openpilot v0.7.2 release
Vehicle Researcher
parent
305037fc1a
commit
21f4245444
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@ -44,7 +44,7 @@ selfdrive/sensord/_gpsd
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selfdrive/sensord/_sensord
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selfdrive/camerad/camerad
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selfdrive/modeld/_modeld
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selfdrive/modeld/_monitoringd
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selfdrive/modeld/_dmonitoringmodeld
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/src/
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one
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@ -29,3 +29,12 @@ Code is automatically check for style by travis as part of the automated tests.
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We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
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If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
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## Pull Requests
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Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
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```
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git submodule init
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git submodule update
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```
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in order to pull down the submodules, such as `panda` and `opendbc`.
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@ -1,84 +0,0 @@
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FROM ubuntu:16.04
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ENV PYTHONUNBUFFERED 1
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RUN apt-get update && apt-get install -y \
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autoconf \
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build-essential \
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bzip2 \
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clang \
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cmake \
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curl \
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ffmpeg \
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git \
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libarchive-dev \
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libbz2-dev \
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libcurl4-openssl-dev \
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libeigen3-dev \
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libffi-dev \
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libglew-dev \
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libgles2-mesa-dev \
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libglfw3-dev \
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libglib2.0-0 \
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liblzma-dev \
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libmysqlclient-dev \
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libomp-dev \
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libopencv-dev \
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libssl-dev \
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libsqlite3-dev \
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libtool \
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libusb-1.0-0-dev \
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libzmq5-dev \
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locales \
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ocl-icd-libopencl1 \
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ocl-icd-opencl-dev \
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opencl-headers \
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python-dev \
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python-pip \
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screen \
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sudo \
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vim \
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wget
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RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
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ENV LANG en_US.UTF-8
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ENV LANGUAGE en_US:en
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ENV LC_ALL en_US.UTF-8
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RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
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ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
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RUN pyenv install 3.7.3
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RUN pyenv global 3.7.3
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RUN pyenv rehash
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RUN pip install pipenv==2018.11.26
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COPY Pipfile /tmp/
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COPY Pipfile.lock /tmp/
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RUN python --version
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RUN cd /tmp && pipenv install --system --deploy
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# Install subset of dev dependencies needed for CI
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RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
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COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
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RUN /tmp/install_capnp.sh
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RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
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ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
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COPY ./.pylintrc /tmp/openpilot/.pylintrc
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COPY ./common /tmp/openpilot/common
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COPY ./cereal /tmp/openpilot/cereal
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COPY ./opendbc /tmp/openpilot/opendbc
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COPY ./selfdrive /tmp/openpilot/selfdrive
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COPY ./phonelibs /tmp/openpilot/phonelibs
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COPY ./pyextra /tmp/openpilot/pyextra
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COPY ./panda /tmp/openpilot/panda
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COPY SConstruct /tmp/openpilot/SConstruct
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RUN mkdir -p /tmp/openpilot/selfdrive/test/out
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RUN cd /tmp/openpilot && scons -j$(nproc)
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9
Makefile
9
Makefile
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@ -1,9 +0,0 @@
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code_dir := $(shell pwd)
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# TODO: Add a global build system
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.PHONY: all
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all:
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cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
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128
Pipfile
128
Pipfile
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@ -1,128 +0,0 @@
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[[source]]
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name = "pypi"
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url = "https://pypi.org/simple"
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verify_ssl = true
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[dev-packages]
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opencv-python= "==3.4.2.17"
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PyQt5 = "*"
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ipython = "*"
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networkx = "==2.3"
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azure-core = "==1.1.1"
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azure-common = "==1.1.24"
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azure-nspkg = "==3.0.2"
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azure-storage-blob = "==2.1.0"
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azure-storage-common = "==2.1.0"
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azure-storage-nspkg = "==3.1.0"
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boto = "*"
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"boto3" = "*"
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control = "*"
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datadog = "*"
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dlib = "*"
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elasticsearch = "*"
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future = "*"
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futures = "*"
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pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
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gunicorn = "*"
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"h5py" = "*"
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hexdump = "*"
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"html5lib" = "*"
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imageio = "*"
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ipykernel = "*"
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joblib = "*"
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json-logging-py = "*"
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jupyter = "*"
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libarchive = "*"
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lru-dict = "*"
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"mpld3" = "*"
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msgpack-python = "*"
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nbstripout = "*"
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numpy = "*"
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osmium = "*"
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pbr = "*"
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percache = "*"
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pprofile = "*"
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pycurl = "*"
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git-pylint-commit-hook = "*"
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pymongo = "*"
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"pynmea2" = "*"
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pypolyline = "*"
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python-logstash = "*"
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redis = "*"
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"s2sphere" = "*"
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scikit-image = "*"
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"subprocess32" = "*"
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tenacity = "*"
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tensorflow-gpu = ""
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PyJWT = "==1.4.1"
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PyMySQL = "==0.9.2"
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Werkzeug = "*"
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"backports.lzma" = "*"
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Flask-Cors = "*"
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Flask-SocketIO = "*"
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"GeoAlchemy2" = "*"
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Pygments = "*"
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PyNaCl = "*"
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"PySDL2" = "*"
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reverse_geocoder = "*"
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Shapely = "*"
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SQLAlchemy = "*"
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scipy = "*"
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fastcluster = "*"
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backports-abc = "*"
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pygame = "*"
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simplejson = "*"
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python-logstash-async = "*"
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seaborn = "*"
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pyproj = "*"
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mock = "*"
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matplotlib = "*"
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dictdiffer = "*"
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aenum = "*"
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coverage = "*"
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azure-cli-core = "*"
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[packages]
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overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
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atomicwrites = "*"
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cffi = "*"
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crcmod = "*"
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hexdump = "*"
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libusb1 = "*"
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numpy = "*"
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psutil = "*"
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pycapnp = "*"
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cryptography = "*"
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pyserial = "*"
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python-dateutil = "*"
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pyzmq = "*"
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raven = "*"
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requests = "*"
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setproctitle = "*"
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six = "*"
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smbus2 = "*"
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sympy = "*"
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tqdm = "*"
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Cython = "*"
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PyYAML = "*"
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websocket_client = "*"
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Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
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urllib3 = "*"
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chardet = "*"
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idna = "*"
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gunicorn = "*"
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utm = "*"
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json-rpc = "*"
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Flask = "*"
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PyJWT = "*"
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"Jinja2" = "*"
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nose = "*"
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flake8 = "*"
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pylint = "*"
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pycryptodome = "*"
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pillow = "*"
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scons = "*"
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cysignals = "*"
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[requires]
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python_version = "3.7.3"
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File diff suppressed because it is too large
Load Diff
20
README.md
20
README.md
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@ -1,4 +1,4 @@
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[](#)
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[](#)
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Table of Contents
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=======================
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@ -68,12 +68,12 @@ Supported Cars
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>5</sup> | 12mph |
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| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph |
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
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@ -83,19 +83,22 @@ Supported Cars
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| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | Pilot 2019 | All | openpilot | 25mph<sup>5</sup> | 12mph |
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| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>5</sup> | 12mph |
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| Hyundai | Santa Fe 2019<sup>1</sup> | All | Stock | 0mph | 0mph |
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| Hyundai | Elantra 2017-19<sup>1</sup> | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2018<sup>1</sup> | All | Stock | 19mph | 34mph |
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| Hyundai | Santa Fe 2019<sup>1</sup> | All | Stock | 0mph | 0mph |
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| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Optima 2019<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Sorento 2018<sup>1</sup> | All | Stock | 0mph | 0mph |
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| Kia | Stinger 2018<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
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| Lexus | CT Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
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| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
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| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
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| Lexus | RX 2016-17 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
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| Toyota | Avalon 2016 | TSS-P | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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@ -106,7 +109,7 @@ Supported Cars
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| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | Corolla 2017-19 | All | Stock<sup>4</sup>| 20mph<sup>5</sup> | 0mph |
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| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>4</sup>| 0mph | 0mph |
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@ -118,6 +121,7 @@ Supported Cars
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| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
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| Toyota | Sienna 2018 | All | Stock<sup>4</sup>| 0mph | 0mph |
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| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
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@ -131,9 +135,9 @@ Community Maintained Cars and Features
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
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| Buick | Regal 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Cadillac | ATS 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Malibu 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Volt 2017-18<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Cadillac | ATS 2018<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| GMC | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
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| Holden | Astra 2017<sup>6</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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@ -242,7 +246,7 @@ Safety and Testing
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Testing on PC
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------
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Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
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Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
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Community and Contributing
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------
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@ -1,3 +1,12 @@
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Version 0.7.2 (2020-02-07)
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========================
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* ECU firmware version based fingerprinting for Honda & Toyota
|
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* New driving model: improved path prediction during turns and lane changes and better lead speed tracking
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* Improve driver monitoring under extreme lighting and add low accuracy alert
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* Support for 2019 Rav4 Hybrid thanks to illumiN8i!
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* Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
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* Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
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Version 0.7.1 (2020-01-20)
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||||
========================
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* comma two support!
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51
SConstruct
51
SConstruct
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@ -1,6 +1,7 @@
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import os
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import subprocess
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import sys
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import platform
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AddOption('--test',
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action='store_true',
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@ -11,6 +12,8 @@ AddOption('--asan',
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help='turn on ASAN')
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arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
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if platform.system() == "Darwin":
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arch = "Darwin"
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if arch == "aarch64":
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lenv = {
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@ -29,7 +32,6 @@ if arch == "aarch64":
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"/data/data/com.termux/files/usr/lib",
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"/system/vendor/lib64",
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"/system/comma/usr/lib",
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"#phonelibs/yaml-cpp/lib",
|
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"#phonelibs/nanovg",
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"#phonelibs/libyuv/lib",
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]
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@ -48,22 +50,34 @@ else:
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"#phonelibs/zmq/x64/include",
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||||
"#external/tensorflow/include",
|
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]
|
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libpath = [
|
||||
"#phonelibs/capnp-cpp/x64/lib",
|
||||
"#phonelibs/capnp-c/x64/lib",
|
||||
"#phonelibs/yaml-cpp/x64/lib",
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"#phonelibs/snpe/x86_64-linux-clang",
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"#phonelibs/zmq/x64/lib",
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||||
"#phonelibs/libyuv/x64/lib",
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||||
"#external/zmq/lib",
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||||
"#external/tensorflow/lib",
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||||
"#cereal",
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||||
"#selfdrive/common",
|
||||
"/usr/lib",
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||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/mac/lib",
|
||||
"#phonelibs/capnp-c/mac/lib",
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||||
"#phonelibs/libyuv/mac/lib",
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"#cereal",
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||||
"#selfdrive/common",
|
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"/usr/local/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/x64/lib",
|
||||
"#phonelibs/capnp-c/x64/lib",
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/zmq/x64/lib",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#external/zmq/lib",
|
||||
"#external/tensorflow/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = ["phonelibs/capnp-cpp/x64/lib",
|
||||
"phonelibs/zmq/x64/lib",
|
||||
"external/tensorflow/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"]
|
||||
|
|
@ -98,7 +112,6 @@ env = Environment(
|
|||
"#selfdrive",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/yaml-cpp/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json/src",
|
||||
"#phonelibs/json11",
|
||||
|
|
@ -195,8 +208,10 @@ SConscript(['common/SConscript'])
|
|||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -1,12 +0,0 @@
|
|||
#!/bin/bash
|
||||
|
||||
# Only pyflakes checks (--select=F)
|
||||
flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
|
||||
RESULT=$?
|
||||
if [ $RESULT -eq 0 ]; then
|
||||
pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
|
||||
RESULT=$? & 3
|
||||
fi
|
||||
|
||||
[ $RESULT -ne 0 ] && exit 1
|
||||
exit 0
|
||||
|
|
@ -5,6 +5,9 @@ import re
|
|||
import struct
|
||||
import subprocess
|
||||
import random
|
||||
from cereal import log
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
|
||||
ANDROID = os.path.isfile('/EON')
|
||||
|
||||
|
|
@ -89,3 +92,39 @@ def parse_service_call_bytes(ret):
|
|||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def get_network_type():
|
||||
if not ANDROID:
|
||||
return NetworkType.none
|
||||
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
|
|
|||
|
|
@ -1,13 +1,13 @@
|
|||
import jwt
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open('/persist/comma/id_rsa') as f:
|
||||
with open(PERSIST+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
|
|
|
|||
|
|
@ -1,4 +1,11 @@
|
|||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.android import ANDROID
|
||||
if ANDROID:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
else:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PARAMS = os.path.join(BASEDIR, "persist", "params")
|
||||
|
||||
|
|
|
|||
|
|
@ -1,16 +1,22 @@
|
|||
from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
cdef double readclock(int clock_id):
|
||||
cdef timespec ts
|
||||
cdef double current
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
# Darwin doesn't have a CLOCK_BOOTTIME
|
||||
CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
|
||||
ELSE:
|
||||
from posix.time cimport CLOCK_BOOTTIME
|
||||
|
||||
clock_gettime(clock_id, &ts)
|
||||
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
|
||||
return current
|
||||
cdef double readclock(clockid_t clock_id):
|
||||
cdef timespec ts
|
||||
cdef double current
|
||||
|
||||
clock_gettime(clock_id, &ts)
|
||||
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
|
||||
return current
|
||||
|
||||
def monotonic_time():
|
||||
return readclock(CLOCK_MONOTONIC_RAW)
|
||||
return readclock(CLOCK_MONOTONIC_RAW)
|
||||
|
||||
def sec_since_boot():
|
||||
return readclock(CLOCK_BOOTTIME)
|
||||
return readclock(CLOCK_BOOTTIME)
|
||||
|
||||
|
|
|
|||
|
|
@ -2,8 +2,14 @@ import os
|
|||
import sys
|
||||
import fcntl
|
||||
import hashlib
|
||||
import platform
|
||||
from cffi import FFI
|
||||
|
||||
def suffix():
|
||||
if platform.system() == "Darwin":
|
||||
return ".dylib"
|
||||
else:
|
||||
return ".so"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
|
|
|
|||
|
|
@ -1,9 +1,11 @@
|
|||
import io
|
||||
import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
from threading import local
|
||||
from collections import OrderedDict
|
||||
from contextlib import contextmanager
|
||||
|
|
@ -118,6 +120,42 @@ class SwagLogger(logging.Logger):
|
|||
else:
|
||||
self.info(evt)
|
||||
|
||||
def findCaller(self, stack_info=False, stacklevel=1):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
if filename == _srcfile:
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
|
||||
if __name__ == "__main__":
|
||||
log = SwagLogger()
|
||||
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@ import fcntl
|
|||
import tempfile
|
||||
import threading
|
||||
from enum import Enum
|
||||
|
||||
from common.basedir import PARAMS
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
try:
|
||||
|
|
@ -54,6 +54,7 @@ keys = {
|
|||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
|
|
@ -319,7 +320,7 @@ def write_db(params_path, key, value):
|
|||
lock.release()
|
||||
|
||||
class Params():
|
||||
def __init__(self, db='/data/params'):
|
||||
def __init__(self, db=PARAMS):
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
|
|
@ -327,6 +328,11 @@ class Params():
|
|||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def clear_all(self):
|
||||
shutil.rmtree(self.db, ignore_errors=True)
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
|
|
|
|||
|
|
@ -131,37 +131,6 @@ def img_from_device(pt_device):
|
|||
return pt_img.reshape(input_shape)[:,:2]
|
||||
|
||||
|
||||
#TODO please use generic img transform below
|
||||
def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
|
||||
import cv2 # pylint: disable=import-error
|
||||
|
||||
size = img.shape[:2]
|
||||
rot = orient.rot_from_euler(eulers)
|
||||
quadrangle = np.array([[0, 0],
|
||||
[size[1]-1, 0],
|
||||
[0, size[0]-1],
|
||||
[size[1]-1, size[0]-1]], dtype=np.float32)
|
||||
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
|
||||
warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
|
||||
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
|
||||
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
|
||||
if crop:
|
||||
W_border = (size[1] - crop[0])//2
|
||||
H_border = (size[0] - crop[1])//2
|
||||
outside_crop = (((warped_quadrangle[:,0] < W_border) |
|
||||
(warped_quadrangle[:,0] >= size[1] - W_border)) &
|
||||
((warped_quadrangle[:,1] < H_border) |
|
||||
(warped_quadrangle[:,1] >= size[0] - H_border)))
|
||||
if not outside_crop.all():
|
||||
raise ValueError("warped image not contained inside crop")
|
||||
else:
|
||||
H_border, W_border = 0, 0
|
||||
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
|
||||
img_warped = cv2.warpPerspective(img, M, size[::-1])
|
||||
return img_warped[H_border: size[0] - H_border,
|
||||
W_border: size[1] - W_border]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(eon_intrinsics,
|
||||
|
|
|
|||
|
|
@ -155,8 +155,6 @@ struct Updater {
|
|||
TouchState touch;
|
||||
|
||||
int fb_w, fb_h;
|
||||
EGLDisplay display;
|
||||
EGLSurface surface;
|
||||
|
||||
FramebufferState *fb = NULL;
|
||||
NVGcontext *vg = NULL;
|
||||
|
|
@ -198,7 +196,7 @@ struct Updater {
|
|||
touch_init(&touch);
|
||||
|
||||
fb = framebuffer_init("updater", 0x00001000, false,
|
||||
&display, &surface, &fb_w, &fb_h);
|
||||
&fb_w, &fb_h);
|
||||
assert(fb);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
|
|
@ -708,7 +706,7 @@ struct Updater {
|
|||
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
eglSwapBuffers(display, surface);
|
||||
framebuffer_swap(fb);
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -1,52 +1,52 @@
|
|||
Minpack Copyright Notice (1999) University of Chicago. All rights reserved
|
||||
|
||||
Redistribution and use in source and binary forms, with or
|
||||
without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
|
||||
1. Redistributions of source code must retain the above
|
||||
copyright notice, this list of conditions and the following
|
||||
disclaimer.
|
||||
|
||||
2. Redistributions in binary form must reproduce the above
|
||||
copyright notice, this list of conditions and the following
|
||||
disclaimer in the documentation and/or other materials
|
||||
provided with the distribution.
|
||||
|
||||
3. The end-user documentation included with the
|
||||
redistribution, if any, must include the following
|
||||
acknowledgment:
|
||||
|
||||
"This product includes software developed by the
|
||||
University of Chicago, as Operator of Argonne National
|
||||
Laboratory.
|
||||
|
||||
Alternately, this acknowledgment may appear in the software
|
||||
itself, if and wherever such third-party acknowledgments
|
||||
normally appear.
|
||||
|
||||
4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
|
||||
WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
|
||||
UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
|
||||
THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
|
||||
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
|
||||
OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
|
||||
OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
|
||||
USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
|
||||
THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
|
||||
DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
|
||||
UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
|
||||
BE CORRECTED.
|
||||
|
||||
5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
|
||||
HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
|
||||
ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
|
||||
INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
|
||||
ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
|
||||
SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
|
||||
(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
|
||||
EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
|
||||
POSSIBILITY OF SUCH LOSS OR DAMAGES.
|
||||
|
||||
Minpack Copyright Notice (1999) University of Chicago. All rights reserved
|
||||
|
||||
Redistribution and use in source and binary forms, with or
|
||||
without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
|
||||
1. Redistributions of source code must retain the above
|
||||
copyright notice, this list of conditions and the following
|
||||
disclaimer.
|
||||
|
||||
2. Redistributions in binary form must reproduce the above
|
||||
copyright notice, this list of conditions and the following
|
||||
disclaimer in the documentation and/or other materials
|
||||
provided with the distribution.
|
||||
|
||||
3. The end-user documentation included with the
|
||||
redistribution, if any, must include the following
|
||||
acknowledgment:
|
||||
|
||||
"This product includes software developed by the
|
||||
University of Chicago, as Operator of Argonne National
|
||||
Laboratory.
|
||||
|
||||
Alternately, this acknowledgment may appear in the software
|
||||
itself, if and wherever such third-party acknowledgments
|
||||
normally appear.
|
||||
|
||||
4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
|
||||
WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
|
||||
UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
|
||||
THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
|
||||
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
|
||||
OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
|
||||
OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
|
||||
USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
|
||||
THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
|
||||
DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
|
||||
UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
|
||||
BE CORRECTED.
|
||||
|
||||
5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
|
||||
HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
|
||||
ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
|
||||
INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
|
||||
ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
|
||||
SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
|
||||
(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
|
||||
EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
|
||||
POSSIBILITY OF SUCH LOSS OR DAMAGES.
|
||||
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -1,247 +0,0 @@
|
|||
// ISO C9x compliant stdint.h for Microsoft Visual Studio
|
||||
// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124
|
||||
//
|
||||
// Copyright (c) 2006-2008 Alexander Chemeris
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without
|
||||
// modification, are permitted provided that the following conditions are met:
|
||||
//
|
||||
// 1. Redistributions of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// 2. Redistributions in binary form must reproduce the above copyright
|
||||
// notice, this list of conditions and the following disclaimer in the
|
||||
// documentation and/or other materials provided with the distribution.
|
||||
//
|
||||
// 3. The name of the author may be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
|
||||
// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
|
||||
// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
|
||||
// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
|
||||
// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
|
||||
// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
||||
// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
//
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef _MSC_VER // [
|
||||
#error "Use this header only with Microsoft Visual C++ compilers!"
|
||||
#endif // _MSC_VER ]
|
||||
|
||||
#ifndef _MSC_STDINT_H_ // [
|
||||
#define _MSC_STDINT_H_
|
||||
|
||||
#if _MSC_VER > 1000
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
// For Visual Studio 6 in C++ mode and for many Visual Studio versions when
|
||||
// compiling for ARM we should wrap <wchar.h> include with 'extern "C++" {}'
|
||||
// or compiler give many errors like this:
|
||||
// error C2733: second C linkage of overloaded function 'wmemchr' not allowed
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
# include <wchar.h>
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
// Define _W64 macros to mark types changing their size, like intptr_t.
|
||||
#ifndef _W64
|
||||
# if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
|
||||
# define _W64 __w64
|
||||
# else
|
||||
# define _W64
|
||||
# endif
|
||||
#endif
|
||||
|
||||
|
||||
// 7.18.1 Integer types
|
||||
|
||||
// 7.18.1.1 Exact-width integer types
|
||||
|
||||
// Visual Studio 6 and Embedded Visual C++ 4 doesn't
|
||||
// realize that, e.g. char has the same size as __int8
|
||||
// so we give up on __intX for them.
