+00,  9.6500000000000000e+01,
00172  4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
00173 -1.0000000000000000e+00,  1.0000000000000000e+00,  8.2922240000000002e+01,
00174  8.6963380000000001e+01,  6.5000000000000000e+01,  1.2500000000000000e+01,
00175  1.0000000000000000e+02,  9.8000000000000000e+01,  4.9000000000000000e+01,
00176  3.7000000000000000e+01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00177  8.2592740000000006e+01,  9.3147599999999997e+01, -1.2000000000000000e+01,
00178  1.0000000000000000e+00,  9.6500000000000000e+01,  4.0000000000000000e+00,
00179 -1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
00180  1.0000000000000000e+00,  7.6506460000000004e+01,  7.8210250000000002e+01,
00181  7.9000000000000000e+01,  1.2000000000000000e+01,  1.0000000000000000e+02,
00182  9.5000000000000000e+01,  6.8000000000000000e+01,  6.1000000000000000e+01,
00183 -1.0000000000000000e+00,  1.0000000000000000e+00,  8.8357460000000003e+01,
00184  9.4257840000000002e+01,  1.2500000000000000e+02,  6.1299999999999997e+01,
00185  1.0000000000000000e+02,  1.0000000000000000e+02,  1.4500000000000000e+02,
00186  1.4500000000000000e+02, -1.0000000000000000e+00,  1.0000000000000000e+00,
00187  9.0590469999999996e+01,  1.0582863000000000e+02,  6.2000000000000002e+00,
00188  6.0000000000000000e+00,  9.7000000000000000e+01,  2.8500000000000000e+01,
00189  4.0000000000000000e+00,  3.6000000000000001e+00, -1.0000000000000000e+00,
00190  1.0000000000000000e+00,  8.8678200000000004e+01,  9.3617050000000006e+01,
00191  1.6000000000000000e+01,  8.1999999999999993e+00,  9.9000000000000000e+01,
00192  8.0000000000000000e+01,  1.2000000000000000e+01,  9.0000000000000000e+00,
00193 -1.0000000000000000e+00,  1.0000000000000000e+00,  8.0062830000000005e+01,
00194  9.9224010000000007e+01,  1.0000000000000000e+02,  2.1100000000000001e+01,
00195  1.0000000000000000e+02,  1.0000000000000000e+02,  1.1400000000000000e+02,
00196  1.1680000000000000e+02, -1.0000000000000000e+00,  1.0000000000000000e+00,
00197  7.4697360000000003e+01,  8.3801220000000001e+01, -8.1999999999999993e+00,
00198  2.0000000000000000e+00,  9.0000000000000000e+01,  2.3999999999999999e+00,
00199 -1.2000000000000000e+01, -1.4800000000000001e+01, -1.0000000000000000e+00,
00200  1.0000000000000000e+00,  7.9194209999999998e+01,  9.0175110000000004e+01,
00201  4.3000000000000000e+01,  8.0000000000000000e+00,  1.0000000000000000e+02,
00202  9.5000000000000000e+01,  9.0000000000000000e+00,  2.0000000000000000e+00,
00203 -1.0000000000000000e+00,  1.0000000000000000e+00,  7.8568219999999997e+01,
00204  8.5996200000000002e+01, -1.2500000000000000e+01,  1.0000000000000000e+00,
00205  9.6500000000000000e+01,  4.0000000000000000e+00, -1.8000000000000000e+01,
00206 -2.1899999999999999e+01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00207  8.2922240000000002e+01,  8.6963380000000001e+01,  6.5000000000000000e+01,
00208  1.2500000000000000e+01,  1.0000000000000000e+02,  9.8000000000000000e+01,
00209  4.9000000000000000e+01,  3.7000000000000000e+01, -1.0000000000000000e+00,
00210  1.0000000000000000e+00,  8.2592740000000006e+01,  9.3147599999999997e+01,
00211 -1.2000000000000000e+01,  1.0000000000000000e+00,  9.6500000000000000e+01,
00212  4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
00213 -1.0000000000000000e+00,  1.0000000000000000e+00,  7.6506460000000004e+01,
00214  7.8210250000000002e+01,  7.9000000000000000e+01,  1.2000000000000000e+01,
00215  1.0000000000000000e+02,  9.5000000000000000e+01,  6.8000000000000000e+01,
00216  6.1000000000000000e+01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00217  8.8357460000000003e+01,  9.4257840000000002e+01,  1.2500000000000000e+02,
00218  6.1299999999999997e+01,  1.0000000000000000e+02,  1.0000000000000000e+02,
00219  1.4500000000000000e+02,  1.4500000000000000e+02, -1.0000000000000000e+00,
00220  1.0000000000000000e+00,  9.0590469999999996e+01,  1.0582863000000000e+02,
00221  6.2000000000000002e+00,  6.0000000000000000e+00,  9.7000000000000000e+01,
00222  2.8500000000000000e+01,  4.0000000000000000e+00,  3.6000000000000001e+00,
00223 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00224 -1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00225  1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00226  1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00227  1.0000000000000000e+00,  1.0000000000000000e+00, -1.2000000000000000e-01,
00228 -3.8000000000000000e-01, -5.0000000000000000e-01,  1.0000000000000000e+00,
00229  1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00230  1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00231  1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00232  1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00233  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00234 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00235  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00236 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00237  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00238 -1.0000000000000000e+00,  1.0000000000000000e+00,  1.0000000000000000e+00,
00239 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00240 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00241  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00242 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00243  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00244 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00245  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00246  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00247 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00248 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
00249 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
00250 -9.3000000000000000e+01, -8.9000000000000000e+01,  1.0000000000000000e+00,
00251 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
00252 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
00253 -1.0000000000000000e+01, -8.9000000000000000e+01, -8.5000000000000000e+01,
00254  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
00255 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
00256 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.1000000000000000e+01,
00257 -8.8000000000000000e+01, -1.0000000000000000e+00,  5.0000000000000000e-01,
00258 -1.0000000000000000e+00,  1.0000000000000000e+00,  5.0000000000000000e-01,
00259 -1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00260  1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00261  5.0000000000000000e-01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00262  5.0000000000000000e-01,  1.0000000000000000e+00, -1.0000000000000000e+00,
00263  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00264 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00265  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00266 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00267  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00268 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00269  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00270 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00271  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00272 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00273  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00274 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00275  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00276 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00277  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
00278 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
00279 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
00280 -8.9000000000000000e+01,  1.0000000000000000e+00, -1.0000000000000000e+00,
00281 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