|
||||
#if (_MSC_VER < 1300)
|
||||
typedef signed char int8_t;
|
||||
typedef signed short int16_t;
|
||||
typedef signed int int32_t;
|
||||
typedef unsigned char uint8_t;
|
||||
typedef unsigned short uint16_t;
|
||||
typedef unsigned int uint32_t;
|
||||
#else
|
||||
typedef signed __int8 int8_t;
|
||||
typedef signed __int16 int16_t;
|
||||
typedef signed __int32 int32_t;
|
||||
typedef unsigned __int8 uint8_t;
|
||||
typedef unsigned __int16 uint16_t;
|
||||
typedef unsigned __int32 uint32_t;
|
||||
#endif
|
||||
typedef signed __int64 int64_t;
|
||||
typedef unsigned __int64 uint64_t;
|
||||
|
||||
|
||||
// 7.18.1.2 Minimum-width integer types
|
||||
typedef int8_t int_least8_t;
|
||||
typedef int16_t int_least16_t;
|
||||
typedef int32_t int_least32_t;
|
||||
typedef int64_t int_least64_t;
|
||||
typedef uint8_t uint_least8_t;
|
||||
typedef uint16_t uint_least16_t;
|
||||
typedef uint32_t uint_least32_t;
|
||||
typedef uint64_t uint_least64_t;
|
||||
|
||||
// 7.18.1.3 Fastest minimum-width integer types
|
||||
typedef int8_t int_fast8_t;
|
||||
typedef int16_t int_fast16_t;
|
||||
typedef int32_t int_fast32_t;
|
||||
typedef int64_t int_fast64_t;
|
||||
typedef uint8_t uint_fast8_t;
|
||||
typedef uint16_t uint_fast16_t;
|
||||
typedef uint32_t uint_fast32_t;
|
||||
typedef uint64_t uint_fast64_t;
|
||||
|
||||
// 7.18.1.4 Integer types capable of holding object pointers
|
||||
#ifdef _WIN64 // [
|
||||
typedef signed __int64 intptr_t;
|
||||
typedef unsigned __int64 uintptr_t;
|
||||
#else // _WIN64 ][
|
||||
typedef _W64 signed int intptr_t;
|
||||
typedef _W64 unsigned int uintptr_t;
|
||||
#endif // _WIN64 ]
|
||||
|
||||
// 7.18.1.5 Greatest-width integer types
|
||||
typedef int64_t intmax_t;
|
||||
typedef uint64_t uintmax_t;
|
||||
|
||||
|
||||
// 7.18.2 Limits of specified-width integer types
|
||||
|
||||
#if !defined(__cplusplus) || defined(__STDC_LIMIT_MACROS) // [ See footnote 220 at page 257 and footnote 221 at page 259
|
||||
|
||||
// 7.18.2.1 Limits of exact-width integer types
|
||||
#define INT8_MIN ((int8_t)_I8_MIN)
|
||||
#define INT8_MAX _I8_MAX
|
||||
#define INT16_MIN ((int16_t)_I16_MIN)
|
||||
#define INT16_MAX _I16_MAX
|
||||
#define INT32_MIN ((int32_t)_I32_MIN)
|
||||
#define INT32_MAX _I32_MAX
|
||||
#define INT64_MIN ((int64_t)_I64_MIN)
|
||||
#define INT64_MAX _I64_MAX
|
||||
#define UINT8_MAX _UI8_MAX
|
||||
#define UINT16_MAX _UI16_MAX
|
||||
#define UINT32_MAX _UI32_MAX
|
||||
#define UINT64_MAX _UI64_MAX
|
||||
|
||||
// 7.18.2.2 Limits of minimum-width integer types
|
||||
#define INT_LEAST8_MIN INT8_MIN
|
||||
#define INT_LEAST8_MAX INT8_MAX
|
||||
#define INT_LEAST16_MIN INT16_MIN
|
||||
#define INT_LEAST16_MAX INT16_MAX
|
||||
#define INT_LEAST32_MIN INT32_MIN
|
||||
#define INT_LEAST32_MAX INT32_MAX
|
||||
#define INT_LEAST64_MIN INT64_MIN
|
||||
#define INT_LEAST64_MAX INT64_MAX
|
||||
#define UINT_LEAST8_MAX UINT8_MAX
|
||||
#define UINT_LEAST16_MAX UINT16_MAX
|
||||
#define UINT_LEAST32_MAX UINT32_MAX
|
||||
#define UINT_LEAST64_MAX UINT64_MAX
|
||||
|
||||
// 7.18.2.3 Limits of fastest minimum-width integer types
|
||||
#define INT_FAST8_MIN INT8_MIN
|
||||
#define INT_FAST8_MAX INT8_MAX
|
||||
#define INT_FAST16_MIN INT16_MIN
|
||||
#define INT_FAST16_MAX INT16_MAX
|
||||
#define INT_FAST32_MIN INT32_MIN
|
||||
#define INT_FAST32_MAX INT32_MAX
|
||||
#define INT_FAST64_MIN INT64_MIN
|
||||
#define INT_FAST64_MAX INT64_MAX
|
||||
#define UINT_FAST8_MAX UINT8_MAX
|
||||
#define UINT_FAST16_MAX UINT16_MAX
|
||||
#define UINT_FAST32_MAX UINT32_MAX
|
||||
#define UINT_FAST64_MAX UINT64_MAX
|
||||
|
||||
// 7.18.2.4 Limits of integer types capable of holding object pointers
|
||||
#ifdef _WIN64 // [
|
||||
# define INTPTR_MIN INT64_MIN
|
||||
# define INTPTR_MAX INT64_MAX
|
||||
# define UINTPTR_MAX UINT64_MAX
|
||||
#else // _WIN64 ][
|
||||
# define INTPTR_MIN INT32_MIN
|
||||
# define INTPTR_MAX INT32_MAX
|
||||
# define UINTPTR_MAX UINT32_MAX
|
||||
#endif // _WIN64 ]
|
||||
|
||||
// 7.18.2.5 Limits of greatest-width integer types
|
||||
#define INTMAX_MIN INT64_MIN
|
||||
#define INTMAX_MAX INT64_MAX
|
||||
#define UINTMAX_MAX UINT64_MAX
|
||||
|
||||
// 7.18.3 Limits of other integer types
|
||||
|
||||
#ifdef _WIN64 // [
|
||||
# define PTRDIFF_MIN _I64_MIN
|
||||
# define PTRDIFF_MAX _I64_MAX
|
||||
#else // _WIN64 ][
|
||||
# define PTRDIFF_MIN _I32_MIN
|
||||
# define PTRDIFF_MAX _I32_MAX
|
||||
#endif // _WIN64 ]
|
||||
|
||||
#define SIG_ATOMIC_MIN INT_MIN
|
||||
#define SIG_ATOMIC_MAX INT_MAX
|
||||
|
||||
#ifndef SIZE_MAX // [
|
||||
# ifdef _WIN64 // [
|
||||
# define SIZE_MAX _UI64_MAX
|
||||
# else // _WIN64 ][
|
||||
# define SIZE_MAX _UI32_MAX
|
||||
# endif // _WIN64 ]
|
||||
#endif // SIZE_MAX ]
|
||||
|
||||
// WCHAR_MIN and WCHAR_MAX are also defined in <wchar.h>
|
||||
#ifndef WCHAR_MIN // [
|
||||
# define WCHAR_MIN 0
|
||||
#endif // WCHAR_MIN ]
|
||||
#ifndef WCHAR_MAX // [
|
||||
# define WCHAR_MAX _UI16_MAX
|
||||
#endif // WCHAR_MAX ]
|
||||
|
||||
#define WINT_MIN 0
|
||||
#define WINT_MAX _UI16_MAX
|
||||
|
||||
#endif // __STDC_LIMIT_MACROS ]
|
||||
|
||||
|
||||
// 7.18.4 Limits of other integer types
|
||||
|
||||
#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260
|
||||
|
||||
// 7.18.4.1 Macros for minimum-width integer constants
|
||||
|
||||
#define INT8_C(val) val##i8
|
||||
#define INT16_C(val) val##i16
|
||||
#define INT32_C(val) val##i32
|
||||
#define INT64_C(val) val##i64
|
||||
|
||||
#define UINT8_C(val) val##ui8
|
||||
#define UINT16_C(val) val##ui16
|
||||
#define UINT32_C(val) val##ui32
|
||||
#define UINT64_C(val) val##ui64
|
||||
|
||||
// 7.18.4.2 Macros for greatest-width integer constants
|
||||
#define INTMAX_C INT64_C
|
||||
#define UINTMAX_C UINT64_C
|
||||
|
||||
#endif // __STDC_CONSTANT_MACROS ]
|
||||
|
||||
|
||||
#endif // _MSC_STDINT_H_ ]
|
||||
Binary file not shown.
|
|
@ -1,42 +0,0 @@
|
|||
set -e
|
||||
echo "Installing capnp"
|
||||
|
||||
cd /tmp
|
||||
VERSION=0.6.1
|
||||
wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
|
||||
tar xvf capnproto-c++-${VERSION}.tar.gz
|
||||
cd capnproto-c++-${VERSION}
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
|
||||
make -j4
|
||||
make install
|
||||
|
||||
# manually build binaries statically
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
|
||||
|
||||
cp .libs/capnp /usr/local/bin/
|
||||
rm /usr/local/bin/capnpc
|
||||
ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
|
||||
cp .libs/capnpc-c++ /usr/local/bin/
|
||||
cp .libs/capnpc-capnp /usr/local/bin/
|
||||
cp .libs/*.a /usr/local/lib
|
||||
|
||||
cd /tmp
|
||||
echo "Installing c-capnp"
|
||||
git clone https://github.com/commaai/c-capnproto.git
|
||||
cd c-capnproto
|
||||
git submodule update --init --recursive
|
||||
autoreconf -f -i -s
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
make -j4
|
||||
make install
|
||||
|
||||
# manually build binaries statically
|
||||
gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a
|
||||
|
||||
cp .libs/capnpc-c /usr/local/bin/
|
||||
cp .libs/*.a /usr/local/lib
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
Copyright 2011 The LibYuv Project Authors. All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are
|
||||
met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in
|
||||
the documentation and/or other materials provided with the
|
||||
distribution.
|
||||
|
||||
* Neither the name of Google nor the names of its contributors may
|
||||
be used to endorse or promote products derived from this software
|
||||
without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
Copyright 2011 The LibYuv Project Authors. All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are
|
||||
met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in
|
||||
the documentation and/or other materials provided with the
|
||||
distribution.
|
||||
|
||||
* Neither the name of Google nor the names of its contributors may
|
||||
be used to endorse or promote products derived from this software
|
||||
without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
git clone https://chromium.googlesource.com/libyuv/libyuv
|
||||
cd libyuv
|
||||
git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
|
||||
cmake .
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -1 +0,0 @@
|
|||
../include
|
||||
Binary file not shown.
|
|
@ -1,189 +1,189 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Bounds.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the Bounds class designed to manage working sets of
|
||||
* bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_BOUNDS_HPP
|
||||
#define QPOASES_BOUNDS_HPP
|
||||
|
||||
|
||||
#include <SubjectTo.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class manages working sets of bounds by storing
|
||||
* index sets and other status information.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class Bounds : public SubjectTo
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
Bounds( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
Bounds( const Bounds& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~Bounds( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
Bounds& operator=( const Bounds& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor takes the number of bounds.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int n /**< Number of bounds. */
|
||||
);
|
||||
|
||||
|
||||
/** Initially adds number of a new (i.e. not yet in the list) bound to
|
||||
* given index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_BOUND_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS \n
|
||||
RET_INVALID_ARGUMENTS */
|
||||
returnValue setupBound( int _number, /**< Number of new bound. */
|
||||
SubjectToStatus _status /**< Status of new bound. */
|
||||
);
|
||||
|
||||
/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
|
||||
* to the index set of free bounds; the order depends on the SujectToType
|
||||
* of each index.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_BOUND_FAILED */
|
||||
returnValue setupAllFree( );
|
||||
|
||||
|
||||
/** Moves index of a bound from index list of fixed to that of free bounds.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_BOUND_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
returnValue moveFixedToFree( int _number /**< Number of bound to be freed. */
|
||||
);
|
||||
|
||||
/** Moves index of a bound from index list of free to that of fixed bounds.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_BOUND_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
returnValue moveFreeToFixed( int _number, /**< Number of bound to be fixed. */
|
||||
SubjectToStatus _status /**< Status of bound to be fixed. */
|
||||
);
|
||||
|
||||
/** Swaps the indices of two free bounds within the index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SWAPINDEX_FAILED */
|
||||
returnValue swapFree( int number1, /**< Number of first constraint or bound. */
|
||||
int number2 /**< Number of second constraint or bound. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns number of variables.
|
||||
* \return Number of variables. */
|
||||
inline int getNV( ) const;
|
||||
|
||||
/** Returns number of implicitly fixed variables.
|
||||
* \return Number of implicitly fixed variables. */
|
||||
inline int getNFV( ) const;
|
||||
|
||||
/** Returns number of bounded (but possibly free) variables.
|
||||
* \return Number of bounded (but possibly free) variables. */
|
||||
inline int getNBV( ) const;
|
||||
|
||||
/** Returns number of unbounded variables.
|
||||
* \return Number of unbounded variables. */
|
||||
inline int getNUV( ) const;
|
||||
|
||||
|
||||
/** Sets number of implicitly fixed variables.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNFV( int n /**< Number of implicitly fixed variables. */
|
||||
);
|
||||
|
||||
/** Sets number of bounded (but possibly free) variables.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNBV( int n /**< Number of bounded (but possibly free) variables. */
|
||||
);
|
||||
|
||||
/** Sets number of unbounded variables.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNUV( int n /**< Number of unbounded variables */
|
||||
);
|
||||
|
||||
|
||||
/** Returns number of free variables.
|
||||
* \return Number of free variables. */
|
||||
inline int getNFR( );
|
||||
|
||||
/** Returns number of fixed variables.
|
||||
* \return Number of fixed variables. */
|
||||
inline int getNFX( );
|
||||
|
||||
|
||||
/** Returns a pointer to free variables index list.
|
||||
* \return Pointer to free variables index list. */
|
||||
inline Indexlist* getFree( );
|
||||
|
||||
/** Returns a pointer to fixed variables index list.
|
||||
* \return Pointer to fixed variables index list. */
|
||||
inline Indexlist* getFixed( );
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int nV; /**< Number of variables (nV = nFV + nBV + nUV). */
|
||||
int nFV; /**< Number of implicitly fixed variables. */
|
||||
int nBV; /**< Number of bounded (but possibly free) variables. */
|
||||
int nUV; /**< Number of unbounded variables. */
|
||||
|
||||
Indexlist free; /**< Index list of free variables. */
|
||||
Indexlist fixed; /**< Index list of fixed variables. */
|
||||
};
|
||||
|
||||
#include <Bounds.ipp>
|
||||
|
||||
#endif /* QPOASES_BOUNDS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Bounds.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the Bounds class designed to manage working sets of
|
||||
* bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_BOUNDS_HPP
|
||||
#define QPOASES_BOUNDS_HPP
|
||||
|
||||
|
||||
#include <SubjectTo.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class manages working sets of bounds by storing
|
||||
* index sets and other status information.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class Bounds : public SubjectTo
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
Bounds( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
Bounds( const Bounds& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~Bounds( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
Bounds& operator=( const Bounds& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor takes the number of bounds.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int n /**< Number of bounds. */
|
||||
);
|
||||
|
||||
|
||||
/** Initially adds number of a new (i.e. not yet in the list) bound to
|
||||
* given index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_BOUND_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS \n
|
||||
RET_INVALID_ARGUMENTS */
|
||||
returnValue setupBound( int _number, /**< Number of new bound. */
|
||||
SubjectToStatus _status /**< Status of new bound. */
|
||||
);
|
||||
|
||||
/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
|
||||
* to the index set of free bounds; the order depends on the SujectToType
|
||||
* of each index.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_BOUND_FAILED */
|
||||
returnValue setupAllFree( );
|
||||
|
||||
|
||||
/** Moves index of a bound from index list of fixed to that of free bounds.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_BOUND_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
returnValue moveFixedToFree( int _number /**< Number of bound to be freed. */
|
||||
);
|
||||
|
||||
/** Moves index of a bound from index list of free to that of fixed bounds.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_BOUND_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
returnValue moveFreeToFixed( int _number, /**< Number of bound to be fixed. */
|
||||
SubjectToStatus _status /**< Status of bound to be fixed. */
|
||||
);
|
||||
|
||||
/** Swaps the indices of two free bounds within the index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SWAPINDEX_FAILED */
|
||||
returnValue swapFree( int number1, /**< Number of first constraint or bound. */
|
||||
int number2 /**< Number of second constraint or bound. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns number of variables.
|
||||
* \return Number of variables. */
|
||||
inline int getNV( ) const;
|
||||
|
||||
/** Returns number of implicitly fixed variables.
|
||||
* \return Number of implicitly fixed variables. */
|
||||
inline int getNFV( ) const;
|
||||
|
||||
/** Returns number of bounded (but possibly free) variables.
|
||||
* \return Number of bounded (but possibly free) variables. */
|
||||
inline int getNBV( ) const;
|
||||
|
||||
/** Returns number of unbounded variables.
|
||||
* \return Number of unbounded variables. */
|
||||
inline int getNUV( ) const;
|
||||
|
||||
|
||||
/** Sets number of implicitly fixed variables.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNFV( int n /**< Number of implicitly fixed variables. */
|
||||
);
|
||||
|
||||
/** Sets number of bounded (but possibly free) variables.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNBV( int n /**< Number of bounded (but possibly free) variables. */
|
||||
);
|
||||
|
||||
/** Sets number of unbounded variables.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNUV( int n /**< Number of unbounded variables */
|
||||
);
|
||||
|
||||
|
||||
/** Returns number of free variables.
|
||||
* \return Number of free variables. */
|
||||
inline int getNFR( );
|
||||
|
||||
/** Returns number of fixed variables.
|
||||
* \return Number of fixed variables. */
|
||||
inline int getNFX( );
|
||||
|
||||
|
||||
/** Returns a pointer to free variables index list.
|
||||
* \return Pointer to free variables index list. */
|
||||
inline Indexlist* getFree( );
|
||||
|
||||
/** Returns a pointer to fixed variables index list.
|
||||
* \return Pointer to fixed variables index list. */
|
||||
inline Indexlist* getFixed( );
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int nV; /**< Number of variables (nV = nFV + nBV + nUV). */
|
||||
int nFV; /**< Number of implicitly fixed variables. */
|
||||
int nBV; /**< Number of bounded (but possibly free) variables. */
|
||||
int nUV; /**< Number of unbounded variables. */
|
||||
|
||||
Indexlist free; /**< Index list of free variables. */
|
||||
Indexlist fixed; /**< Index list of fixed variables. */
|
||||
};
|
||||
|
||||
#include <Bounds.ipp>
|
||||
|
||||
#endif /* QPOASES_BOUNDS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,108 +1,108 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Constants.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2008
|
||||
*
|
||||
* Definition of all global constants.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_CONSTANTS_HPP
|
||||
#define QPOASES_CONSTANTS_HPP
|
||||
|
||||
#ifndef QPOASES_CUSTOM_INTERFACE
|
||||
#include "acado_qpoases_interface.hpp"
|
||||
#else
|
||||
#define XSTR(x) #x
|
||||
#define STR(x) XSTR(x)
|
||||
#include STR(QPOASES_CUSTOM_INTERFACE)
|
||||
#endif
|
||||
|
||||
/** Maximum number of variables within a QP formulation.
|
||||
Note: this value has to be positive! */
|
||||
const int NVMAX = QPOASES_NVMAX;
|
||||
|
||||
/** Maximum number of constraints within a QP formulation.
|
||||
Note: this value has to be positive! */
|
||||
const int NCMAX = QPOASES_NCMAX;
|
||||
|
||||
/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
|
||||
and compiler errors. */
|
||||
const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
|
||||
|
||||
/**< Maximum number of working set recalculations.
|
||||
Note: this value has to be positive! */
|
||||
const int NWSRMAX = QPOASES_NWSRMAX;
|
||||
|
||||
/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
|
||||
* issued if this tolerance is not met.
|
||||
* Note: this value has to be positive! */
|
||||
const real_t DESIREDACCURACY = (real_t) 1.0e-3;
|
||||
|
||||
/** Critical KKT tolerance of QP solution; an error is issued if this
|
||||
* tolerance is not met.
|
||||
* Note: this value has to be positive! */
|
||||
const real_t CRITICALACCURACY = (real_t) 1.0e-2;
|
||||
|
||||
|
||||
|
||||
/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
|
||||
Note: this value has to be positive! */
|
||||
const real_t EPS = (real_t) QPOASES_EPS;
|
||||
|
||||
/** Numerical value of zero (for situations in which it would be
|
||||
* unreasonable to compare with 0.0).
|
||||
* Note: this value has to be positive! */
|
||||
const real_t ZERO = (real_t) 1.0e-50;
|
||||
|
||||
/** Numerical value of infinity (e.g. for non-existing bounds).
|
||||
* Note: this value has to be positive! */
|
||||
const real_t INFTY = (real_t) 1.0e12;
|
||||
|
||||
|
||||
/** Lower/upper (constraints') bound tolerance (an inequality constraint
|
||||
* whose lower and upper bound differ by less than BOUNDTOL is regarded
|
||||
* to be an equality constraint).
|
||||
* Note: this value has to be positive! */
|
||||
const real_t BOUNDTOL = (real_t) 1.0e-10;
|
||||
|
||||
/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
|
||||
* Note: this value has to be positive! */
|
||||
const real_t BOUNDRELAXATION = (real_t) 1.0e3;
|
||||
|
||||
|
||||
/** Factor that determines physical lengths of index lists.
|
||||
* Note: this value has to be greater than 1! */
|
||||
const int INDEXLISTFACTOR = 5;
|
||||
|
||||
|
||||
#endif /* QPOASES_CONSTANTS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Constants.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2008
|
||||
*
|
||||
* Definition of all global constants.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_CONSTANTS_HPP
|
||||
#define QPOASES_CONSTANTS_HPP
|
||||
|
||||
#ifndef QPOASES_CUSTOM_INTERFACE
|
||||
#include "acado_qpoases_interface.hpp"
|
||||
#else
|
||||
#define XSTR(x) #x
|
||||
#define STR(x) XSTR(x)
|
||||
#include STR(QPOASES_CUSTOM_INTERFACE)
|
||||
#endif
|
||||
|
||||
/** Maximum number of variables within a QP formulation.
|
||||
Note: this value has to be positive! */
|
||||
const int NVMAX = QPOASES_NVMAX;
|
||||
|
||||
/** Maximum number of constraints within a QP formulation.
|
||||
Note: this value has to be positive! */
|
||||
const int NCMAX = QPOASES_NCMAX;
|
||||
|
||||
/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
|
||||
and compiler errors. */
|
||||
const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
|
||||
|
||||
/**< Maximum number of working set recalculations.
|
||||
Note: this value has to be positive! */
|
||||
const int NWSRMAX = QPOASES_NWSRMAX;
|
||||
|
||||
/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
|
||||
* issued if this tolerance is not met.
|
||||
* Note: this value has to be positive! */
|
||||
const real_t DESIREDACCURACY = (real_t) 1.0e-3;
|
||||
|
||||
/** Critical KKT tolerance of QP solution; an error is issued if this
|
||||
* tolerance is not met.
|
||||
* Note: this value has to be positive! */
|
||||
const real_t CRITICALACCURACY = (real_t) 1.0e-2;
|
||||
|
||||
|
||||
|
||||
/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
|
||||
Note: this value has to be positive! */
|
||||
const real_t EPS = (real_t) QPOASES_EPS;
|
||||
|
||||
/** Numerical value of zero (for situations in which it would be
|
||||
* unreasonable to compare with 0.0).
|
||||
* Note: this value has to be positive! */
|
||||
const real_t ZERO = (real_t) 1.0e-50;
|
||||
|
||||
/** Numerical value of infinity (e.g. for non-existing bounds).
|
||||
* Note: this value has to be positive! */
|
||||
const real_t INFTY = (real_t) 1.0e12;
|
||||
|
||||
|
||||
/** Lower/upper (constraints') bound tolerance (an inequality constraint
|
||||
* whose lower and upper bound differ by less than BOUNDTOL is regarded
|
||||
* to be an equality constraint).
|
||||
* Note: this value has to be positive! */
|
||||
const real_t BOUNDTOL = (real_t) 1.0e-10;
|
||||
|
||||
/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
|
||||
* Note: this value has to be positive! */
|
||||
const real_t BOUNDRELAXATION = (real_t) 1.0e3;
|
||||
|
||||
|
||||
/** Factor that determines physical lengths of index lists.
|
||||
* Note: this value has to be greater than 1! */
|
||||
const int INDEXLISTFACTOR = 5;
|
||||
|
||||
|
||||
#endif /* QPOASES_CONSTANTS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,181 +1,181 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Constraints.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the Constraints class designed to manage working sets of
|
||||
* constraints within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_CONSTRAINTS_HPP
|
||||
#define QPOASES_CONSTRAINTS_HPP
|
||||
|
||||
|
||||
#include <SubjectTo.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class manages working sets of constraints by storing
|
||||
* index sets and other status information.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class Constraints : public SubjectTo
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
Constraints( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
Constraints( const Constraints& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~Constraints( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
Constraints& operator=( const Constraints& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor takes the number of constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int n /**< Number of constraints. */
|
||||
);
|
||||
|
||||
|
||||
/** Initially adds number of a new (i.e. not yet in the list) constraint to
|
||||
* a given index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_CONSTRAINT_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS \n
|
||||
RET_INVALID_ARGUMENTS */
|
||||
returnValue setupConstraint( int _number, /**< Number of new constraint. */
|
||||
SubjectToStatus _status /**< Status of new constraint. */
|
||||
);
|
||||
|
||||
/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
|
||||
* to the index set of inactive constraints; the order depends on the SujectToType
|
||||
* of each index. Only disabled constraints are added to index set of disabled constraints!
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_CONSTRAINT_FAILED */
|
||||
returnValue setupAllInactive( );
|
||||
|
||||
|
||||
/** Moves index of a constraint from index list of active to that of inactive constraints.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_CONSTRAINT_FAILED */
|
||||
returnValue moveActiveToInactive( int _number /**< Number of constraint to become inactive. */
|
||||
);
|
||||
|
||||
/** Moves index of a constraint from index list of inactive to that of active constraints.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_CONSTRAINT_FAILED */
|
||||
returnValue moveInactiveToActive( int _number, /**< Number of constraint to become active. */
|
||||
SubjectToStatus _status /**< Status of constraint to become active. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns the number of constraints.
|
||||
* \return Number of constraints. */
|
||||
inline int getNC( ) const;
|
||||
|
||||
/** Returns the number of implicit equality constraints.
|
||||
* \return Number of implicit equality constraints. */
|
||||
inline int getNEC( ) const;
|
||||
|
||||
/** Returns the number of "real" inequality constraints.
|
||||
* \return Number of "real" inequality constraints. */
|
||||
inline int getNIC( ) const;
|
||||
|
||||
/** Returns the number of unbounded constraints (i.e. without any bounds).
|
||||
* \return Number of unbounded constraints (i.e. without any bounds). */
|
||||
inline int getNUC( ) const;
|
||||
|
||||
|
||||
/** Sets number of implicit equality constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNEC( int n /**< Number of implicit equality constraints. */
|
||||
);
|
||||
|
||||
/** Sets number of "real" inequality constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNIC( int n /**< Number of "real" inequality constraints. */
|
||||
);
|
||||
|
||||
/** Sets number of unbounded constraints (i.e. without any bounds).
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNUC( int n /**< Number of unbounded constraints (i.e. without any bounds). */
|
||||
);
|
||||
|
||||
|
||||
/** Returns the number of active constraints.
|
||||
* \return Number of constraints. */
|
||||
inline int getNAC( );
|
||||
|
||||
/** Returns the number of inactive constraints.
|
||||
* \return Number of constraints. */
|
||||
inline int getNIAC( );
|
||||
|
||||
|
||||
/** Returns a pointer to active constraints index list.
|
||||
* \return Pointer to active constraints index list. */
|
||||
inline Indexlist* getActive( );
|
||||
|
||||
/** Returns a pointer to inactive constraints index list.
|
||||
* \return Pointer to inactive constraints index list. */
|
||||
inline Indexlist* getInactive( );
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int nC; /**< Number of constraints (nC = nEC + nIC + nUC). */
|
||||
int nEC; /**< Number of implicit equality constraints. */
|
||||
int nIC; /**< Number of "real" inequality constraints. */
|
||||
int nUC; /**< Number of unbounded constraints (i.e. without any bounds). */
|
||||
|
||||
Indexlist active; /**< Index list of active constraints. */
|
||||
Indexlist inactive; /**< Index list of inactive constraints. */
|
||||
};
|
||||
|
||||
|
||||
#include <Constraints.ipp>
|
||||
|
||||
#endif /* QPOASES_CONSTRAINTS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Constraints.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the Constraints class designed to manage working sets of
|
||||
* constraints within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_CONSTRAINTS_HPP
|
||||
#define QPOASES_CONSTRAINTS_HPP
|
||||
|
||||
|
||||
#include <SubjectTo.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class manages working sets of constraints by storing
|
||||
* index sets and other status information.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class Constraints : public SubjectTo
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
Constraints( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
Constraints( const Constraints& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~Constraints( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
Constraints& operator=( const Constraints& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor takes the number of constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int n /**< Number of constraints. */
|
||||
);
|
||||
|
||||
|
||||
/** Initially adds number of a new (i.e. not yet in the list) constraint to
|
||||
* a given index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_CONSTRAINT_FAILED \n
|
||||
RET_INDEX_OUT_OF_BOUNDS \n
|
||||
RET_INVALID_ARGUMENTS */
|
||||
returnValue setupConstraint( int _number, /**< Number of new constraint. */
|
||||
SubjectToStatus _status /**< Status of new constraint. */
|
||||
);
|
||||
|
||||
/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
|
||||
* to the index set of inactive constraints; the order depends on the SujectToType
|
||||
* of each index. Only disabled constraints are added to index set of disabled constraints!
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SETUP_CONSTRAINT_FAILED */
|
||||
returnValue setupAllInactive( );
|
||||
|
||||
|
||||
/** Moves index of a constraint from index list of active to that of inactive constraints.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_CONSTRAINT_FAILED */
|
||||
returnValue moveActiveToInactive( int _number /**< Number of constraint to become inactive. */
|
||||
);
|
||||
|
||||
/** Moves index of a constraint from index list of inactive to that of active constraints.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_MOVING_CONSTRAINT_FAILED */
|
||||
returnValue moveInactiveToActive( int _number, /**< Number of constraint to become active. */
|
||||
SubjectToStatus _status /**< Status of constraint to become active. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns the number of constraints.
|
||||
* \return Number of constraints. */
|
||||
inline int getNC( ) const;
|
||||
|
||||
/** Returns the number of implicit equality constraints.
|
||||
* \return Number of implicit equality constraints. */
|
||||
inline int getNEC( ) const;
|
||||
|
||||
/** Returns the number of "real" inequality constraints.
|
||||
* \return Number of "real" inequality constraints. */
|
||||
inline int getNIC( ) const;
|
||||
|
||||
/** Returns the number of unbounded constraints (i.e. without any bounds).
|
||||
* \return Number of unbounded constraints (i.e. without any bounds). */
|
||||
inline int getNUC( ) const;
|
||||
|
||||
|
||||
/** Sets number of implicit equality constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNEC( int n /**< Number of implicit equality constraints. */
|
||||
);
|
||||
|
||||
/** Sets number of "real" inequality constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNIC( int n /**< Number of "real" inequality constraints. */
|
||||
);
|
||||
|
||||
/** Sets number of unbounded constraints (i.e. without any bounds).
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
inline returnValue setNUC( int n /**< Number of unbounded constraints (i.e. without any bounds). */
|
||||
);
|
||||
|
||||
|
||||
/** Returns the number of active constraints.
|
||||
* \return Number of constraints. */
|
||||
inline int getNAC( );
|
||||
|
||||
/** Returns the number of inactive constraints.
|
||||
* \return Number of constraints. */
|
||||
inline int getNIAC( );
|
||||
|
||||
|
||||
/** Returns a pointer to active constraints index list.
|
||||
* \return Pointer to active constraints index list. */
|
||||
inline Indexlist* getActive( );
|
||||
|
||||
/** Returns a pointer to inactive constraints index list.
|
||||
* \return Pointer to inactive constraints index list. */
|
||||
inline Indexlist* getInactive( );
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int nC; /**< Number of constraints (nC = nEC + nIC + nUC). */
|
||||
int nEC; /**< Number of implicit equality constraints. */
|
||||
int nIC; /**< Number of "real" inequality constraints. */
|
||||
int nUC; /**< Number of unbounded constraints (i.e. without any bounds). */
|
||||
|
||||
Indexlist active; /**< Index list of active constraints. */
|
||||
Indexlist inactive; /**< Index list of inactive constraints. */
|
||||
};
|
||||
|
||||
|
||||
#include <Constraints.ipp>
|
||||
|
||||
#endif /* QPOASES_CONSTRAINTS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,126 +1,126 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/CyclingManager.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the CyclingManager class designed to detect
|
||||
* and handle possible cycling during QP iterations.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_CYCLINGMANAGER_HPP
|
||||
#define QPOASES_CYCLINGMANAGER_HPP
|
||||
|
||||
|
||||
#include <Utils.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class is intended to detect and handle possible cycling during QP iterations.
|
||||
* As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET!
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class CyclingManager
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
CyclingManager( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
CyclingManager( const CyclingManager& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~CyclingManager( );
|
||||
|
||||
/** Copy asingment operator (deep copy). */
|
||||
CyclingManager& operator=( const CyclingManager& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor which takes the number of bounds/constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int _nV, /**< Number of bounds to be managed. */
|
||||
int _nC /**< Number of constraints to be managed. */
|
||||
);
|
||||
|
||||
|
||||
/** Stores index of a bound/constraint that might cause cycling.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
returnValue setCyclingStatus( int number, /**< Number of bound/constraint. */
|
||||
BooleanType isBound, /**< Flag that indicates if given number corresponds to a
|
||||
* bound (BT_TRUE) or a constraint (BT_FALSE). */
|
||||
CyclingStatus _status /**< Cycling status of bound/constraint. */
|
||||
);
|
||||
|
||||
/** Returns if bound/constraint might cause cycling.
|
||||
* \return BT_TRUE: bound/constraint might cause cycling \n
|
||||
BT_FALSE: otherwise */
|
||||
CyclingStatus getCyclingStatus( int number, /**< Number of bound/constraint. */
|
||||
BooleanType isBound /**< Flag that indicates if given number corresponds to
|
||||
* a bound (BT_TRUE) or a constraint (BT_FALSE). */
|
||||
) const;
|
||||
|
||||
|
||||
/** Clears all previous cycling information.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue clearCyclingData( );
|
||||
|
||||
|
||||
/** Returns if cycling was detected.
|
||||
* \return BT_TRUE iff cycling was detected. */
|
||||
inline BooleanType isCyclingDetected( ) const;
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int nV; /**< Number of managed bounds. */
|
||||
int nC; /**< Number of managed constraints. */
|
||||
|
||||
CyclingStatus status[NVMAX+NCMAX]; /**< Array to store cycling status of all bounds/constraints. */
|
||||
|
||||
BooleanType cyclingDetected; /**< Flag if cycling was detected. */
|
||||
};
|
||||
|
||||
|
||||
#include <CyclingManager.ipp>
|
||||
|
||||
#endif /* QPOASES_CYCLINGMANAGER_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/CyclingManager.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the CyclingManager class designed to detect
|
||||
* and handle possible cycling during QP iterations.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_CYCLINGMANAGER_HPP
|
||||
#define QPOASES_CYCLINGMANAGER_HPP
|
||||
|
||||
|
||||
#include <Utils.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class is intended to detect and handle possible cycling during QP iterations.
|
||||
* As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET!
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class CyclingManager
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
CyclingManager( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
CyclingManager( const CyclingManager& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~CyclingManager( );
|
||||
|
||||
/** Copy asingment operator (deep copy). */
|
||||
CyclingManager& operator=( const CyclingManager& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor which takes the number of bounds/constraints.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int _nV, /**< Number of bounds to be managed. */
|
||||
int _nC /**< Number of constraints to be managed. */
|
||||
);
|
||||
|
||||
|
||||
/** Stores index of a bound/constraint that might cause cycling.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
returnValue setCyclingStatus( int number, /**< Number of bound/constraint. */
|
||||
BooleanType isBound, /**< Flag that indicates if given number corresponds to a
|
||||
* bound (BT_TRUE) or a constraint (BT_FALSE). */
|
||||
CyclingStatus _status /**< Cycling status of bound/constraint. */
|
||||
);
|
||||
|
||||
/** Returns if bound/constraint might cause cycling.
|
||||
* \return BT_TRUE: bound/constraint might cause cycling \n
|
||||
BT_FALSE: otherwise */
|
||||
CyclingStatus getCyclingStatus( int number, /**< Number of bound/constraint. */
|
||||
BooleanType isBound /**< Flag that indicates if given number corresponds to
|
||||
* a bound (BT_TRUE) or a constraint (BT_FALSE). */
|
||||
) const;
|
||||
|
||||
|
||||
/** Clears all previous cycling information.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue clearCyclingData( );
|
||||
|
||||
|
||||
/** Returns if cycling was detected.
|
||||
* \return BT_TRUE iff cycling was detected. */
|
||||
inline BooleanType isCyclingDetected( ) const;
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int nV; /**< Number of managed bounds. */
|
||||
int nC; /**< Number of managed constraints. */
|
||||
|
||||
CyclingStatus status[NVMAX+NCMAX]; /**< Array to store cycling status of all bounds/constraints. */
|
||||
|
||||
BooleanType cyclingDetected; /**< Flag if cycling was detected. */
|
||||
};
|
||||
|
||||
|
||||
#include <CyclingManager.ipp>
|
||||
|
||||
#endif /* QPOASES_CYCLINGMANAGER_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,154 +1,154 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Indexlist.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the Indexlist class designed to manage index lists of
|
||||
* constraints and bounds within a SubjectTo object.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_INDEXLIST_HPP
|
||||
#define QPOASES_INDEXLIST_HPP
|
||||
|
||||
|
||||
#include <Utils.hpp>
|
||||
|
||||
|
||||
/** This class manages index lists.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class Indexlist
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
Indexlist( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
Indexlist( const Indexlist& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~Indexlist( );
|
||||
|
||||
/** Assingment operator (deep copy). */
|
||||
Indexlist& operator=( const Indexlist& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Pseudo-constructor.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( );
|
||||
|
||||
|
||||
/** Creates an array of all numbers within the index set in correct order.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEXLIST_CORRUPTED */
|
||||
returnValue getNumberArray( int* const numberarray /**< Output: Array of numbers (NULL on error). */
|
||||
) const;
|
||||
|
||||
|
||||
/** Determines the index within the index list at with a given number is stored.
|
||||
* \return >= 0: Index of given number. \n
|
||||
-1: Number not found. */
|
||||
int getIndex( int givennumber /**< Number whose index shall be determined. */
|
||||
) const;
|
||||
|
||||
/** Determines the physical index within the index list at with a given number is stored.
|
||||
* \return >= 0: Index of given number. \n
|
||||
-1: Number not found. */
|
||||
int getPhysicalIndex( int givennumber /**< Number whose physical index shall be determined. */
|
||||
) const;
|
||||
|
||||
/** Returns the number stored at a given physical index.
|
||||
* \return >= 0: Number stored at given physical index. \n
|
||||
-RET_INDEXLIST_OUTOFBOUNDS */
|
||||
int getNumber( int physicalindex /**< Physical index of the number to be returned. */
|
||||
) const;
|
||||
|
||||
|
||||
/** Returns the current length of the index list.
|
||||
* \return Current length of the index list. */
|
||||
inline int getLength( );
|
||||
|
||||
/** Returns last number within the index list.
|
||||
* \return Last number within the index list. */
|
||||
inline int getLastNumber( ) const;
|
||||
|
||||
|
||||
/** Adds number to index list.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEXLIST_MUST_BE_REORDERD \n
|
||||
RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
|
||||
returnValue addNumber( int addnumber /**< Number to be added. */
|
||||
);
|
||||
|
||||
/** Removes number from index list.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue removeNumber( int removenumber /**< Number to be removed. */
|
||||
);
|
||||
|
||||
/** Swaps two numbers within index list.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue swapNumbers( int number1,/**< First number for swapping. */
|
||||
int number2 /**< Second number for swapping. */
|
||||
);
|
||||
|
||||
/** Determines if a given number is contained in the index set.
|
||||
* \return BT_TRUE iff number is contain in the index set */
|
||||
inline BooleanType isMember( int _number /**< Number to be tested for membership. */
|
||||
) const;
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int number[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store numbers of constraints or bounds. */
|
||||
int next[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of successor. */
|
||||
int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of predecossor. */
|
||||
int length; /**< Length of index list. */
|
||||
int first; /**< Physical index of first element. */
|
||||
int last; /**< Physical index of last element. */
|
||||
int lastusedindex; /**< Physical index of last entry in index list. */
|
||||
int physicallength; /**< Physical length of index list. */
|
||||
};
|
||||
|
||||
|
||||
#include <Indexlist.ipp>
|
||||
|
||||
#endif /* QPOASES_INDEXLIST_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Indexlist.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the Indexlist class designed to manage index lists of
|
||||
* constraints and bounds within a SubjectTo object.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_INDEXLIST_HPP
|
||||
#define QPOASES_INDEXLIST_HPP
|
||||
|
||||
|
||||
#include <Utils.hpp>
|
||||
|
||||
|
||||
/** This class manages index lists.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class Indexlist
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
Indexlist( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
Indexlist( const Indexlist& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~Indexlist( );
|
||||
|
||||
/** Assingment operator (deep copy). */
|
||||
Indexlist& operator=( const Indexlist& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Pseudo-constructor.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( );
|
||||
|
||||
|
||||
/** Creates an array of all numbers within the index set in correct order.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEXLIST_CORRUPTED */
|
||||
returnValue getNumberArray( int* const numberarray /**< Output: Array of numbers (NULL on error). */
|
||||
) const;
|
||||
|
||||
|
||||
/** Determines the index within the index list at with a given number is stored.
|
||||
* \return >= 0: Index of given number. \n
|
||||
-1: Number not found. */
|
||||
int getIndex( int givennumber /**< Number whose index shall be determined. */
|
||||
) const;
|
||||
|
||||
/** Determines the physical index within the index list at with a given number is stored.
|
||||
* \return >= 0: Index of given number. \n
|
||||
-1: Number not found. */
|
||||
int getPhysicalIndex( int givennumber /**< Number whose physical index shall be determined. */
|
||||
) const;
|
||||
|
||||
/** Returns the number stored at a given physical index.
|
||||
* \return >= 0: Number stored at given physical index. \n
|
||||
-RET_INDEXLIST_OUTOFBOUNDS */
|
||||
int getNumber( int physicalindex /**< Physical index of the number to be returned. */
|
||||
) const;
|
||||
|
||||
|
||||
/** Returns the current length of the index list.
|
||||
* \return Current length of the index list. */
|
||||
inline int getLength( );
|
||||
|
||||
/** Returns last number within the index list.
|
||||
* \return Last number within the index list. */
|
||||
inline int getLastNumber( ) const;
|
||||
|
||||
|
||||
/** Adds number to index list.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEXLIST_MUST_BE_REORDERD \n
|
||||
RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
|
||||
returnValue addNumber( int addnumber /**< Number to be added. */
|
||||
);
|
||||
|
||||
/** Removes number from index list.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue removeNumber( int removenumber /**< Number to be removed. */
|
||||
);
|
||||
|
||||
/** Swaps two numbers within index list.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue swapNumbers( int number1,/**< First number for swapping. */
|
||||
int number2 /**< Second number for swapping. */
|
||||
);
|
||||
|
||||
/** Determines if a given number is contained in the index set.