00282 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
00283 -8.9000000000000000e+01, -8.5000000000000000e+01,  1.0000000000000000e+00,
00284 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
00285 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
00286 -1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
00287 -1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00288  1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00289  5.0000000000000000e-01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00290  5.0000000000000000e-01, -1.0000000000000000e+00,  5.0000000000000000e-01,
00291 -1.0000000000000000e+00,  1.0000000000000000e+00,  5.0000000000000000e-01,
00292  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00293 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00294  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00295 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00296  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00297 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00298  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00299 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00300  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00301 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00302  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00303 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00304  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00305 -1.0000000000000000e+00,  1.0000000000000000e+00, -1.0000000000000000e+00,
00306  1.0000000000000000e+00, -1.0000000000000000e+00,  1.0000000000000000e+00,
00307 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
00308 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
00309 -1.0000000000000000e+01, -9.3000000000000000e+01, -8.9000000000000000e+01,
00310  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
00311 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
00312 -1.0000000000000000e+01, -1.0000000000000000e+01, -8.9000000000000000e+01,
00313 -8.5000000000000000e+01,  1.0000000000000000e+00, -1.0000000000000000e+00,
00314 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
00315 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
00316 -9.1000000000000000e+01, -8.8000000000000000e+01, -1.0000000000000000e+00,
00317  5.0000000000000000e-01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00318  5.0000000000000000e-01, -1.0000000000000000e+00,  5.0000000000000000e-01,
00319 -1.0000000000000000e+00,  1.0000000000000000e+00,  5.0000000000000000e-01,
00320 -1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00321  1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00322 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00323 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00324 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00325 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00326 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00327 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00328 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
00329  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
00330 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
00331 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
00332 -8.9000000000000000e+01,  1.0000000000000000e+00, -1.0000000000000000e+00,
00333 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
00334 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
00335 -8.9000000000000000e+01, -8.5000000000000000e+01,  1.0000000000000000e+00,
00336 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
00337 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
00338 -1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
00339 -1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00340  1.0000000000000000e+00,  5.0000000000000000e-01, -1.0000000000000000e+00,
00341  5.0000000000000000e-01, -1.0000000000000000e+00,  1.0000000000000000e+00,
00342  5.0000000000000000e-01, -1.0000000000000000e+00,  5.0000000000000000e-01,
00343 -1.0000000000000000e+00,  1.0000000000000000e+00,  5.0000000000000000e-01};
00344 
00345 real_t g[] = {+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00346     +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00347     +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00348     +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00349     +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00350     +0e+00, +0e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00,
00351     -2e+00, +0e+00, -2e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
00352     +2e-03, +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03,
00353     -2e-03, -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00,
00354     +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +2e-03,
00355     +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +1e-03, +2e-03, +2e-03, +2e-03,
00356     +0e+00, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -1e-03, -2e-03,
00357     -2e-03, -2e-03, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00358     +0e+00, +0e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
00359     +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03, -2e-03,
00360     -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00, +0e+00,
00361     +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +1e-01, +1e-01,
00362     +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +0e+00,
00363     -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01,
00364     -1e-01, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
00365     +0e+00};
00366 
00367 real_t lb[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00368     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00369     0, 0, 0, -Inf, 0, -Inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5,
00370     10, 5, 0, 10, 0, 2, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00371     0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00372     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0,
00373     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00374     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
00375 
00376 real_t ub[] = {Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
00377     Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
00378     Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
00379     Inf, Inf, 0, 92, 39, 87, 29, 0, 20, 0, 28, 20, 71, Inf, 130, 45, 53, 55, 75,
00380     112, 0, 73, 480, 154, 121, 50, 30, 77, 20, 0, 18, 0, 5, 20, 71, Inf, Inf,
00381     Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, 130, 55, 93, 60, 75, 115, 0, 67,
00382     480, 154, 121, 50, 20, 37, 15, 0, 15, 0, 8, 20, 71, Inf, Inf, Inf, Inf, Inf,
00383     Inf, Inf, Inf, Inf, Inf, 130, 55, 93, 60, 75, 105, 0, 67, 4980, 154, 110,
00384     50, 20, 37, 15, 0, 25, 0, 8, 20, 71, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
00385     Inf, Inf, 20, 20, 20, 20, 0, 20, 0, 20, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00386     0, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf};
00387 
00388 real_t lbA[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00389     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00390     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -Inf, -Inf,
00391     -Inf, -Inf, -Inf, -Inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00392     0};
00393 
00394 real_t ubA[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00395     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00396     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
00397     0, 0, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
00398     Inf, Inf, Inf, Inf};
00399 
00400 long H_nnz = (long) sizeof(H_val) / (long) sizeof(real_t);
00401 long A_nnz = (long) sizeof(A_val) / (long) sizeof(real_t);