|
||||
* \return BT_TRUE iff number is contain in the index set */
|
||||
inline BooleanType isMember( int _number /**< Number to be tested for membership. */
|
||||
) const;
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
int number[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store numbers of constraints or bounds. */
|
||||
int next[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of successor. */
|
||||
int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of predecossor. */
|
||||
int length; /**< Length of index list. */
|
||||
int first; /**< Physical index of first element. */
|
||||
int last; /**< Physical index of last element. */
|
||||
int lastusedindex; /**< Physical index of last entry in index list. */
|
||||
int physicallength; /**< Physical length of index list. */
|
||||
};
|
||||
|
||||
|
||||
#include <Indexlist.ipp>
|
||||
|
||||
#endif /* QPOASES_INDEXLIST_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,415 +1,415 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/MessageHandling.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the MessageHandling class including global return values.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_MESSAGEHANDLING_HPP
|
||||
#define QPOASES_MESSAGEHANDLING_HPP
|
||||
|
||||
// #define PC_DEBUG
|
||||
|
||||
#ifdef PC_DEBUG
|
||||
#include <stdio.h>
|
||||
|
||||
/** Defines an alias for FILE from stdio.h. */
|
||||
#define myFILE FILE
|
||||
/** Defines an alias for stderr from stdio.h. */
|
||||
#define myStderr stderr
|
||||
/** Defines an alias for stdout from stdio.h. */
|
||||
#define myStdout stdout
|
||||
#else
|
||||
/** Defines an alias for FILE from stdio.h. */
|
||||
#define myFILE int
|
||||
/** Defines an alias for stderr from stdio.h. */
|
||||
#define myStderr 0
|
||||
/** Defines an alias for stdout from stdio.h. */
|
||||
#define myStdout 0
|
||||
#endif
|
||||
|
||||
|
||||
#include <Types.hpp>
|
||||
#include <Constants.hpp>
|
||||
|
||||
|
||||
/** Defines symbols for global return values. \n
|
||||
* Important: All return values are assumed to be nonnegative! */
|
||||
enum returnValue
|
||||
{
|
||||
TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */
|
||||
/* miscellaneous */
|
||||
SUCCESSFUL_RETURN = 0, /**< 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 occured is not yet known. */
|
||||
RET_PRINTLEVEL_CHANGED, /**< 10 Print level changed. */
|
||||
RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */
|
||||
/* Indexlist */
|
||||
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. */
|
||||
/* SubjectTo / Bounds / Constraints */
|
||||
RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. */
|
||||
RET_ADDINDEX_FAILED, /**< Cannot swap between different indexsets. */
|
||||
RET_SWAPINDEX_FAILED, /**< 20 Adding index to index set failed. */
|
||||
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. */
|
||||
/* QProblem */
|
||||
RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. */
|
||||
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, /**< 30 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_SUCCESSFUL, /**< Initialisation done. */
|
||||
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_EXTERN_SOLVER, /**< No extern QP solver available. */
|
||||
RET_QP_UNBOUNDED, /**< 40 QP is unbounded. */
|
||||
RET_QP_INFEASIBLE, /**< QP is infeasible. */
|
||||
RET_QP_NOT_SOLVED, /**< Problems occured while solving QP with standard solver. */
|
||||
RET_QP_SOLVED, /**< QP successfully solved. */
|
||||
RET_UNABLE_TO_SOLVE_QP, /**< Problems occured while solving QP. */
|
||||
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, /**< 50 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. */
|
||||
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, /**< 60 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. */
|
||||
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, /**< 70 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. */
|
||||
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, /**< 80 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 contraint matrix successfully resolved. */
|
||||
RET_ENSURELI_FAILED, /**< Failed to ensure linear indepence of active contraint matrix. */
|
||||
RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */
|
||||
RET_ENSURELI_FAILED_NOINDEX, /**< No index found, QP probably infeasible. */
|
||||
RET_ENSURELI_FAILED_CYCLING, /**< Cycling detected, QP probably infeasible. */
|
||||
RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */
|
||||
RET_ALL_BOUNDS_ACTIVE, /**< 90 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_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. */
|
||||
/* Utils */
|
||||
RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */
|
||||
RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */
|
||||
RET_UNABLE_TO_READ_FILE, /**< 100 Unable to read from file. */
|
||||
RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. */
|
||||
/* SolutionAnalysis */
|
||||
RET_NO_SOLUTION, /**< QP solution does not satisfy KKT optimality conditions. */
|
||||
RET_INACCURATE_SOLUTION /**< KKT optimality conditions not satisfied to sufficient accuracy. */
|
||||
};
|
||||
|
||||
|
||||
|
||||
/** This class handles all kinds of messages (errors, warnings, infos) initiated
|
||||
* by qpOASES modules and stores the correspoding global preferences.
|
||||
*
|
||||
* \author Hans Joachim Ferreau (special thanks to Leonard Wirsching)
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class MessageHandling
|
||||
{
|
||||
/*
|
||||
* INTERNAL DATA STRUCTURES
|
||||
*/
|
||||
public:
|
||||
/** Data structure for entries in global message list. */
|
||||
typedef struct {
|
||||
returnValue key; /**< Global return value. */
|
||||
const char* data; /**< Corresponding message. */
|
||||
VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed.
|
||||
* If this value is set to VS_HIDDEN, no message is printed! */
|
||||
} ReturnValueList;
|
||||
|
||||
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
MessageHandling( );
|
||||
|
||||
/** Constructor which takes the desired output file. */
|
||||
MessageHandling( myFILE* _outputFile /**< Output file. */
|
||||
);
|
||||
|
||||
/** Constructor which takes the desired visibility states. */
|
||||
MessageHandling( VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */
|
||||
VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
|
||||
VisibilityStatus _infoVisibility /**< Visibility status for info messages. */
|
||||
);
|
||||
|
||||
/** Constructor which takes the desired output file and desired visibility states. */
|
||||
MessageHandling( myFILE* _outputFile, /**< Output file. */
|
||||
VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */
|
||||
VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
|
||||
VisibilityStatus _infoVisibility /**< Visibility status for info messages. */
|
||||
);
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
MessageHandling( const MessageHandling& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~MessageHandling( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
MessageHandling& operator=( const MessageHandling& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Prints an error message(a simplified macro THROWERROR is also provided). \n
|
||||
* Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
|
||||
* Errors of a sub function should be commented by the calling function by means of a warning message
|
||||
* (if this error does not cause an error of the calling function, either)!
|
||||
* \return Error number returned by sub function call
|
||||
*/
|
||||
returnValue throwError(
|
||||
returnValue Enumber, /**< Error number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional error text (0, if none). */
|
||||
const char* functionname, /**< Name of function which caused the error. */
|
||||
const char* filename, /**< Name of file which caused the error. */
|
||||
const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */
|
||||
VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
);
|
||||
|
||||
/** Prints a warning message (a simplified macro THROWWARNING is also provided).
|
||||
* Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
|
||||
* \return Warning number returned by sub function call
|
||||
*/
|
||||
returnValue throwWarning(
|
||||
returnValue Wnumber, /**< Warning number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional warning text (0, if none). */
|
||||
const char* functionname, /**< Name of function which caused the warning. */
|
||||
const char* filename, /**< Name of file which caused the warning. */
|
||||
const unsigned long linenumber, /**< Number of line which caused the warning. */
|
||||
VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
);
|
||||
|
||||
/** Prints a info message (a simplified macro THROWINFO is also provided).
|
||||
* \return Info number returned by sub function call
|
||||
*/
|
||||
returnValue throwInfo(
|
||||
returnValue Inumber, /**< Info number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional warning text (0, if none). */
|
||||
const char* functionname, /**< Name of function which submitted the info. */
|
||||
const char* filename, /**< Name of file which submitted the info. */
|
||||
const unsigned long linenumber, /**< Number of line which submitted the info. */
|
||||
VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
);
|
||||
|
||||
|
||||
/** Resets all preferences to default values.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue reset( );
|
||||
|
||||
|
||||
/** Prints a complete list of all messages to output file.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue listAllMessages( );
|
||||
|
||||
|
||||
/** Returns visibility status for error messages.
|
||||
* \return Visibility status for error messages. */
|
||||
inline VisibilityStatus getErrorVisibilityStatus( ) const;
|
||||
|
||||
/** Returns visibility status for warning messages.
|
||||
* \return Visibility status for warning messages. */
|
||||
inline VisibilityStatus getWarningVisibilityStatus( ) const;
|
||||
|
||||
/** Returns visibility status for info messages.
|
||||
* \return Visibility status for info messages. */
|
||||
inline VisibilityStatus getInfoVisibilityStatus( ) const;
|
||||
|
||||
/** Returns pointer to output file.
|
||||
* \return Pointer to output file. */
|
||||
inline myFILE* getOutputFile( ) const;
|
||||
|
||||
/** Returns error count value.
|
||||
* \return Error count value. */
|
||||
inline int getErrorCount( ) const;
|
||||
|
||||
|
||||
/** Changes visibility status for error messages. */
|
||||
inline void setErrorVisibilityStatus( VisibilityStatus _errorVisibility /**< New visibility status for error messages. */
|
||||
);
|
||||
|
||||
/** Changes visibility status for warning messages. */
|
||||
inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */
|
||||
);
|
||||
|
||||
/** Changes visibility status for info messages. */
|
||||
inline void setInfoVisibilityStatus( VisibilityStatus _infoVisibility /**< New visibility status for info messages. */
|
||||
);
|
||||
|
||||
/** Changes output file for messages. */
|
||||
inline void setOutputFile( myFILE* _outputFile /**< New output file for messages. */
|
||||
);
|
||||
|
||||
/** Changes error count.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
* RET_INVALID_ARGUMENT */
|
||||
inline returnValue setErrorCount( int _errorCount /**< New error count value. */
|
||||
);
|
||||
|
||||
/** Return the error code string. */
|
||||
static const char* getErrorString(int error);
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER FUNCTIONS
|
||||
*/
|
||||
protected:
|
||||
/** Prints a info message to myStderr (auxiliary function).
|
||||
* \return Error/warning/info number returned by sub function call
|
||||
*/
|
||||
returnValue throwMessage(
|
||||
returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional warning text (0, if none). */
|
||||
const char* functionname, /**< Name of function which caused the error/warning/info. */
|
||||
const char* filename, /**< Name of file which caused the error/warning/info. */
|
||||
const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */
|
||||
VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
const char* RETstring /**< Leading string of error/warning/info message. */
|
||||
);
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
VisibilityStatus errorVisibility; /**< Error messages visible? */
|
||||
VisibilityStatus warningVisibility; /**< Warning messages visible? */
|
||||
VisibilityStatus infoVisibility; /**< Info messages visible? */
|
||||
|
||||
myFILE* outputFile; /**< Output file for messages. */
|
||||
|
||||
int errorCount; /**< Counts number of errors (for nicer output only). */
|
||||
};
|
||||
|
||||
|
||||
#ifndef __FUNCTION__
|
||||
/** Ensures that __FUNCTION__ macro is defined. */
|
||||
#define __FUNCTION__ 0
|
||||
#endif
|
||||
|
||||
#ifndef __FILE__
|
||||
/** Ensures that __FILE__ macro is defined. */
|
||||
#define __FILE__ 0
|
||||
#endif
|
||||
|
||||
#ifndef __LINE__
|
||||
/** Ensures that __LINE__ macro is defined. */
|
||||
#define __LINE__ 0
|
||||
#endif
|
||||
|
||||
|
||||
/** Short version of throwError with default values, only returnValue is needed */
|
||||
#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
|
||||
|
||||
/** Short version of throwWarning with default values, only returnValue is needed */
|
||||
#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
|
||||
|
||||
/** Short version of throwInfo with default values, only returnValue is needed */
|
||||
#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
|
||||
|
||||
|
||||
/** Returns a pointer to global message handler.
|
||||
* \return Pointer to global message handler.
|
||||
*/
|
||||
MessageHandling* getGlobalMessageHandler( );
|
||||
|
||||
|
||||
#include <MessageHandling.ipp>
|
||||
|
||||
#endif /* QPOASES_MESSAGEHANDLING_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/MessageHandling.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the MessageHandling class including global return values.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_MESSAGEHANDLING_HPP
|
||||
#define QPOASES_MESSAGEHANDLING_HPP
|
||||
|
||||
// #define PC_DEBUG
|
||||
|
||||
#ifdef PC_DEBUG
|
||||
#include <stdio.h>
|
||||
|
||||
/** Defines an alias for FILE from stdio.h. */
|
||||
#define myFILE FILE
|
||||
/** Defines an alias for stderr from stdio.h. */
|
||||
#define myStderr stderr
|
||||
/** Defines an alias for stdout from stdio.h. */
|
||||
#define myStdout stdout
|
||||
#else
|
||||
/** Defines an alias for FILE from stdio.h. */
|
||||
#define myFILE int
|
||||
/** Defines an alias for stderr from stdio.h. */
|
||||
#define myStderr 0
|
||||
/** Defines an alias for stdout from stdio.h. */
|
||||
#define myStdout 0
|
||||
#endif
|
||||
|
||||
|
||||
#include <Types.hpp>
|
||||
#include <Constants.hpp>
|
||||
|
||||
|
||||
/** Defines symbols for global return values. \n
|
||||
* Important: All return values are assumed to be nonnegative! */
|
||||
enum returnValue
|
||||
{
|
||||
TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */
|
||||
/* miscellaneous */
|
||||
SUCCESSFUL_RETURN = 0, /**< 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 occured is not yet known. */
|
||||
RET_PRINTLEVEL_CHANGED, /**< 10 Print level changed. */
|
||||
RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */
|
||||
/* Indexlist */
|
||||
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. */
|
||||
/* SubjectTo / Bounds / Constraints */
|
||||
RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. */
|
||||
RET_ADDINDEX_FAILED, /**< Cannot swap between different indexsets. */
|
||||
RET_SWAPINDEX_FAILED, /**< 20 Adding index to index set failed. */
|
||||
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. */
|
||||
/* QProblem */
|
||||
RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. */
|
||||
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, /**< 30 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_SUCCESSFUL, /**< Initialisation done. */
|
||||
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_EXTERN_SOLVER, /**< No extern QP solver available. */
|
||||
RET_QP_UNBOUNDED, /**< 40 QP is unbounded. */
|
||||
RET_QP_INFEASIBLE, /**< QP is infeasible. */
|
||||
RET_QP_NOT_SOLVED, /**< Problems occured while solving QP with standard solver. */
|
||||
RET_QP_SOLVED, /**< QP successfully solved. */
|
||||
RET_UNABLE_TO_SOLVE_QP, /**< Problems occured while solving QP. */
|
||||
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, /**< 50 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. */
|
||||
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, /**< 60 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. */
|
||||
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, /**< 70 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. */
|
||||
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, /**< 80 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 contraint matrix successfully resolved. */
|
||||
RET_ENSURELI_FAILED, /**< Failed to ensure linear indepence of active contraint matrix. */
|
||||
RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */
|
||||
RET_ENSURELI_FAILED_NOINDEX, /**< No index found, QP probably infeasible. */
|
||||
RET_ENSURELI_FAILED_CYCLING, /**< Cycling detected, QP probably infeasible. */
|
||||
RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */
|
||||
RET_ALL_BOUNDS_ACTIVE, /**< 90 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_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. */
|
||||
/* Utils */
|
||||
RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */
|
||||
RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */
|
||||
RET_UNABLE_TO_READ_FILE, /**< 100 Unable to read from file. */
|
||||
RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. */
|
||||
/* SolutionAnalysis */
|
||||
RET_NO_SOLUTION, /**< QP solution does not satisfy KKT optimality conditions. */
|
||||
RET_INACCURATE_SOLUTION /**< KKT optimality conditions not satisfied to sufficient accuracy. */
|
||||
};
|
||||
|
||||
|
||||
|
||||
/** This class handles all kinds of messages (errors, warnings, infos) initiated
|
||||
* by qpOASES modules and stores the correspoding global preferences.
|
||||
*
|
||||
* \author Hans Joachim Ferreau (special thanks to Leonard Wirsching)
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class MessageHandling
|
||||
{
|
||||
/*
|
||||
* INTERNAL DATA STRUCTURES
|
||||
*/
|
||||
public:
|
||||
/** Data structure for entries in global message list. */
|
||||
typedef struct {
|
||||
returnValue key; /**< Global return value. */
|
||||
const char* data; /**< Corresponding message. */
|
||||
VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed.
|
||||
* If this value is set to VS_HIDDEN, no message is printed! */
|
||||
} ReturnValueList;
|
||||
|
||||
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
MessageHandling( );
|
||||
|
||||
/** Constructor which takes the desired output file. */
|
||||
MessageHandling( myFILE* _outputFile /**< Output file. */
|
||||
);
|
||||
|
||||
/** Constructor which takes the desired visibility states. */
|
||||
MessageHandling( VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */
|
||||
VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
|
||||
VisibilityStatus _infoVisibility /**< Visibility status for info messages. */
|
||||
);
|
||||
|
||||
/** Constructor which takes the desired output file and desired visibility states. */
|
||||
MessageHandling( myFILE* _outputFile, /**< Output file. */
|
||||
VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */
|
||||
VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
|
||||
VisibilityStatus _infoVisibility /**< Visibility status for info messages. */
|
||||
);
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
MessageHandling( const MessageHandling& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~MessageHandling( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
MessageHandling& operator=( const MessageHandling& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Prints an error message(a simplified macro THROWERROR is also provided). \n
|
||||
* Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
|
||||
* Errors of a sub function should be commented by the calling function by means of a warning message
|
||||
* (if this error does not cause an error of the calling function, either)!
|
||||
* \return Error number returned by sub function call
|
||||
*/
|
||||
returnValue throwError(
|
||||
returnValue Enumber, /**< Error number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional error text (0, if none). */
|
||||
const char* functionname, /**< Name of function which caused the error. */
|
||||
const char* filename, /**< Name of file which caused the error. */
|
||||
const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */
|
||||
VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
);
|
||||
|
||||
/** Prints a warning message (a simplified macro THROWWARNING is also provided).
|
||||
* Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
|
||||
* \return Warning number returned by sub function call
|
||||
*/
|
||||
returnValue throwWarning(
|
||||
returnValue Wnumber, /**< Warning number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional warning text (0, if none). */
|
||||
const char* functionname, /**< Name of function which caused the warning. */
|
||||
const char* filename, /**< Name of file which caused the warning. */
|
||||
const unsigned long linenumber, /**< Number of line which caused the warning. */
|
||||
VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
);
|
||||
|
||||
/** Prints a info message (a simplified macro THROWINFO is also provided).
|
||||
* \return Info number returned by sub function call
|
||||
*/
|
||||
returnValue throwInfo(
|
||||
returnValue Inumber, /**< Info number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional warning text (0, if none). */
|
||||
const char* functionname, /**< Name of function which submitted the info. */
|
||||
const char* filename, /**< Name of file which submitted the info. */
|
||||
const unsigned long linenumber, /**< Number of line which submitted the info. */
|
||||
VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
);
|
||||
|
||||
|
||||
/** Resets all preferences to default values.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue reset( );
|
||||
|
||||
|
||||
/** Prints a complete list of all messages to output file.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue listAllMessages( );
|
||||
|
||||
|
||||
/** Returns visibility status for error messages.
|
||||
* \return Visibility status for error messages. */
|
||||
inline VisibilityStatus getErrorVisibilityStatus( ) const;
|
||||
|
||||
/** Returns visibility status for warning messages.
|
||||
* \return Visibility status for warning messages. */
|
||||
inline VisibilityStatus getWarningVisibilityStatus( ) const;
|
||||
|
||||
/** Returns visibility status for info messages.
|
||||
* \return Visibility status for info messages. */
|
||||
inline VisibilityStatus getInfoVisibilityStatus( ) const;
|
||||
|
||||
/** Returns pointer to output file.
|
||||
* \return Pointer to output file. */
|
||||
inline myFILE* getOutputFile( ) const;
|
||||
|
||||
/** Returns error count value.
|
||||
* \return Error count value. */
|
||||
inline int getErrorCount( ) const;
|
||||
|
||||
|
||||
/** Changes visibility status for error messages. */
|
||||
inline void setErrorVisibilityStatus( VisibilityStatus _errorVisibility /**< New visibility status for error messages. */
|
||||
);
|
||||
|
||||
/** Changes visibility status for warning messages. */
|
||||
inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */
|
||||
);
|
||||
|
||||
/** Changes visibility status for info messages. */
|
||||
inline void setInfoVisibilityStatus( VisibilityStatus _infoVisibility /**< New visibility status for info messages. */
|
||||
);
|
||||
|
||||
/** Changes output file for messages. */
|
||||
inline void setOutputFile( myFILE* _outputFile /**< New output file for messages. */
|
||||
);
|
||||
|
||||
/** Changes error count.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
* RET_INVALID_ARGUMENT */
|
||||
inline returnValue setErrorCount( int _errorCount /**< New error count value. */
|
||||
);
|
||||
|
||||
/** Return the error code string. */
|
||||
static const char* getErrorString(int error);
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER FUNCTIONS
|
||||
*/
|
||||
protected:
|
||||
/** Prints a info message to myStderr (auxiliary function).
|
||||
* \return Error/warning/info number returned by sub function call
|
||||
*/
|
||||
returnValue throwMessage(
|
||||
returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */
|
||||
const char* additionaltext, /**< Additional warning text (0, if none). */
|
||||
const char* functionname, /**< Name of function which caused the error/warning/info. */
|
||||
const char* filename, /**< Name of file which caused the error/warning/info. */
|
||||
const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */
|
||||
VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to myStderr.
|
||||
* If GLOBAL visibility status of the message is set to VS_HIDDEN,
|
||||
* no message is printed, anyway! */
|
||||
const char* RETstring /**< Leading string of error/warning/info message. */
|
||||
);
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
VisibilityStatus errorVisibility; /**< Error messages visible? */
|
||||
VisibilityStatus warningVisibility; /**< Warning messages visible? */
|
||||
VisibilityStatus infoVisibility; /**< Info messages visible? */
|
||||
|
||||
myFILE* outputFile; /**< Output file for messages. */
|
||||
|
||||
int errorCount; /**< Counts number of errors (for nicer output only). */
|
||||
};
|
||||
|
||||
|
||||
#ifndef __FUNCTION__
|
||||
/** Ensures that __FUNCTION__ macro is defined. */
|
||||
#define __FUNCTION__ 0
|
||||
#endif
|
||||
|
||||
#ifndef __FILE__
|
||||
/** Ensures that __FILE__ macro is defined. */
|
||||
#define __FILE__ 0
|
||||
#endif
|
||||
|
||||
#ifndef __LINE__
|
||||
/** Ensures that __LINE__ macro is defined. */
|
||||
#define __LINE__ 0
|
||||
#endif
|
||||
|
||||
|
||||
/** Short version of throwError with default values, only returnValue is needed */
|
||||
#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
|
||||
|
||||
/** Short version of throwWarning with default values, only returnValue is needed */
|
||||
#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
|
||||
|
||||
/** Short version of throwInfo with default values, only returnValue is needed */
|
||||
#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
|
||||
|
||||
|
||||
/** Returns a pointer to global message handler.
|
||||
* \return Pointer to global message handler.
|
||||
*/
|
||||
MessageHandling* getGlobalMessageHandler( );
|
||||
|
||||
|
||||
#include <MessageHandling.ipp>
|
||||
|
||||
#endif /* QPOASES_MESSAGEHANDLING_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -1,178 +1,178 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/SubjectTo.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the SubjectTo class designed to manage working sets of
|
||||
* constraints and bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_SUBJECTTO_HPP
|
||||
#define QPOASES_SUBJECTTO_HPP
|
||||
|
||||
|
||||
#include <Indexlist.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class manages working sets of constraints and bounds by storing
|
||||
* index sets and other status information.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class SubjectTo
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
SubjectTo( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
SubjectTo( const SubjectTo& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~SubjectTo( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
SubjectTo& operator=( const SubjectTo& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor takes the number of constraints or bounds.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int n /**< Number of constraints or bounds. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns type of (constraints') bound.
|
||||
* \return Type of (constraints') bound \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
inline SubjectToType getType( int i /**< Number of (constraints') bound. */
|
||||
) const ;
|
||||
|
||||
/** Returns status of (constraints') bound.
|
||||
* \return Status of (constraints') bound \n
|
||||
ST_UNDEFINED */
|
||||
inline SubjectToStatus getStatus( int i /**< Number of (constraints') bound. */
|
||||
) const;
|
||||
|
||||
|
||||
/** Sets type of (constraints') bound.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
inline returnValue setType( int i, /**< Number of (constraints') bound. */
|
||||
SubjectToType value /**< Type of (constraints') bound. */
|
||||
);
|
||||
|
||||
/** Sets status of (constraints') bound.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
inline returnValue setStatus( int i, /**< Number of (constraints') bound. */
|
||||
SubjectToStatus value /**< Status of (constraints') bound. */
|
||||
);
|
||||
|
||||
|
||||
/** Sets status of lower (constraints') bounds. */
|
||||
inline void setNoLower( BooleanType _status /**< Status of lower (constraints') bounds. */
|
||||
);
|
||||
|
||||
/** Sets status of upper (constraints') bounds. */
|
||||
inline void setNoUpper( BooleanType _status /**< Status of upper (constraints') bounds. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns status of lower (constraints') bounds.
|
||||
* \return BT_TRUE if there is no lower (constraints') bound on any variable. */
|
||||
inline BooleanType isNoLower( ) const;
|
||||
|
||||
/** Returns status of upper bounds.
|
||||
* \return BT_TRUE if there is no upper (constraints') bound on any variable. */
|
||||
inline BooleanType isNoUpper( ) const;
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER FUNCTIONS
|
||||
*/
|
||||
protected:
|
||||
/** Adds the index of a new constraint or bound to index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_ADDINDEX_FAILED */
|
||||
returnValue addIndex( Indexlist* const indexlist, /**< Index list to which the new index shall be added. */
|
||||
int newnumber, /**< Number of new constraint or bound. */
|
||||
SubjectToStatus newstatus /**< Status of new constraint or bound. */
|
||||
);
|
||||
|
||||
/** Removes the index of a constraint or bound from index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNKNOWN_BUG */
|
||||
returnValue removeIndex( Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */
|
||||
int removenumber /**< Number of constraint or bound to be removed. */
|
||||
);
|
||||
|
||||
/** Swaps the indices of two constraints or bounds within the index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SWAPINDEX_FAILED */
|
||||
returnValue swapIndex( Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */
|
||||
int number1, /**< Number of first constraint or bound. */
|
||||
int number2 /**< Number of second constraint or bound. */
|
||||
);
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
SubjectToType type[NVMAX+NCMAX]; /**< Type of constraints/bounds. */
|
||||
SubjectToStatus status[NVMAX+NCMAX]; /**< Status of constraints/bounds. */
|
||||
|
||||
BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */
|
||||
BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */
|
||||
|
||||
|
||||
/*
|
||||
* PRIVATE MEMBER VARIABLES
|
||||
*/
|
||||
private:
|
||||
int size;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#include <SubjectTo.ipp>
|
||||
|
||||
#endif /* QPOASES_SUBJECTTO_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/SubjectTo.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of the SubjectTo class designed to manage working sets of
|
||||
* constraints and bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_SUBJECTTO_HPP
|
||||
#define QPOASES_SUBJECTTO_HPP
|
||||
|
||||
|
||||
#include <Indexlist.hpp>
|
||||
|
||||
|
||||
|
||||
/** This class manages working sets of constraints and bounds by storing
|
||||
* index sets and other status information.
|
||||
*
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*/
|
||||
class SubjectTo
|
||||
{
|
||||
/*
|
||||
* PUBLIC MEMBER FUNCTIONS
|
||||
*/
|
||||
public:
|
||||
/** Default constructor. */
|
||||
SubjectTo( );
|
||||
|
||||
/** Copy constructor (deep copy). */
|
||||
SubjectTo( const SubjectTo& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
/** Destructor. */
|
||||
~SubjectTo( );
|
||||
|
||||
/** Assignment operator (deep copy). */
|
||||
SubjectTo& operator=( const SubjectTo& rhs /**< Rhs object. */
|
||||
);
|
||||
|
||||
|
||||
/** Pseudo-constructor takes the number of constraints or bounds.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue init( int n /**< Number of constraints or bounds. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns type of (constraints') bound.
|
||||
* \return Type of (constraints') bound \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
inline SubjectToType getType( int i /**< Number of (constraints') bound. */
|
||||
) const ;
|
||||
|
||||
/** Returns status of (constraints') bound.
|
||||
* \return Status of (constraints') bound \n
|
||||
ST_UNDEFINED */
|
||||
inline SubjectToStatus getStatus( int i /**< Number of (constraints') bound. */
|
||||
) const;
|
||||
|
||||
|
||||
/** Sets type of (constraints') bound.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
inline returnValue setType( int i, /**< Number of (constraints') bound. */
|
||||
SubjectToType value /**< Type of (constraints') bound. */
|
||||
);
|
||||
|
||||
/** Sets status of (constraints') bound.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_INDEX_OUT_OF_BOUNDS */
|
||||
inline returnValue setStatus( int i, /**< Number of (constraints') bound. */
|
||||
SubjectToStatus value /**< Status of (constraints') bound. */
|
||||
);
|
||||
|
||||
|
||||
/** Sets status of lower (constraints') bounds. */
|
||||
inline void setNoLower( BooleanType _status /**< Status of lower (constraints') bounds. */
|
||||
);
|
||||
|
||||
/** Sets status of upper (constraints') bounds. */
|
||||
inline void setNoUpper( BooleanType _status /**< Status of upper (constraints') bounds. */
|
||||
);
|
||||
|
||||
|
||||
/** Returns status of lower (constraints') bounds.
|
||||
* \return BT_TRUE if there is no lower (constraints') bound on any variable. */
|
||||
inline BooleanType isNoLower( ) const;
|
||||
|
||||
/** Returns status of upper bounds.
|
||||
* \return BT_TRUE if there is no upper (constraints') bound on any variable. */
|
||||
inline BooleanType isNoUpper( ) const;
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER FUNCTIONS
|
||||
*/
|
||||
protected:
|
||||
/** Adds the index of a new constraint or bound to index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_ADDINDEX_FAILED */
|
||||
returnValue addIndex( Indexlist* const indexlist, /**< Index list to which the new index shall be added. */
|
||||
int newnumber, /**< Number of new constraint or bound. */
|
||||
SubjectToStatus newstatus /**< Status of new constraint or bound. */
|
||||
);
|
||||
|
||||
/** Removes the index of a constraint or bound from index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNKNOWN_BUG */
|
||||
returnValue removeIndex( Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */
|
||||
int removenumber /**< Number of constraint or bound to be removed. */
|
||||
);
|
||||
|
||||
/** Swaps the indices of two constraints or bounds within the index set.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_SWAPINDEX_FAILED */
|
||||
returnValue swapIndex( Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */
|
||||
int number1, /**< Number of first constraint or bound. */
|
||||
int number2 /**< Number of second constraint or bound. */
|
||||
);
|
||||
|
||||
|
||||
/*
|
||||
* PROTECTED MEMBER VARIABLES
|
||||
*/
|
||||
protected:
|
||||
SubjectToType type[NVMAX+NCMAX]; /**< Type of constraints/bounds. */
|
||||
SubjectToStatus status[NVMAX+NCMAX]; /**< Status of constraints/bounds. */
|
||||
|
||||
BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */
|
||||
BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */
|
||||
|
||||
|
||||
/*
|
||||
* PRIVATE MEMBER VARIABLES
|
||||
*/
|
||||
private:
|
||||
int size;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#include <SubjectTo.ipp>
|
||||
|
||||
#endif /* QPOASES_SUBJECTTO_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,131 +1,131 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Types.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2008
|
||||
*
|
||||
* Declaration of all non-built-in types (except for classes).
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_TYPES_HPP
|
||||
#define QPOASES_TYPES_HPP
|
||||
|
||||
|
||||
|
||||
/** Define real_t for facilitating switching between double and float. */
|
||||
// typedef double real_t;
|
||||
|
||||
|
||||
/** Summarises all possible logical values. */
|
||||
enum BooleanType
|
||||
{
|
||||
BT_FALSE, /**< Logical value for "false". */
|
||||
BT_TRUE /**< Logical value for "true". */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible print levels. Print levels are used to describe
|
||||
* the desired amount of output during runtime of qpOASES. */
|
||||
enum PrintLevel
|
||||
{
|
||||
PL_NONE, /**< No output. */
|
||||
PL_LOW, /**< Print error messages only. */
|
||||
PL_MEDIUM, /**< Print error and warning messages as well as concise info messages. */
|
||||
PL_HIGH /**< Print all messages with full details. */
|
||||
};
|
||||
|
||||
|
||||
/** Defines visibility status of a message. */
|
||||
enum VisibilityStatus
|
||||
{
|
||||
VS_VISIBLE, /**< Message visible. */
|
||||
VS_HIDDEN /**< Message not visible. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible states of the (S)QProblem(B) object during the
|
||||
solution process of a QP sequence. */
|
||||
enum QProblemStatus
|
||||
{
|
||||
QPS_NOTINITIALISED, /**< QProblem object is freshly instantiated or reset. */
|
||||
QPS_PREPARINGAUXILIARYQP, /**< An auxiliary problem is currently setup, either at the very beginning
|
||||
* via an initial homotopy or after changing the QP matrices. */
|
||||
QPS_AUXILIARYQPSOLVED, /**< An auxilary problem was solved, either at the very beginning
|
||||
* via an initial homotopy or after changing the QP matrices. */
|
||||
QPS_PERFORMINGHOMOTOPY, /**< A homotopy according to the main idea of the online active
|
||||
* set strategy is performed. */
|
||||
QPS_HOMOTOPYQPSOLVED, /**< An intermediate QP along the homotopy path was solved. */
|
||||
QPS_SOLVED /**< The solution of the actual QP was found. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible types of bounds and constraints. */
|
||||
enum SubjectToType
|
||||
{
|
||||
ST_UNBOUNDED, /**< Bound/constraint is unbounded. */
|
||||
ST_BOUNDED, /**< Bound/constraint is bounded but not fixed. */
|
||||
ST_EQUALITY, /**< Bound/constraint is fixed (implicit equality bound/constraint). */
|
||||
ST_UNKNOWN /**< Type of bound/constraint unknown. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible states of bounds and constraints. */
|
||||
enum SubjectToStatus
|
||||
{
|
||||
ST_INACTIVE, /**< Bound/constraint is inactive. */
|
||||
ST_LOWER, /**< Bound/constraint is at its lower bound. */
|
||||
ST_UPPER, /**< Bound/constraint is at its upper bound. */
|
||||
ST_UNDEFINED /**< Status of bound/constraint undefined. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible cycling states of bounds and constraints. */
|
||||
enum CyclingStatus
|
||||
{
|
||||
CYC_NOT_INVOLVED, /**< Bound/constraint is not involved in current cycling. */
|
||||
CYC_PREV_ADDED, /**< Bound/constraint has previously been added during the current cycling. */
|
||||
CYC_PREV_REMOVED /**< Bound/constraint has previously been removed during the current cycling. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible types of the QP's Hessian matrix. */
|
||||
enum HessianType
|
||||
{
|
||||
HST_SEMIDEF, /**< Hessian is positive semi-definite. */
|
||||
HST_POSDEF_NULLSPACE, /**< Hessian is positive definite on null space of active bounds/constraints. */
|
||||
HST_POSDEF, /**< Hessian is (strictly) positive definite. */
|
||||
HST_IDENTITY /**< Hessian is identity matrix. */
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* QPOASES_TYPES_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Types.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2008
|
||||
*
|
||||
* Declaration of all non-built-in types (except for classes).
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_TYPES_HPP
|
||||
#define QPOASES_TYPES_HPP
|
||||
|
||||
|
||||
|
||||
/** Define real_t for facilitating switching between double and float. */
|
||||
// typedef double real_t;
|
||||
|
||||
|
||||
/** Summarises all possible logical values. */
|
||||
enum BooleanType
|
||||
{
|
||||
BT_FALSE, /**< Logical value for "false". */
|
||||
BT_TRUE /**< Logical value for "true". */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible print levels. Print levels are used to describe
|
||||
* the desired amount of output during runtime of qpOASES. */
|
||||
enum PrintLevel
|
||||
{
|
||||
PL_NONE, /**< No output. */
|
||||
PL_LOW, /**< Print error messages only. */
|
||||
PL_MEDIUM, /**< Print error and warning messages as well as concise info messages. */
|
||||
PL_HIGH /**< Print all messages with full details. */
|
||||
};
|
||||
|
||||
|
||||
/** Defines visibility status of a message. */
|
||||
enum VisibilityStatus
|
||||
{
|
||||
VS_VISIBLE, /**< Message visible. */
|
||||
VS_HIDDEN /**< Message not visible. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible states of the (S)QProblem(B) object during the
|
||||
solution process of a QP sequence. */
|
||||
enum QProblemStatus
|
||||
{
|
||||
QPS_NOTINITIALISED, /**< QProblem object is freshly instantiated or reset. */
|
||||
QPS_PREPARINGAUXILIARYQP, /**< An auxiliary problem is currently setup, either at the very beginning
|
||||
* via an initial homotopy or after changing the QP matrices. */
|
||||
QPS_AUXILIARYQPSOLVED, /**< An auxilary problem was solved, either at the very beginning
|
||||
* via an initial homotopy or after changing the QP matrices. */
|
||||
QPS_PERFORMINGHOMOTOPY, /**< A homotopy according to the main idea of the online active
|
||||
* set strategy is performed. */
|
||||
QPS_HOMOTOPYQPSOLVED, /**< An intermediate QP along the homotopy path was solved. */
|
||||
QPS_SOLVED /**< The solution of the actual QP was found. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible types of bounds and constraints. */
|
||||
enum SubjectToType
|
||||
{
|
||||
ST_UNBOUNDED, /**< Bound/constraint is unbounded. */
|
||||
ST_BOUNDED, /**< Bound/constraint is bounded but not fixed. */
|
||||
ST_EQUALITY, /**< Bound/constraint is fixed (implicit equality bound/constraint). */
|
||||
ST_UNKNOWN /**< Type of bound/constraint unknown. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible states of bounds and constraints. */
|
||||
enum SubjectToStatus
|
||||
{
|
||||
ST_INACTIVE, /**< Bound/constraint is inactive. */
|
||||
ST_LOWER, /**< Bound/constraint is at its lower bound. */
|
||||
ST_UPPER, /**< Bound/constraint is at its upper bound. */
|
||||
ST_UNDEFINED /**< Status of bound/constraint undefined. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible cycling states of bounds and constraints. */
|
||||
enum CyclingStatus
|
||||
{
|
||||
CYC_NOT_INVOLVED, /**< Bound/constraint is not involved in current cycling. */
|
||||
CYC_PREV_ADDED, /**< Bound/constraint has previously been added during the current cycling. */
|
||||
CYC_PREV_REMOVED /**< Bound/constraint has previously been removed during the current cycling. */
|
||||
};
|
||||
|
||||
|
||||
/** Summarises all possible types of the QP's Hessian matrix. */
|
||||
enum HessianType
|
||||
{
|
||||
HST_SEMIDEF, /**< Hessian is positive semi-definite. */
|
||||
HST_POSDEF_NULLSPACE, /**< Hessian is positive definite on null space of active bounds/constraints. */
|
||||
HST_POSDEF, /**< Hessian is (strictly) positive definite. */
|
||||
HST_IDENTITY /**< Hessian is identity matrix. */
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* QPOASES_TYPES_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,197 +1,197 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Utils.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of global utility functions for working with qpOASES.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_UTILS_HPP
|
||||
#define QPOASES_UTILS_HPP
|
||||
|
||||
|
||||
#include <MessageHandling.hpp>
|
||||
|
||||
|
||||
#ifdef PC_DEBUG /* Define print functions only for debugging! */
|
||||
|
||||
/** Prints a vector.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const v, /**< Vector to be printed. */
|
||||
int n /**< Length of vector. */
|
||||
);
|
||||
|
||||
/** Prints a permuted vector.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const v, /**< Vector to be printed. */
|
||||
int n, /**< Length of vector. */
|
||||
const int* const V_idx /**< Pemutation vector. */
|
||||
);
|
||||
|
||||
/** Prints a named vector.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const v, /**< Vector to be printed. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* name /** Name of vector. */
|
||||
);
|
||||
|
||||
/** Prints a matrix.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const M, /**< Matrix to be printed. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol /**< Column number of matrix. */
|
||||
);
|
||||
|
||||
/** Prints a permuted matrix.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const M, /**< Matrix to be printed. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol , /**< Column number of matrix. */
|
||||
const int* const ROW_idx, /**< Row pemutation vector. */
|
||||
const int* const COL_idx /**< Column pemutation vector. */
|
||||
);
|
||||
|
||||
/** Prints a named matrix.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const M, /**< Matrix to be printed. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol, /**< Column number of matrix. */
|
||||
const char* name /** Name of matrix. */
|
||||
);
|
||||
|
||||
/** Prints an index array.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const int* const index, /**< Index array to be printed. */
|
||||
int n /**< Length of index array. */
|
||||
);
|
||||
|
||||
/** Prints a named index array.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const int* const index, /**< Index array to be printed. */
|
||||
int n, /**< Length of index array. */
|
||||
const char* name /**< Name of index array. */
|
||||
);
|
||||
|
||||
|
||||
/** Prints a string to desired output target (useful also for MATLAB output!).
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue myPrintf( const char* s /**< String to be written. */
|
||||
);
|
||||
|
||||
|
||||
/** Prints qpOASES copyright notice.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue printCopyrightNotice( );
|
||||
|
||||
|
||||
/** Reads a real_t matrix from file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE \n
|
||||
RET_UNABLE_TO_READ_FILE */
|
||||
returnValue readFromFile( real_t* data, /**< Matrix to be read from file. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol, /**< Column number of matrix. */
|
||||
const char* datafilename /**< Data file name. */
|
||||
);
|
||||
|
||||
/** Reads a real_t vector from file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE \n
|
||||
RET_UNABLE_TO_READ_FILE */
|
||||
returnValue readFromFile( real_t* data, /**< Vector to be read from file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename /**< Data file name. */
|
||||
);
|
||||
|
||||
/** Reads an integer (column) vector from file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE \n
|
||||
RET_UNABLE_TO_READ_FILE */
|
||||
returnValue readFromFile( int* data, /**< Vector to be read from file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename /**< Data file name. */
|
||||
);
|
||||
|
||||
|
||||
/** Writes a real_t matrix into a file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE */
|
||||
returnValue writeIntoFile( const real_t* const data, /**< Matrix to be written into file. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol, /**< Column number of matrix. */
|
||||
const char* datafilename, /**< Data file name. */
|
||||
BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
|
||||
);
|
||||
|
||||
/** Writes a real_t vector into a file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE */
|
||||
returnValue writeIntoFile( const real_t* const data, /**< Vector to be written into file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename, /**< Data file name. */
|
||||
BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
|
||||
);
|
||||
|
||||
/** Writes an integer (column) vector into a file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE */
|
||||
returnValue writeIntoFile( const int* const integer, /**< Integer vector to be written into file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename, /**< Data file name. */
|
||||
BooleanType append /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
|
||||
);
|
||||
|
||||
#endif /* PC_DEBUG */
|
||||
|
||||
|
||||
/** Returns the current system time.
|
||||
* \return current system time */
|
||||
real_t getCPUtime( );
|
||||
|
||||
|
||||
/** Returns the Euclidean norm of a vector.
|
||||
* \return 0: successful */
|
||||
real_t getNorm( const real_t* const v, /**< Vector. */
|
||||
int n /**< Vector's dimension. */
|
||||
);
|
||||
|
||||
/** Returns the absolute value of a real_t.
|
||||
* \return Absolute value of a real_t */
|
||||
inline real_t getAbs( real_t x /**< Input argument. */
|
||||
);
|
||||
|
||||
|
||||
|
||||
#include <Utils.ipp>
|
||||
|
||||
#endif /* QPOASES_UTILS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file INCLUDE/Utils.hpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of global utility functions for working with qpOASES.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef QPOASES_UTILS_HPP
|
||||
#define QPOASES_UTILS_HPP
|
||||
|
||||
|
||||
#include <MessageHandling.hpp>
|
||||
|
||||
|
||||
#ifdef PC_DEBUG /* Define print functions only for debugging! */
|
||||
|
||||
/** Prints a vector.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const v, /**< Vector to be printed. */
|
||||
int n /**< Length of vector. */
|
||||
);
|
||||
|
||||
/** Prints a permuted vector.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const v, /**< Vector to be printed. */
|
||||
int n, /**< Length of vector. */
|
||||
const int* const V_idx /**< Pemutation vector. */
|
||||
);
|
||||
|
||||
/** Prints a named vector.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const v, /**< Vector to be printed. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* name /** Name of vector. */
|
||||
);
|
||||
|
||||
/** Prints a matrix.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const M, /**< Matrix to be printed. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol /**< Column number of matrix. */
|
||||
);
|
||||
|
||||
/** Prints a permuted matrix.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const M, /**< Matrix to be printed. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol , /**< Column number of matrix. */
|
||||
const int* const ROW_idx, /**< Row pemutation vector. */
|
||||
const int* const COL_idx /**< Column pemutation vector. */
|
||||
);
|
||||
|
||||
/** Prints a named matrix.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const real_t* const M, /**< Matrix to be printed. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol, /**< Column number of matrix. */
|
||||
const char* name /** Name of matrix. */
|
||||
);
|
||||
|
||||
/** Prints an index array.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const int* const index, /**< Index array to be printed. */
|
||||
int n /**< Length of index array. */
|
||||
);
|
||||
|
||||
/** Prints a named index array.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue print( const int* const index, /**< Index array to be printed. */
|
||||
int n, /**< Length of index array. */
|
||||
const char* name /**< Name of index array. */
|
||||
);
|
||||
|
||||
|
||||
/** Prints a string to desired output target (useful also for MATLAB output!).
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue myPrintf( const char* s /**< String to be written. */
|
||||
);
|
||||
|
||||
|
||||
/** Prints qpOASES copyright notice.
|
||||
* \return SUCCESSFUL_RETURN */
|
||||
returnValue printCopyrightNotice( );
|
||||
|
||||
|
||||
/** Reads a real_t matrix from file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE \n
|
||||
RET_UNABLE_TO_READ_FILE */
|
||||
returnValue readFromFile( real_t* data, /**< Matrix to be read from file. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol, /**< Column number of matrix. */
|
||||
const char* datafilename /**< Data file name. */
|
||||
);
|
||||
|
||||
/** Reads a real_t vector from file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE \n
|
||||
RET_UNABLE_TO_READ_FILE */
|
||||
returnValue readFromFile( real_t* data, /**< Vector to be read from file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename /**< Data file name. */
|
||||
);
|
||||
|
||||
/** Reads an integer (column) vector from file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE \n
|
||||
RET_UNABLE_TO_READ_FILE */
|
||||
returnValue readFromFile( int* data, /**< Vector to be read from file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename /**< Data file name. */
|
||||
);
|
||||
|
||||
|
||||
/** Writes a real_t matrix into a file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE */
|
||||
returnValue writeIntoFile( const real_t* const data, /**< Matrix to be written into file. */
|
||||
int nrow, /**< Row number of matrix. */
|
||||
int ncol, /**< Column number of matrix. */
|
||||
const char* datafilename, /**< Data file name. */
|
||||
BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
|
||||
);
|
||||
|
||||
/** Writes a real_t vector into a file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE */
|
||||
returnValue writeIntoFile( const real_t* const data, /**< Vector to be written into file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename, /**< Data file name. */
|
||||
BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
|
||||
);
|
||||
|
||||
/** Writes an integer (column) vector into a file.
|
||||
* \return SUCCESSFUL_RETURN \n
|
||||
RET_UNABLE_TO_OPEN_FILE */
|
||||
returnValue writeIntoFile( const int* const integer, /**< Integer vector to be written into file. */
|
||||
int n, /**< Length of vector. */
|
||||
const char* datafilename, /**< Data file name. */
|
||||
BooleanType append /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
|
||||
);
|
||||
|
||||
#endif /* PC_DEBUG */
|
||||
|
||||
|
||||
/** Returns the current system time.
|
||||
* \return current system time */
|
||||
real_t getCPUtime( );
|
||||
|
||||
|
||||
/** Returns the Euclidean norm of a vector.
|
||||
* \return 0: successful */
|
||||
real_t getNorm( const real_t* const v, /**< Vector. */
|
||||
int n /**< Vector's dimension. */
|
||||
);
|
||||
|
||||
/** Returns the absolute value of a real_t.
|
||||
* \return Absolute value of a real_t */
|
||||
inline real_t getAbs( real_t x /**< Input argument. */
|
||||
);
|
||||
|
||||
|
||||
|
||||
#include <Utils.ipp>
|
||||
|
||||
#endif /* QPOASES_UTILS_HPP */
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,92 +1,92 @@
|
|||
##
|
||||
## qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
## Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
##
|
||||
|
||||
|
||||
|
||||
INTRODUCTION
|
||||
=============
|
||||
|
||||
qpOASES is an open-source C++ implementation of the recently proposed
|
||||
online active set strategy (see [1], [2]), which was inspired by important
|
||||
observations from the field of parametric quadratic programming. It has
|
||||
several theoretical features that make it particularly suited for model
|
||||
predictive control (MPC) applications.
|
||||
|
||||
The software package qpOASES implements these ideas and has already been
|
||||
successfully used for closed-loop control of a real-world Diesel engine [3].
|
||||
|
||||
|
||||
References:
|
||||
|
||||
[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of
|
||||
Parametric Quadratic Programs with Applications to Predictive Engine Control.
|
||||
Diplom thesis, University of Heidelberg, 2006.
|
||||
|
||||
[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to
|
||||
overcome the limitations of explicit MPC. International Journal of Robust
|
||||
and Nonlinear Control, 18 (8), pp. 816-830, 2008.
|
||||
|
||||
[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive
|
||||
Control of a Real-World Diesel Engine using an Extended Online Active Set
|
||||
Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007.
|
||||
|
||||
|
||||
|
||||
GETTING STARTED
|
||||
================
|
||||
|
||||
1. For installation, usage and additional information on this software package
|
||||
see the qpOASES User's Manual located at ./DOC/manual.pdf!
|
||||
|
||||
|
||||
2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public
|
||||
License. Please read it carefully before using qpOASES!
|
||||
|
||||
|
||||
3. The whole software package can be downloaded from
|
||||
|
||||
http://homes.esat.kuleuven.be/~optec/software/qpOASES/
|
||||
|
||||
On this webpage you will also find a list of frequently asked questions.
|
||||
|
||||
|
||||
|
||||
CONTACT THE AUTHORS
|
||||
====================
|
||||
|
||||
If you have got questions, remarks or comments on qpOASES
|
||||
please contact the main author:
|
||||
|
||||
Hans Joachim Ferreau
|
||||
Katholieke Universiteit Leuven
|
||||
Department of Electrical Engineering (ESAT)
|
||||
Kasteelpark Arenberg 10, bus 2446
|
||||
B-3001 Leuven-Heverlee, Belgium
|
||||
|
||||
Phone: +32 16 32 03 63
|
||||
E-mail: joachim.ferreau@esat.kuleuven.be
|
||||
qpOASES@esat.kuleuven.be
|
||||
|
||||
Also bug reports and source code extensions are most welcome!
|
||||
|
||||
|
||||
|
||||
##
|
||||
## end of file
|
||||
##
|
||||
##
|
||||
## qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
## Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
##
|
||||
|
||||
|
||||
|
||||
INTRODUCTION
|
||||
=============
|
||||
|
||||
qpOASES is an open-source C++ implementation of the recently proposed
|
||||
online active set strategy (see [1], [2]), which was inspired by important
|
||||
observations from the field of parametric quadratic programming. It has
|
||||
several theoretical features that make it particularly suited for model
|
||||
predictive control (MPC) applications.
|
||||
|
||||
The software package qpOASES implements these ideas and has already been
|
||||
successfully used for closed-loop control of a real-world Diesel engine [3].
|
||||
|
||||
|
||||
References:
|
||||
|
||||
[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of
|
||||
Parametric Quadratic Programs with Applications to Predictive Engine Control.
|
||||
Diplom thesis, University of Heidelberg, 2006.
|
||||
|
||||
[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to
|
||||
overcome the limitations of explicit MPC. International Journal of Robust
|
||||
and Nonlinear Control, 18 (8), pp. 816-830, 2008.
|
||||
|
||||
[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive
|
||||
Control of a Real-World Diesel Engine using an Extended Online Active Set
|
||||
Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007.
|
||||
|
||||
|
||||
|
||||
GETTING STARTED
|
||||
================
|
||||
|
||||
1. For installation, usage and additional information on this software package
|
||||
see the qpOASES User's Manual located at ./DOC/manual.pdf!
|
||||
|
||||
|
||||
2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public
|
||||
License. Please read it carefully before using qpOASES!
|
||||
|
||||
|
||||
3. The whole software package can be downloaded from
|
||||
|
||||
http://homes.esat.kuleuven.be/~optec/software/qpOASES/
|
||||
|
||||
On this webpage you will also find a list of frequently asked questions.
|
||||
|
||||
|
||||
|
||||
CONTACT THE AUTHORS
|
||||
====================
|
||||
|
||||
If you have got questions, remarks or comments on qpOASES
|
||||
please contact the main author:
|
||||
|
||||
Hans Joachim Ferreau
|
||||
Katholieke Universiteit Leuven
|
||||
Department of Electrical Engineering (ESAT)
|
||||
Kasteelpark Arenberg 10, bus 2446
|
||||
B-3001 Leuven-Heverlee, Belgium
|
||||
|
||||
Phone: +32 16 32 03 63
|
||||
E-mail: joachim.ferreau@esat.kuleuven.be
|
||||
qpOASES@esat.kuleuven.be
|
||||
|
||||
Also bug reports and source code extensions are most welcome!
|
||||
|
||||
|
||||
|
||||
##
|
||||
## end of file
|
||||
##
|
||||
|
|
|
|||
|
|
@ -1,252 +1,252 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Bounds.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the Bounds class designed to manage working sets of
|
||||
* bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#include <Bounds.hpp>
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* B o u n d s
|
||||
*/
|
||||
Bounds::Bounds( ) : SubjectTo( ),
|
||||
nV( 0 ),
|
||||
nFV( 0 ),
|
||||
nBV( 0 ),
|
||||
nUV( 0 )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* B o u n d s
|
||||
*/
|
||||
Bounds::Bounds( const Bounds& rhs ) : SubjectTo( rhs ),
|
||||
nV( rhs.nV ),
|
||||
nFV( rhs.nFV ),
|
||||
nBV( rhs.nBV ),
|
||||
nUV( rhs.nUV )
|
||||
{
|
||||
free = rhs.free;
|
||||
fixed = rhs.fixed;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ B o u n d s
|
||||
*/
|
||||
Bounds::~Bounds( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
Bounds& Bounds::operator=( const Bounds& rhs )
|
||||
{
|
||||
if ( this != &rhs )
|
||||
{
|
||||
SubjectTo::operator=( rhs );
|
||||
|
||||
nV = rhs.nV;
|
||||
nFV = rhs.nFV;
|
||||
nBV = rhs.nBV;
|
||||
nUV = rhs.nUV;
|
||||
|
||||
free = rhs.free;
|
||||
fixed = rhs.fixed;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue Bounds::init( int n )
|
||||
{
|
||||
nV = n;
|
||||
nFV = 0;
|
||||
nBV = 0;
|
||||
nUV = 0;
|
||||
|
||||
free.init( );
|
||||
fixed.init( );
|
||||
|
||||
return SubjectTo::init( n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p B o u n d
|
||||
*/
|
||||
returnValue Bounds::setupBound( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Add bound index to respective index list. */
|
||||
switch ( _status )
|
||||
{
|
||||
case ST_INACTIVE:
|
||||
if ( this->addIndex( this->getFree( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
break;
|
||||
|
||||
case ST_LOWER:
|
||||
if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
break;
|
||||
|
||||
case ST_UPPER:
|
||||
if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
break;
|
||||
|
||||
default:
|
||||
return THROWERROR( RET_INVALID_ARGUMENTS );
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p A l l F r e e
|
||||
*/
|
||||
returnValue Bounds::setupAllFree( )
|
||||
{
|
||||
int i;
|
||||
|
||||
/* 1) Place unbounded variables at the beginning of the index list of free variables. */
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_UNBOUNDED )
|
||||
{
|
||||
if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Add remaining (i.e. bounded but possibly free) variables to the index list of free variables. */
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_BOUNDED )
|
||||
{
|
||||
if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Place implicitly fixed variables at the end of the index list of free variables. */
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_EQUALITY )
|
||||
{
|
||||
if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e F i x e d T o F r e e
|
||||
*/
|
||||
returnValue Bounds::moveFixedToFree( int _number )
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of fixed variables to that of free ones. */
|
||||
if ( this->removeIndex( this->getFixed( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getFree( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e F r e e T o F i x e d
|
||||
*/
|
||||
returnValue Bounds::moveFreeToFixed( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of free variables to that of fixed ones. */
|
||||
if ( this->removeIndex( this->getFree( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s w a p F r e e
|
||||
*/
|
||||
returnValue Bounds::swapFree( int number1, int number2
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( number1 < 0 ) || ( number1 >= getNV( ) ) || ( number2 < 0 ) || ( number2 >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Swap index within indexlist of free variables. */
|
||||
return this->swapIndex( this->getFree( ),number1,number2 );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Bounds.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the Bounds class designed to manage working sets of
|
||||
* bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#include <Bounds.hpp>
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* B o u n d s
|
||||
*/
|
||||
Bounds::Bounds( ) : SubjectTo( ),
|
||||
nV( 0 ),
|
||||
nFV( 0 ),
|
||||
nBV( 0 ),
|
||||
nUV( 0 )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* B o u n d s
|
||||
*/
|
||||
Bounds::Bounds( const Bounds& rhs ) : SubjectTo( rhs ),
|
||||
nV( rhs.nV ),
|
||||
nFV( rhs.nFV ),
|
||||
nBV( rhs.nBV ),
|
||||
nUV( rhs.nUV )
|
||||
{
|
||||
free = rhs.free;
|
||||
fixed = rhs.fixed;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ B o u n d s
|
||||
*/
|
||||
Bounds::~Bounds( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
Bounds& Bounds::operator=( const Bounds& rhs )
|
||||
{
|
||||
if ( this != &rhs )
|
||||
{
|
||||
SubjectTo::operator=( rhs );
|
||||
|
||||
nV = rhs.nV;
|
||||
nFV = rhs.nFV;
|
||||
nBV = rhs.nBV;
|
||||
nUV = rhs.nUV;
|
||||
|
||||
free = rhs.free;
|
||||
fixed = rhs.fixed;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue Bounds::init( int n )
|
||||
{
|
||||
nV = n;
|
||||
nFV = 0;
|
||||
nBV = 0;
|
||||
nUV = 0;
|
||||
|
||||
free.init( );
|
||||
fixed.init( );
|
||||
|
||||
return SubjectTo::init( n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p B o u n d
|
||||
*/
|
||||
returnValue Bounds::setupBound( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Add bound index to respective index list. */
|
||||
switch ( _status )
|
||||
{
|
||||
case ST_INACTIVE:
|
||||
if ( this->addIndex( this->getFree( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
break;
|
||||
|
||||
case ST_LOWER:
|
||||
if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
break;
|
||||
|
||||
case ST_UPPER:
|
||||
if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
break;
|
||||
|
||||
default:
|
||||
return THROWERROR( RET_INVALID_ARGUMENTS );
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p A l l F r e e
|
||||
*/
|
||||
returnValue Bounds::setupAllFree( )
|
||||
{
|
||||
int i;
|
||||
|
||||
/* 1) Place unbounded variables at the beginning of the index list of free variables. */
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_UNBOUNDED )
|
||||
{
|
||||
if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Add remaining (i.e. bounded but possibly free) variables to the index list of free variables. */
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_BOUNDED )
|
||||
{
|
||||
if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Place implicitly fixed variables at the end of the index list of free variables. */
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_EQUALITY )
|
||||
{
|
||||
if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_BOUND_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e F i x e d T o F r e e
|
||||
*/
|
||||
returnValue Bounds::moveFixedToFree( int _number )
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of fixed variables to that of free ones. */
|
||||
if ( this->removeIndex( this->getFixed( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getFree( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e F r e e T o F i x e d
|
||||
*/
|
||||
returnValue Bounds::moveFreeToFixed( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of free variables to that of fixed ones. */
|
||||
if ( this->removeIndex( this->getFree( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s w a p F r e e
|
||||
*/
|
||||
returnValue Bounds::swapFree( int number1, int number2
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( number1 < 0 ) || ( number1 >= getNV( ) ) || ( number2 < 0 ) || ( number2 >= getNV( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Swap index within indexlist of free variables. */
|
||||
return this->swapIndex( this->getFree( ),number1,number2 );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,144 +1,144 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Bounds.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the Bounds class designed
|
||||
* to manage working sets of bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t N V
|
||||
*/
|
||||
inline int Bounds::getNV( ) const
|
||||
{
|
||||
return nV;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F X
|
||||
*/
|
||||
inline int Bounds::getNFV( ) const
|
||||
{
|
||||
return nFV;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N B V
|
||||
*/
|
||||
inline int Bounds::getNBV( ) const
|
||||
{
|
||||
return nBV;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N U V
|
||||
*/
|
||||
inline int Bounds::getNUV( ) const
|
||||
{
|
||||
return nUV;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* s e t N F X
|
||||
*/
|
||||
inline returnValue Bounds::setNFV( int n )
|
||||
{
|
||||
nFV = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N B V
|
||||
*/
|
||||
inline returnValue Bounds::setNBV( int n )
|
||||
{
|
||||
nBV = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N U V
|
||||
*/
|
||||
inline returnValue Bounds::setNUV( int n )
|
||||
{
|
||||
nUV = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F R
|
||||
*/
|
||||
inline int Bounds::getNFR( )
|
||||
{
|
||||
return free.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F X
|
||||
*/
|
||||
inline int Bounds::getNFX( )
|
||||
{
|
||||
return fixed.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t F r e e
|
||||
*/
|
||||
inline Indexlist* Bounds::getFree( )
|
||||
{
|
||||
return &free;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t F i x e d
|
||||
*/
|
||||
inline Indexlist* Bounds::getFixed( )
|
||||
{
|
||||
return &fixed;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Bounds.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the Bounds class designed
|
||||
* to manage working sets of bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t N V
|
||||
*/
|
||||
inline int Bounds::getNV( ) const
|
||||
{
|
||||
return nV;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F X
|
||||
*/
|
||||
inline int Bounds::getNFV( ) const
|
||||
{
|
||||
return nFV;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N B V
|
||||
*/
|
||||
inline int Bounds::getNBV( ) const
|
||||
{
|
||||
return nBV;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N U V
|
||||
*/
|
||||
inline int Bounds::getNUV( ) const
|
||||
{
|
||||
return nUV;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* s e t N F X
|
||||
*/
|
||||
inline returnValue Bounds::setNFV( int n )
|
||||
{
|
||||
nFV = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N B V
|
||||
*/
|
||||
inline returnValue Bounds::setNBV( int n )
|
||||
{
|
||||
nBV = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N U V
|
||||
*/
|
||||
inline returnValue Bounds::setNUV( int n )
|
||||
{
|
||||
nUV = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F R
|
||||
*/
|
||||
inline int Bounds::getNFR( )
|
||||
{
|
||||
return free.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F X
|
||||
*/
|
||||
inline int Bounds::getNFX( )
|
||||
{
|
||||
return fixed.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t F r e e
|
||||
*/
|
||||
inline Indexlist* Bounds::getFree( )
|
||||
{
|
||||
return &free;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t F i x e d
|
||||
*/
|
||||
inline Indexlist* Bounds::getFixed( )
|
||||
{
|
||||
return &fixed;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,248 +1,248 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Constraints.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the Constraints class designed to manage working sets of
|
||||
* constraints within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#include <Constraints.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* C o n s t r a i n t s
|
||||
*/
|
||||
Constraints::Constraints( ) : SubjectTo( ),
|
||||
nC( 0 ),
|
||||
nEC( 0 ),
|
||||
nIC( 0 ),
|
||||
nUC( 0 )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* C o n s t r a i n t s
|
||||
*/
|
||||
Constraints::Constraints( const Constraints& rhs ) : SubjectTo( rhs ),
|
||||
nC( rhs.nC ),
|
||||
nEC( rhs.nEC ),
|
||||
nIC( rhs.nIC ),
|
||||
nUC( rhs.nUC )
|
||||
{
|
||||
active = rhs.active;
|
||||
inactive = rhs.inactive;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ C o n s t r a i n t s
|
||||
*/
|
||||
Constraints::~Constraints( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
Constraints& Constraints::operator=( const Constraints& rhs )
|
||||
{
|
||||
if ( this != &rhs )
|
||||
{
|
||||
SubjectTo::operator=( rhs );
|
||||
|
||||
nC = rhs.nC;
|
||||
nEC = rhs.nEC;
|
||||
nIC = rhs.nIC;
|
||||
nUC = rhs.nUC;
|
||||
|
||||
active = rhs.active;
|
||||
inactive = rhs.inactive;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue Constraints::init( int n )
|
||||
{
|
||||
nC = n;
|
||||
nEC = 0;
|
||||
nIC = 0;
|
||||
nUC = 0;
|
||||
|
||||
active.init( );
|
||||
inactive.init( );
|
||||
|
||||
return SubjectTo::init( n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p C o n s t r a i n t
|
||||
*/
|
||||
returnValue Constraints::setupConstraint( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Add constraint index to respective index list. */
|
||||
switch ( _status )
|
||||
{
|
||||
case ST_INACTIVE:
|
||||
if ( this->addIndex( this->getInactive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
break;
|
||||
|
||||
case ST_LOWER:
|
||||
if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
break;
|
||||
|
||||
case ST_UPPER:
|
||||
if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
break;
|
||||
|
||||
default:
|
||||
return THROWERROR( RET_INVALID_ARGUMENTS );
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p A l l I n a c t i v e
|
||||
*/
|
||||
returnValue Constraints::setupAllInactive( )
|
||||
{
|
||||
int i;
|
||||
|
||||
|
||||
/* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_UNBOUNDED )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_BOUNDED )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_EQUALITY )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 4) Moreover, add all constraints of unknown type. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_UNKNOWN )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e A c t i v e T o I n a c t i v e
|
||||
*/
|
||||
returnValue Constraints::moveActiveToInactive( int _number )
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of active constraints to that of inactive ones. */
|
||||
if ( this->removeIndex( this->getActive( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getInactive( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e I n a c t i v e T o A c t i v e
|
||||
*/
|
||||
returnValue Constraints::moveInactiveToActive( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of inactive constraints to that of active ones. */
|
||||
if ( this->removeIndex( this->getInactive( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Constraints.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the Constraints class designed to manage working sets of
|
||||
* constraints within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#include <Constraints.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* C o n s t r a i n t s
|
||||
*/
|
||||
Constraints::Constraints( ) : SubjectTo( ),
|
||||
nC( 0 ),
|
||||
nEC( 0 ),
|
||||
nIC( 0 ),
|
||||
nUC( 0 )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* C o n s t r a i n t s
|
||||
*/
|
||||
Constraints::Constraints( const Constraints& rhs ) : SubjectTo( rhs ),
|
||||
nC( rhs.nC ),
|
||||
nEC( rhs.nEC ),
|
||||
nIC( rhs.nIC ),
|
||||
nUC( rhs.nUC )
|
||||
{
|
||||
active = rhs.active;
|
||||
inactive = rhs.inactive;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ C o n s t r a i n t s
|
||||
*/
|
||||
Constraints::~Constraints( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
Constraints& Constraints::operator=( const Constraints& rhs )
|
||||
{
|
||||
if ( this != &rhs )
|
||||
{
|
||||
SubjectTo::operator=( rhs );
|
||||
|
||||
nC = rhs.nC;
|
||||
nEC = rhs.nEC;
|
||||
nIC = rhs.nIC;
|
||||
nUC = rhs.nUC;
|
||||
|
||||
active = rhs.active;
|
||||
inactive = rhs.inactive;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue Constraints::init( int n )
|
||||
{
|
||||
nC = n;
|
||||
nEC = 0;
|
||||
nIC = 0;
|
||||
nUC = 0;
|
||||
|
||||
active.init( );
|
||||
inactive.init( );
|
||||
|
||||
return SubjectTo::init( n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p C o n s t r a i n t
|
||||
*/
|
||||
returnValue Constraints::setupConstraint( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Add constraint index to respective index list. */
|
||||
switch ( _status )
|
||||
{
|
||||
case ST_INACTIVE:
|
||||
if ( this->addIndex( this->getInactive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
break;
|
||||
|
||||
case ST_LOWER:
|
||||
if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
break;
|
||||
|
||||
case ST_UPPER:
|
||||
if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
break;
|
||||
|
||||
default:
|
||||
return THROWERROR( RET_INVALID_ARGUMENTS );
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t u p A l l I n a c t i v e
|
||||
*/
|
||||
returnValue Constraints::setupAllInactive( )
|
||||
{
|
||||
int i;
|
||||
|
||||
|
||||
/* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_UNBOUNDED )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_BOUNDED )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_EQUALITY )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
/* 4) Moreover, add all constraints of unknown type. */
|
||||
for( i=0; i<nC; ++i )
|
||||
{
|
||||
if ( getType( i ) == ST_UNKNOWN )
|
||||
{
|
||||
if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
|
||||
}
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e A c t i v e T o I n a c t i v e
|
||||
*/
|
||||
returnValue Constraints::moveActiveToInactive( int _number )
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of active constraints to that of inactive ones. */
|
||||
if ( this->removeIndex( this->getActive( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getInactive( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m o v e I n a c t i v e T o A c t i v e
|
||||
*/
|
||||
returnValue Constraints::moveInactiveToActive( int _number, SubjectToStatus _status
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
|
||||
/* Move index from indexlist of inactive constraints to that of active ones. */
|
||||
if ( this->removeIndex( this->getInactive( ),_number ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_MOVING_BOUND_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,144 +1,144 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Constraints.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of inlined member functions of the Constraints class designed
|
||||
* to manage working sets of constraints within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t N C
|
||||
*/
|
||||
inline int Constraints::getNC( ) const
|
||||
{
|
||||
return nC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N E C
|
||||
*/
|
||||
inline int Constraints::getNEC( ) const
|
||||
{
|
||||
return nEC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N I C
|
||||
*/
|
||||
inline int Constraints::getNIC( ) const
|
||||
{
|
||||
return nIC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N U C
|
||||
*/
|
||||
inline int Constraints::getNUC( ) const
|
||||
{
|
||||
return nUC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N E C
|
||||
*/
|
||||
inline returnValue Constraints::setNEC( int n )
|
||||
{
|
||||
nEC = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N I C
|
||||
*/
|
||||
inline returnValue Constraints::setNIC( int n )
|
||||
{
|
||||
nIC = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N U C
|
||||
*/
|
||||
inline returnValue Constraints::setNUC( int n )
|
||||
{
|
||||
nUC = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N A C
|
||||
*/
|
||||
inline int Constraints::getNAC( )
|
||||
{
|
||||
return active.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N I A C
|
||||
*/
|
||||
inline int Constraints::getNIAC( )
|
||||
{
|
||||
return inactive.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t A c t i v e
|
||||
*/
|
||||
inline Indexlist* Constraints::getActive( )
|
||||
{
|
||||
return &active;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t I n a c t i v e
|
||||
*/
|
||||
inline Indexlist* Constraints::getInactive( )
|
||||
{
|
||||
return &inactive;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Constraints.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Declaration of inlined member functions of the Constraints class designed
|
||||
* to manage working sets of constraints within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t N C
|
||||
*/
|
||||
inline int Constraints::getNC( ) const
|
||||
{
|
||||
return nC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N E C
|
||||
*/
|
||||
inline int Constraints::getNEC( ) const
|
||||
{
|
||||
return nEC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N I C
|
||||
*/
|
||||
inline int Constraints::getNIC( ) const
|
||||
{
|
||||
return nIC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N U C
|
||||
*/
|
||||
inline int Constraints::getNUC( ) const
|
||||
{
|
||||
return nUC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N E C
|
||||
*/
|
||||
inline returnValue Constraints::setNEC( int n )
|
||||
{
|
||||
nEC = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N I C
|
||||
*/
|
||||
inline returnValue Constraints::setNIC( int n )
|
||||
{
|
||||
nIC = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N U C
|
||||
*/
|
||||
inline returnValue Constraints::setNUC( int n )
|
||||
{
|
||||
nUC = n;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N A C
|
||||
*/
|
||||
inline int Constraints::getNAC( )
|
||||
{
|
||||
return active.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N I A C
|
||||
*/
|
||||
inline int Constraints::getNIAC( )
|
||||
{
|
||||
return inactive.getLength( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t A c t i v e
|
||||
*/
|
||||
inline Indexlist* Constraints::getActive( )
|
||||
{
|
||||
return &active;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t I n a c t i v e
|
||||
*/
|
||||
inline Indexlist* Constraints::getInactive( )
|
||||
{
|
||||
return &inactive;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,188 +1,188 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/CyclingManager.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the CyclingManager class designed to detect
|
||||
* and handle possible cycling during QP iterations.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#include <CyclingManager.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* C y c l i n g M a n a g e r
|
||||
*/
|
||||
CyclingManager::CyclingManager( ) : nV( 0 ),
|
||||
nC( 0 )
|
||||
{
|
||||
cyclingDetected = BT_FALSE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* C y c l i n g M a n a g e r
|
||||
*/
|
||||
CyclingManager::CyclingManager( const CyclingManager& rhs ) : nV( rhs.nV ),
|
||||
nC( rhs.nC ),
|
||||
cyclingDetected( rhs.cyclingDetected )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<nV+nC; ++i )
|
||||
status[i] = rhs.status[i];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ C y c l i n g M a n a g e r
|
||||
*/
|
||||
CyclingManager::~CyclingManager( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( this != &rhs )
|
||||
{
|
||||
nV = rhs.nV;
|
||||
nC = rhs.nC;
|
||||
|
||||
for( i=0; i<nV+nC; ++i )
|
||||
status[i] = rhs.status[i];
|
||||
|
||||
cyclingDetected = rhs.cyclingDetected;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue CyclingManager::init( int _nV, int _nC )
|
||||
{
|
||||
nV = _nV;
|
||||
nC = _nC;
|
||||
|
||||
cyclingDetected = BT_FALSE;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* s e t C y c l i n g S t a t u s
|
||||
*/
|
||||
returnValue CyclingManager::setCyclingStatus( int number,
|
||||
BooleanType isBound, CyclingStatus _status
|
||||
)
|
||||
{
|
||||
if ( isBound == BT_TRUE )
|
||||
{
|
||||
/* Set cycling status of a bound. */
|
||||
if ( ( number >= 0 ) && ( number < nV ) )
|
||||
{
|
||||
status[number] = _status;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Set cycling status of a constraint. */
|
||||
if ( ( number >= 0 ) && ( number < nC ) )
|
||||
{
|
||||
status[nV+number] = _status;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t C y c l i n g S t a t u s
|
||||
*/
|
||||
CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
|
||||
{
|
||||
if ( isBound == BT_TRUE )
|
||||
{
|
||||
/* Return cycling status of a bound. */
|
||||
if ( ( number >= 0 ) && ( number < nV ) )
|
||||
return status[number];
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Return cycling status of a constraint. */
|
||||
if ( ( number >= 0 ) && ( number < nC ) )
|
||||
return status[nV+number];
|
||||
}
|
||||
|
||||
return CYC_NOT_INVOLVED;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* c l e a r C y c l i n g D a t a
|
||||
*/
|
||||
returnValue CyclingManager::clearCyclingData( )
|
||||
{
|
||||
int i;
|
||||
|
||||
/* Reset all status values ... */
|
||||
for( i=0; i<nV+nC; ++i )
|
||||
status[i] = CYC_NOT_INVOLVED;
|
||||
|
||||
/* ... and the main cycling flag. */
|
||||
cyclingDetected = BT_FALSE;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/CyclingManager.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the CyclingManager class designed to detect
|
||||
* and handle possible cycling during QP iterations.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#include <CyclingManager.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* C y c l i n g M a n a g e r
|
||||
*/
|
||||
CyclingManager::CyclingManager( ) : nV( 0 ),
|
||||
nC( 0 )
|
||||
{
|
||||
cyclingDetected = BT_FALSE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* C y c l i n g M a n a g e r
|
||||
*/
|
||||
CyclingManager::CyclingManager( const CyclingManager& rhs ) : nV( rhs.nV ),
|
||||
nC( rhs.nC ),
|
||||
cyclingDetected( rhs.cyclingDetected )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<nV+nC; ++i )
|
||||
status[i] = rhs.status[i];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ C y c l i n g M a n a g e r
|
||||
*/
|
||||
CyclingManager::~CyclingManager( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( this != &rhs )
|
||||
{
|
||||
nV = rhs.nV;
|
||||
nC = rhs.nC;
|
||||
|
||||
for( i=0; i<nV+nC; ++i )
|
||||
status[i] = rhs.status[i];
|
||||
|
||||
cyclingDetected = rhs.cyclingDetected;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue CyclingManager::init( int _nV, int _nC )
|
||||
{
|
||||
nV = _nV;
|
||||
nC = _nC;
|
||||
|
||||
cyclingDetected = BT_FALSE;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* s e t C y c l i n g S t a t u s
|
||||
*/
|
||||
returnValue CyclingManager::setCyclingStatus( int number,
|
||||
BooleanType isBound, CyclingStatus _status
|
||||
)
|
||||
{
|
||||
if ( isBound == BT_TRUE )
|
||||
{
|
||||
/* Set cycling status of a bound. */
|
||||
if ( ( number >= 0 ) && ( number < nV ) )
|
||||
{
|
||||
status[number] = _status;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Set cycling status of a constraint. */
|
||||
if ( ( number >= 0 ) && ( number < nC ) )
|
||||
{
|
||||
status[nV+number] = _status;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t C y c l i n g S t a t u s
|
||||
*/
|
||||
CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
|
||||
{
|
||||
if ( isBound == BT_TRUE )
|
||||
{
|
||||
/* Return cycling status of a bound. */
|
||||
if ( ( number >= 0 ) && ( number < nV ) )
|
||||
return status[number];
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Return cycling status of a constraint. */
|
||||
if ( ( number >= 0 ) && ( number < nC ) )
|
||||
return status[nV+number];
|
||||
}
|
||||
|
||||
return CYC_NOT_INVOLVED;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* c l e a r C y c l i n g D a t a
|
||||
*/
|
||||
returnValue CyclingManager::clearCyclingData( )
|
||||
{
|
||||
int i;
|
||||
|
||||
/* Reset all status values ... */
|
||||
for( i=0; i<nV+nC; ++i )
|
||||
status[i] = CYC_NOT_INVOLVED;
|
||||
|
||||
/* ... and the main cycling flag. */
|
||||
cyclingDetected = BT_FALSE;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,51 +1,51 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/CyclingManager.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the CyclingManager class
|
||||
* designed to detect and handle possible cycling during QP iterations.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* i s C y c l i n g D e t e c t e d
|
||||
*/
|
||||
inline BooleanType CyclingManager::isCyclingDetected( ) const
|
||||
{
|
||||
return cyclingDetected;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/CyclingManager.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the CyclingManager class
|
||||
* designed to detect and handle possible cycling during QP iterations.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* i s C y c l i n g D e t e c t e d
|
||||
*/
|
||||
inline BooleanType CyclingManager::isCyclingDetected( ) const
|
||||
{
|
||||
return cyclingDetected;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,342 +1,342 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Indexlist.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the Indexlist class designed to manage index lists of
|
||||
* constraints and bounds within a QProblem_SubjectTo.
|
||||
*/
|
||||
|
||||
|
||||
#include <Indexlist.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* I n d e x l i s t
|
||||
*/
|
||||
Indexlist::Indexlist( ) : length( 0 ),
|
||||
first( -1 ),
|
||||
last( -1 ),
|
||||
lastusedindex( -1 ),
|
||||
physicallength( INDEXLISTFACTOR*(NVMAX+NCMAX) )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* I n d e x l i s t
|
||||
*/
|
||||
Indexlist::Indexlist( const Indexlist& rhs ) : length( rhs.length ),
|
||||
first( rhs.first ),
|
||||
last( rhs.last ),
|
||||
lastusedindex( rhs.lastusedindex ),
|
||||
physicallength( rhs.physicallength )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = rhs.number[i];
|
||||
next[i] = rhs.next[i];
|
||||
previous[i] = rhs.previous[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ I n d e x l i s t
|
||||
*/
|
||||
Indexlist::~Indexlist( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
Indexlist& Indexlist::operator=( const Indexlist& rhs )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( this != &rhs )
|
||||
{
|
||||
length = rhs.length;
|
||||
first = rhs.first;
|
||||
last = rhs.last;
|
||||
lastusedindex = rhs.lastusedindex;
|
||||
physicallength = rhs.physicallength;
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = rhs.number[i];
|
||||
next[i] = rhs.next[i];
|
||||
previous[i] = rhs.previous[i];
|
||||
}
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue Indexlist::init( )
|
||||
{
|
||||
int i;
|
||||
|
||||
length = 0;
|
||||
first = -1;
|
||||
last = -1;
|
||||
lastusedindex = -1;
|
||||
physicallength = INDEXLISTFACTOR*(NVMAX+NCMAX);
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N u m b e r A r r a y
|
||||
*/
|
||||
returnValue Indexlist::getNumberArray( int* const numberarray ) const
|
||||
{
|
||||
int i;
|
||||
int n = first;
|
||||
|
||||
/* Run trough indexlist and store numbers in numberarray. */
|
||||
for( i=0; i<length; ++i )
|
||||
{
|
||||
if ( ( n >= 0 ) && ( number[n] >= 0 ) )
|
||||
numberarray[i] = number[n];
|
||||
else
|
||||
return THROWERROR( RET_INDEXLIST_CORRUPTED );
|
||||
|
||||
n = next[n];
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t I n d e x
|
||||
*/
|
||||
int Indexlist::getIndex( int givennumber ) const
|
||||
{
|
||||
int i;
|
||||
int n = first;
|
||||
int index = -1; /* return -1 by default */
|
||||
|
||||
/* Run trough indexlist until number is found, if so return it index. */
|
||||
for ( i=0; i<length; ++i )
|
||||
{
|
||||
if ( number[n] == givennumber )
|
||||
{
|
||||
index = i;
|
||||
break;
|
||||
}
|
||||
|
||||
n = next[n];
|
||||
}
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t P h y s i c a l I n d e x
|
||||
*/
|
||||
int Indexlist::getPhysicalIndex( int givennumber ) const
|
||||
{
|
||||
int i;
|
||||
int n = first;
|
||||
int index = -1; /* return -1 by default */
|
||||
|
||||
/* Run trough indexlist until number is found, if so return it physicalindex. */
|
||||
for ( i=0; i<length; ++i )
|
||||
{
|
||||
if ( number[n] == givennumber )
|
||||
{
|
||||
index = n;
|
||||
break;
|
||||
}
|
||||
|
||||
n = next[n];
|
||||
}
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* a d d N u m b e r
|
||||
*/
|
||||
returnValue Indexlist::addNumber( int addnumber )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( lastusedindex+1 < physicallength )
|
||||
{
|
||||
/* If there is enough storage, add number to indexlist. */
|
||||
++lastusedindex;
|
||||
number[lastusedindex] = addnumber;
|
||||
next[lastusedindex] = 0;
|
||||
|
||||
if ( length == 0 )
|
||||
{
|
||||
first = lastusedindex;
|
||||
previous[lastusedindex] = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
next[last] = lastusedindex;
|
||||
previous[lastusedindex] = last;
|
||||
}
|
||||
|
||||
last = lastusedindex;
|
||||
++length;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Rearrangement of index list necessary! */
|
||||
if ( length == physicallength )
|
||||
return THROWERROR( RET_INDEXLIST_EXCEEDS_MAX_LENGTH );
|
||||
else
|
||||
{
|
||||
int numberArray[NVMAX+NCMAX];
|
||||
getNumberArray( numberArray );
|
||||
|
||||
/* copy existing elements */
|
||||
for ( i=0; i<length; ++i )
|
||||
{
|
||||
number[i] = numberArray[i];
|
||||
next[i] = i+1;
|
||||
previous[i] = i-1;
|
||||
}
|
||||
|
||||
/* add new number at end of list */
|
||||
number[length] = addnumber;
|
||||
next[length] = -1;
|
||||
previous[length] = length-1;
|
||||
|
||||
/* and set remaining entries to empty */
|
||||
for ( i=length+1; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
}
|
||||
|
||||
first = 0;
|
||||
last = length;
|
||||
lastusedindex = length;
|
||||
++length;
|
||||
|
||||
return THROWWARNING( RET_INDEXLIST_MUST_BE_REORDERD );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e m o v e N u m b e r
|
||||
*/
|
||||
returnValue Indexlist::removeNumber( int removenumber )
|
||||
{
|
||||
int i = getPhysicalIndex( removenumber );
|
||||
|
||||
/* nothing to be done if number is not contained in index set */
|
||||
if ( i < 0 )
|
||||
return SUCCESSFUL_RETURN;
|
||||
|
||||
int p = previous[i];
|
||||
int n = next[i];
|
||||
|
||||
if ( i == last )
|
||||
last = p;
|
||||
else
|
||||
previous[n] = p;
|
||||
|
||||
if ( i == first )
|
||||
first = n;
|
||||
else
|
||||
next[p] = n;
|
||||
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
--length;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s w a p N u m b e r s
|
||||
*/
|
||||
returnValue Indexlist::swapNumbers( int number1, int number2 )
|
||||
{
|
||||
int index1 = getPhysicalIndex( number1 );
|
||||
int index2 = getPhysicalIndex( number2 );
|
||||
|
||||
/* consistency check */
|
||||
if ( ( index1 < 0 ) || ( index2 < 0 ) )
|
||||
return THROWERROR( RET_INDEXLIST_CORRUPTED );
|
||||
|
||||
int tmp = number[index1];
|
||||
number[index1] = number[index2];
|
||||
number[index2] = tmp;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Indexlist.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the Indexlist class designed to manage index lists of
|
||||
* constraints and bounds within a QProblem_SubjectTo.
|
||||
*/
|
||||
|
||||
|
||||
#include <Indexlist.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* I n d e x l i s t
|
||||
*/
|
||||
Indexlist::Indexlist( ) : length( 0 ),
|
||||
first( -1 ),
|
||||
last( -1 ),
|
||||
lastusedindex( -1 ),
|
||||
physicallength( INDEXLISTFACTOR*(NVMAX+NCMAX) )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* I n d e x l i s t
|
||||
*/
|
||||
Indexlist::Indexlist( const Indexlist& rhs ) : length( rhs.length ),
|
||||
first( rhs.first ),
|
||||
last( rhs.last ),
|
||||
lastusedindex( rhs.lastusedindex ),
|
||||
physicallength( rhs.physicallength )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = rhs.number[i];
|
||||
next[i] = rhs.next[i];
|
||||
previous[i] = rhs.previous[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ I n d e x l i s t
|
||||
*/
|
||||
Indexlist::~Indexlist( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
Indexlist& Indexlist::operator=( const Indexlist& rhs )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( this != &rhs )
|
||||
{
|
||||
length = rhs.length;
|
||||
first = rhs.first;
|
||||
last = rhs.last;
|
||||
lastusedindex = rhs.lastusedindex;
|
||||
physicallength = rhs.physicallength;
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = rhs.number[i];
|
||||
next[i] = rhs.next[i];
|
||||
previous[i] = rhs.previous[i];
|
||||
}
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue Indexlist::init( )
|
||||
{
|
||||
int i;
|
||||
|
||||
length = 0;
|
||||
first = -1;
|
||||
last = -1;
|
||||
lastusedindex = -1;
|
||||
physicallength = INDEXLISTFACTOR*(NVMAX+NCMAX);
|
||||
|
||||
for( i=0; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N u m b e r A r r a y
|
||||
*/
|
||||
returnValue Indexlist::getNumberArray( int* const numberarray ) const
|
||||
{
|
||||
int i;
|
||||
int n = first;
|
||||
|
||||
/* Run trough indexlist and store numbers in numberarray. */
|
||||
for( i=0; i<length; ++i )
|
||||
{
|
||||
if ( ( n >= 0 ) && ( number[n] >= 0 ) )
|
||||
numberarray[i] = number[n];
|
||||
else
|
||||
return THROWERROR( RET_INDEXLIST_CORRUPTED );
|
||||
|
||||
n = next[n];
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t I n d e x
|
||||
*/
|
||||
int Indexlist::getIndex( int givennumber ) const
|
||||
{
|
||||
int i;
|
||||
int n = first;
|
||||
int index = -1; /* return -1 by default */
|
||||
|
||||
/* Run trough indexlist until number is found, if so return it index. */
|
||||
for ( i=0; i<length; ++i )
|
||||
{
|
||||
if ( number[n] == givennumber )
|
||||
{
|
||||
index = i;
|
||||
break;
|
||||
}
|
||||
|
||||
n = next[n];
|
||||
}
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t P h y s i c a l I n d e x
|
||||
*/
|
||||
int Indexlist::getPhysicalIndex( int givennumber ) const
|
||||
{
|
||||
int i;
|
||||
int n = first;
|
||||
int index = -1; /* return -1 by default */
|
||||
|
||||
/* Run trough indexlist until number is found, if so return it physicalindex. */
|
||||
for ( i=0; i<length; ++i )
|
||||
{
|
||||
if ( number[n] == givennumber )
|
||||
{
|
||||
index = n;
|
||||
break;
|
||||
}
|
||||
|
||||
n = next[n];
|
||||
}
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* a d d N u m b e r
|
||||
*/
|
||||
returnValue Indexlist::addNumber( int addnumber )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( lastusedindex+1 < physicallength )
|
||||
{
|
||||
/* If there is enough storage, add number to indexlist. */
|
||||
++lastusedindex;
|
||||
number[lastusedindex] = addnumber;
|
||||
next[lastusedindex] = 0;
|
||||
|
||||
if ( length == 0 )
|
||||
{
|
||||
first = lastusedindex;
|
||||
previous[lastusedindex] = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
next[last] = lastusedindex;
|
||||
previous[lastusedindex] = last;
|
||||
}
|
||||
|
||||
last = lastusedindex;
|
||||
++length;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Rearrangement of index list necessary! */
|
||||
if ( length == physicallength )
|
||||
return THROWERROR( RET_INDEXLIST_EXCEEDS_MAX_LENGTH );
|
||||
else
|
||||
{
|
||||
int numberArray[NVMAX+NCMAX];
|
||||
getNumberArray( numberArray );
|
||||
|
||||
/* copy existing elements */
|
||||
for ( i=0; i<length; ++i )
|
||||
{
|
||||
number[i] = numberArray[i];
|
||||
next[i] = i+1;
|
||||
previous[i] = i-1;
|
||||
}
|
||||
|
||||
/* add new number at end of list */
|
||||
number[length] = addnumber;
|
||||
next[length] = -1;
|
||||
previous[length] = length-1;
|
||||
|
||||
/* and set remaining entries to empty */
|
||||
for ( i=length+1; i<physicallength; ++i )
|
||||
{
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
}
|
||||
|
||||
first = 0;
|
||||
last = length;
|
||||
lastusedindex = length;
|
||||
++length;
|
||||
|
||||
return THROWWARNING( RET_INDEXLIST_MUST_BE_REORDERD );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e m o v e N u m b e r
|
||||
*/
|
||||
returnValue Indexlist::removeNumber( int removenumber )
|
||||
{
|
||||
int i = getPhysicalIndex( removenumber );
|
||||
|
||||
/* nothing to be done if number is not contained in index set */
|
||||
if ( i < 0 )
|
||||
return SUCCESSFUL_RETURN;
|
||||
|
||||
int p = previous[i];
|
||||
int n = next[i];
|
||||
|
||||
if ( i == last )
|
||||
last = p;
|
||||
else
|
||||
previous[n] = p;
|
||||
|
||||
if ( i == first )
|
||||
first = n;
|
||||
else
|
||||
next[p] = n;
|
||||
|
||||
number[i] = -1;
|
||||
next[i] = -1;
|
||||
previous[i] = -1;
|
||||
--length;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s w a p N u m b e r s
|
||||
*/
|
||||
returnValue Indexlist::swapNumbers( int number1, int number2 )
|
||||
{
|
||||
int index1 = getPhysicalIndex( number1 );
|
||||
int index2 = getPhysicalIndex( number2 );
|
||||
|
||||
/* consistency check */
|
||||
if ( ( index1 < 0 ) || ( index2 < 0 ) )
|
||||
return THROWERROR( RET_INDEXLIST_CORRUPTED );
|
||||
|
||||
int tmp = number[index1];
|
||||
number[index1] = number[index2];
|
||||
number[index2] = tmp;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,85 +1,85 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Indexlist.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the Indexlist class designed
|
||||
* to manage index lists of constraints and bounds within a QProblem_SubjectTo.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t N u m b e r
|
||||
*/
|
||||
inline int Indexlist::getNumber( int physicalindex ) const
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( physicalindex < 0 ) || ( physicalindex > length ) )
|
||||
return -RET_INDEXLIST_OUTOFBOUNDS;
|
||||
|
||||
return number[physicalindex];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L e n g t h
|
||||
*/
|
||||
inline int Indexlist::getLength( )
|
||||
{
|
||||
return length;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L a s t N u m b e r
|
||||
*/
|
||||
inline int Indexlist::getLastNumber( ) const
|
||||
{
|
||||
return number[last];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L a s t N u m b e r
|
||||
*/
|
||||
inline BooleanType Indexlist::isMember( int _number ) const
|
||||
{
|
||||
if ( getIndex( _number ) >= 0 )
|
||||
return BT_TRUE;
|
||||
else
|
||||
return BT_FALSE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Indexlist.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the Indexlist class designed
|
||||
* to manage index lists of constraints and bounds within a QProblem_SubjectTo.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t N u m b e r
|
||||
*/
|
||||
inline int Indexlist::getNumber( int physicalindex ) const
|
||||
{
|
||||
/* consistency check */
|
||||
if ( ( physicalindex < 0 ) || ( physicalindex > length ) )
|
||||
return -RET_INDEXLIST_OUTOFBOUNDS;
|
||||
|
||||
return number[physicalindex];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L e n g t h
|
||||
*/
|
||||
inline int Indexlist::getLength( )
|
||||
{
|
||||
return length;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L a s t N u m b e r
|
||||
*/
|
||||
inline int Indexlist::getLastNumber( ) const
|
||||
{
|
||||
return number[last];
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L a s t N u m b e r
|
||||
*/
|
||||
inline BooleanType Indexlist::isMember( int _number ) const
|
||||
{
|
||||
if ( getIndex( _number ) >= 0 )
|
||||
return BT_TRUE;
|
||||
else
|
||||
return BT_FALSE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,137 +1,137 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/MessageHandling.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the MessageHandling class.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t E r r o r V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline VisibilityStatus MessageHandling::getErrorVisibilityStatus( ) const
|
||||
{
|
||||
return errorVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t W a r n i n g V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline VisibilityStatus MessageHandling::getWarningVisibilityStatus( ) const
|
||||
{
|
||||
return warningVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t I n f o V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline VisibilityStatus MessageHandling::getInfoVisibilityStatus( ) const
|
||||
{
|
||||
return infoVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t O u t p u t F i l e
|
||||
*/
|
||||
inline myFILE* MessageHandling::getOutputFile( ) const
|
||||
{
|
||||
return outputFile;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t E r r o r C o u n t
|
||||
*/
|
||||
inline int MessageHandling::getErrorCount( ) const
|
||||
{
|
||||
return errorCount;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t E r r o r V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline void MessageHandling::setErrorVisibilityStatus( VisibilityStatus _errorVisibility )
|
||||
{
|
||||
errorVisibility = _errorVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t W a r n i n g V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline void MessageHandling::setWarningVisibilityStatus( VisibilityStatus _warningVisibility )
|
||||
{
|
||||
warningVisibility = _warningVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t I n f o V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline void MessageHandling::setInfoVisibilityStatus( VisibilityStatus _infoVisibility )
|
||||
{
|
||||
infoVisibility = _infoVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t O u t p u t F i l e
|
||||
*/
|
||||
inline void MessageHandling::setOutputFile( myFILE* _outputFile )
|
||||
{
|
||||
outputFile = _outputFile;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t E r r o r C o u n t
|
||||
*/
|
||||
inline returnValue MessageHandling::setErrorCount( int _errorCount )
|
||||
{
|
||||
if ( _errorCount >= 0 )
|
||||
{
|
||||
errorCount = _errorCount;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return RET_INVALID_ARGUMENTS;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/MessageHandling.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the MessageHandling class.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t E r r o r V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline VisibilityStatus MessageHandling::getErrorVisibilityStatus( ) const
|
||||
{
|
||||
return errorVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t W a r n i n g V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline VisibilityStatus MessageHandling::getWarningVisibilityStatus( ) const
|
||||
{
|
||||
return warningVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t I n f o V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline VisibilityStatus MessageHandling::getInfoVisibilityStatus( ) const
|
||||
{
|
||||
return infoVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t O u t p u t F i l e
|
||||
*/
|
||||
inline myFILE* MessageHandling::getOutputFile( ) const
|
||||
{
|
||||
return outputFile;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t E r r o r C o u n t
|
||||
*/
|
||||
inline int MessageHandling::getErrorCount( ) const
|
||||
{
|
||||
return errorCount;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t E r r o r V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline void MessageHandling::setErrorVisibilityStatus( VisibilityStatus _errorVisibility )
|
||||
{
|
||||
errorVisibility = _errorVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t W a r n i n g V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline void MessageHandling::setWarningVisibilityStatus( VisibilityStatus _warningVisibility )
|
||||
{
|
||||
warningVisibility = _warningVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t I n f o V i s i b i l i t y S t a t u s
|
||||
*/
|
||||
inline void MessageHandling::setInfoVisibilityStatus( VisibilityStatus _infoVisibility )
|
||||
{
|
||||
infoVisibility = _infoVisibility;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t O u t p u t F i l e
|
||||
*/
|
||||
inline void MessageHandling::setOutputFile( myFILE* _outputFile )
|
||||
{
|
||||
outputFile = _outputFile;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t E r r o r C o u n t
|
||||
*/
|
||||
inline returnValue MessageHandling::setErrorCount( int _errorCount )
|
||||
{
|
||||
if ( _errorCount >= 0 )
|
||||
{
|
||||
errorCount = _errorCount;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return RET_INVALID_ARGUMENTS;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,299 +1,299 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/QProblem.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the QProblem class which
|
||||
* is able to use the newly developed online active set strategy for
|
||||
* parametric quadratic programming.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t A
|
||||
*/
|
||||
inline returnValue QProblem::getA( real_t* const _A ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( )*getNC( ); ++i )
|
||||
_A[i] = A[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t A
|
||||
*/
|
||||
inline returnValue QProblem::getA( int number, real_t* const row ) const
|
||||
{
|
||||
int nV = getNV( );
|
||||
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
for ( int i=0; i<nV; ++i )
|
||||
row[i] = A[number*NVMAX + i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::getLBA( real_t* const _lbA ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNC( ); ++i )
|
||||
_lbA[i] = lbA[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::getLBA( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
value = lbA[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::getUBA( real_t* const _ubA ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNC( ); ++i )
|
||||
_ubA[i] = ubA[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::getUBA( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
value = ubA[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t C o n s t r a i n t s
|
||||
*/
|
||||
inline returnValue QProblem::getConstraints( Constraints* const _constraints ) const
|
||||
{
|
||||
*_constraints = constraints;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* g e t N C
|
||||
*/
|
||||
inline int QProblem::getNC( ) const
|
||||
{
|
||||
return constraints.getNC( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N E C
|
||||
*/
|
||||
inline int QProblem::getNEC( ) const
|
||||
{
|
||||
return constraints.getNEC( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N A C
|
||||
*/
|
||||
inline int QProblem::getNAC( )
|
||||
{
|
||||
return constraints.getNAC( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N I A C
|
||||
*/
|
||||
inline int QProblem::getNIAC( )
|
||||
{
|
||||
return constraints.getNIAC( );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P R O T E C T E D *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* s e t A
|
||||
*/
|
||||
inline returnValue QProblem::setA( const real_t* const A_new )
|
||||
{
|
||||
int i, j;
|
||||
int nV = getNV( );
|
||||
int nC = getNC( );
|
||||
|
||||
/* Set constraint matrix AND update member AX. */
|
||||
for( j=0; j<nC; ++j )
|
||||
{
|
||||
Ax[j] = 0.0;
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
A[j*NVMAX + i] = A_new[j*nV + i];
|
||||
Ax[j] += A[j*NVMAX + i] * x[i];
|
||||
}
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t A
|
||||
*/
|
||||
inline returnValue QProblem::setA( int number, const real_t* const row )
|
||||
{
|
||||
int i;
|
||||
int nV = getNV( );
|
||||
|
||||
/* Set constraint matrix AND update member AX. */
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
Ax[number] = 0.0;
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
A[number*NVMAX + i] = row[i];
|
||||
Ax[number] += A[number*NVMAX + i] * x[i];
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::setLBA( const real_t* const lbA_new )
|
||||
{
|
||||
int i;
|
||||
int nC = getNC();
|
||||
|
||||
for( i=0; i<nC; ++i )
|
||||
lbA[i] = lbA_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::setLBA( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
lbA[number] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::setUBA( const real_t* const ubA_new )
|
||||
{
|
||||
int i;
|
||||
int nC = getNC();
|
||||
|
||||
for( i=0; i<nC; ++i )
|
||||
ubA[i] = ubA_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::setUBA( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
ubA[number] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/QProblem.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the QProblem class which
|
||||
* is able to use the newly developed online active set strategy for
|
||||
* parametric quadratic programming.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t A
|
||||
*/
|
||||
inline returnValue QProblem::getA( real_t* const _A ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( )*getNC( ); ++i )
|
||||
_A[i] = A[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t A
|
||||
*/
|
||||
inline returnValue QProblem::getA( int number, real_t* const row ) const
|
||||
{
|
||||
int nV = getNV( );
|
||||
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
for ( int i=0; i<nV; ++i )
|
||||
row[i] = A[number*NVMAX + i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::getLBA( real_t* const _lbA ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNC( ); ++i )
|
||||
_lbA[i] = lbA[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::getLBA( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
value = lbA[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::getUBA( real_t* const _ubA ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNC( ); ++i )
|
||||
_ubA[i] = ubA[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::getUBA( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
value = ubA[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t C o n s t r a i n t s
|
||||
*/
|
||||
inline returnValue QProblem::getConstraints( Constraints* const _constraints ) const
|
||||
{
|
||||
*_constraints = constraints;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* g e t N C
|
||||
*/
|
||||
inline int QProblem::getNC( ) const
|
||||
{
|
||||
return constraints.getNC( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N E C
|
||||
*/
|
||||
inline int QProblem::getNEC( ) const
|
||||
{
|
||||
return constraints.getNEC( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N A C
|
||||
*/
|
||||
inline int QProblem::getNAC( )
|
||||
{
|
||||
return constraints.getNAC( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N I A C
|
||||
*/
|
||||
inline int QProblem::getNIAC( )
|
||||
{
|
||||
return constraints.getNIAC( );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P R O T E C T E D *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* s e t A
|
||||
*/
|
||||
inline returnValue QProblem::setA( const real_t* const A_new )
|
||||
{
|
||||
int i, j;
|
||||
int nV = getNV( );
|
||||
int nC = getNC( );
|
||||
|
||||
/* Set constraint matrix AND update member AX. */
|
||||
for( j=0; j<nC; ++j )
|
||||
{
|
||||
Ax[j] = 0.0;
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
A[j*NVMAX + i] = A_new[j*nV + i];
|
||||
Ax[j] += A[j*NVMAX + i] * x[i];
|
||||
}
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t A
|
||||
*/
|
||||
inline returnValue QProblem::setA( int number, const real_t* const row )
|
||||
{
|
||||
int i;
|
||||
int nV = getNV( );
|
||||
|
||||
/* Set constraint matrix AND update member AX. */
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
Ax[number] = 0.0;
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
{
|
||||
A[number*NVMAX + i] = row[i];
|
||||
Ax[number] += A[number*NVMAX + i] * x[i];
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::setLBA( const real_t* const lbA_new )
|
||||
{
|
||||
int i;
|
||||
int nC = getNC();
|
||||
|
||||
for( i=0; i<nC; ++i )
|
||||
lbA[i] = lbA_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B A
|
||||
*/
|
||||
inline returnValue QProblem::setLBA( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
lbA[number] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::setUBA( const real_t* const ubA_new )
|
||||
{
|
||||
int i;
|
||||
int nC = getNC();
|
||||
|
||||
for( i=0; i<nC; ++i )
|
||||
ubA[i] = ubA_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B A
|
||||
*/
|
||||
inline returnValue QProblem::setUBA( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNC( ) ) )
|
||||
{
|
||||
ubA[number] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,425 +1,425 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/QProblemB.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the QProblemB class which
|
||||
* is able to use the newly developed online active set strategy for
|
||||
* parametric quadratic programming.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include <math.h>
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t H
|
||||
*/
|
||||
inline returnValue QProblemB::getH( real_t* const _H ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( )*getNV( ); ++i )
|
||||
_H[i] = H[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t G
|
||||
*/
|
||||
inline returnValue QProblemB::getG( real_t* const _g ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( ); ++i )
|
||||
_g[i] = g[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::getLB( real_t* const _lb ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( ); ++i )
|
||||
_lb[i] = lb[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::getLB( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
value = lb[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::getUB( real_t* const _ub ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( ); ++i )
|
||||
_ub[i] = ub[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::getUB( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
value = ub[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t B o u n d s
|
||||
*/
|
||||
inline returnValue QProblemB::getBounds( Bounds* const _bounds ) const
|
||||
{
|
||||
*_bounds = bounds;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N V
|
||||
*/
|
||||
inline int QProblemB::getNV( ) const
|
||||
{
|
||||
return bounds.getNV( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F R
|
||||
*/
|
||||
inline int QProblemB::getNFR( )
|
||||
{
|
||||
return bounds.getNFR( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F X
|
||||
*/
|
||||
inline int QProblemB::getNFX( )
|
||||
{
|
||||
return bounds.getNFX( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F V
|
||||
*/
|
||||
inline int QProblemB::getNFV( ) const
|
||||
{
|
||||
return bounds.getNFV( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t S t a t u s
|
||||
*/
|
||||
inline QProblemStatus QProblemB::getStatus( ) const
|
||||
{
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s I n i t i a l i s e d
|
||||
*/
|
||||
inline BooleanType QProblemB::isInitialised( ) const
|
||||
{
|
||||
if ( status == QPS_NOTINITIALISED )
|
||||
return BT_FALSE;
|
||||
else
|
||||
return BT_TRUE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s S o l v e d
|
||||
*/
|
||||
inline BooleanType QProblemB::isSolved( ) const
|
||||
{
|
||||
if ( status == QPS_SOLVED )
|
||||
return BT_TRUE;
|
||||
else
|
||||
return BT_FALSE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s I n f e a s i b l e
|
||||
*/
|
||||
inline BooleanType QProblemB::isInfeasible( ) const
|
||||
{
|
||||
return infeasible;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s U n b o u n d e d
|
||||
*/
|
||||
inline BooleanType QProblemB::isUnbounded( ) const
|
||||
{
|
||||
return unbounded;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t P r i n t L e v e l
|
||||
*/
|
||||
inline PrintLevel QProblemB::getPrintLevel( ) const
|
||||
{
|
||||
return printlevel;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t H e s s i a n T y p e
|
||||
*/
|
||||
inline HessianType QProblemB::getHessianType( ) const
|
||||
{
|
||||
return hessianType;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t H e s s i a n T y p e
|
||||
*/
|
||||
inline returnValue QProblemB::setHessianType( HessianType _hessianType )
|
||||
{
|
||||
hessianType = _hessianType;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P R O T E C T E D *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* s e t H
|
||||
*/
|
||||
inline returnValue QProblemB::setH( const real_t* const H_new )
|
||||
{
|
||||
int i, j;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
for( j=0; j<nV; ++j )
|
||||
H[i*NVMAX + j] = H_new[i*nV + j];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t G
|
||||
*/
|
||||
inline returnValue QProblemB::setG( const real_t* const g_new )
|
||||
{
|
||||
int i;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
g[i] = g_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::setLB( const real_t* const lb_new )
|
||||
{
|
||||
int i;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
lb[i] = lb_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::setLB( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
lb[number] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::setUB( const real_t* const ub_new )
|
||||
{
|
||||
int i;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
ub[i] = ub_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::setUB( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
ub[number] = value;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* c o m p u t e G i v e n s
|
||||
*/
|
||||
inline void QProblemB::computeGivens( real_t xold, real_t yold, real_t& xnew, real_t& ynew,
|
||||
real_t& c, real_t& s
|
||||
) const
|
||||
{
|
||||
if ( getAbs( yold ) <= ZERO )
|
||||
{
|
||||
c = 1.0;
|
||||
s = 0.0;
|
||||
|
||||
xnew = xold;
|
||||
ynew = yold;
|
||||
}
|
||||
else
|
||||
{
|
||||
real_t t, mu;
|
||||
|
||||
mu = getAbs( xold );
|
||||
if ( getAbs( yold ) > mu )
|
||||
mu = getAbs( yold );
|
||||
|
||||
t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
|
||||
|
||||
if ( xold < 0.0 )
|
||||
t = -t;
|
||||
|
||||
c = xold/t;
|
||||
s = yold/t;
|
||||
xnew = t;
|
||||
ynew = 0.0;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* a p p l y G i v e n s
|
||||
*/
|
||||
inline void QProblemB::applyGivens( real_t c, real_t s, real_t xold, real_t yold,
|
||||
real_t& xnew, real_t& ynew
|
||||
) const
|
||||
{
|
||||
/* Usual Givens plane rotation requiring four multiplications. */
|
||||
xnew = c*xold + s*yold;
|
||||
ynew = -s*xold + c*yold;
|
||||
// double nu = s/(1.0+c);
|
||||
//
|
||||
// xnew = xold*c + yold*s;
|
||||
// ynew = (xnew+xold)*nu - yold;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/QProblemB.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of inlined member functions of the QProblemB class which
|
||||
* is able to use the newly developed online active set strategy for
|
||||
* parametric quadratic programming.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include <math.h>
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* g e t H
|
||||
*/
|
||||
inline returnValue QProblemB::getH( real_t* const _H ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( )*getNV( ); ++i )
|
||||
_H[i] = H[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t G
|
||||
*/
|
||||
inline returnValue QProblemB::getG( real_t* const _g ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( ); ++i )
|
||||
_g[i] = g[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::getLB( real_t* const _lb ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( ); ++i )
|
||||
_lb[i] = lb[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::getLB( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
value = lb[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::getUB( real_t* const _ub ) const
|
||||
{
|
||||
int i;
|
||||
|
||||
for ( i=0; i<getNV( ); ++i )
|
||||
_ub[i] = ub[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::getUB( int number, real_t& value ) const
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
value = ub[number];
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t B o u n d s
|
||||
*/
|
||||
inline returnValue QProblemB::getBounds( Bounds* const _bounds ) const
|
||||
{
|
||||
*_bounds = bounds;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N V
|
||||
*/
|
||||
inline int QProblemB::getNV( ) const
|
||||
{
|
||||
return bounds.getNV( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F R
|
||||
*/
|
||||
inline int QProblemB::getNFR( )
|
||||
{
|
||||
return bounds.getNFR( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F X
|
||||
*/
|
||||
inline int QProblemB::getNFX( )
|
||||
{
|
||||
return bounds.getNFX( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N F V
|
||||
*/
|
||||
inline int QProblemB::getNFV( ) const
|
||||
{
|
||||
return bounds.getNFV( );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t S t a t u s
|
||||
*/
|
||||
inline QProblemStatus QProblemB::getStatus( ) const
|
||||
{
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s I n i t i a l i s e d
|
||||
*/
|
||||
inline BooleanType QProblemB::isInitialised( ) const
|
||||
{
|
||||
if ( status == QPS_NOTINITIALISED )
|
||||
return BT_FALSE;
|
||||
else
|
||||
return BT_TRUE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s S o l v e d
|
||||
*/
|
||||
inline BooleanType QProblemB::isSolved( ) const
|
||||
{
|
||||
if ( status == QPS_SOLVED )
|
||||
return BT_TRUE;
|
||||
else
|
||||
return BT_FALSE;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s I n f e a s i b l e
|
||||
*/
|
||||
inline BooleanType QProblemB::isInfeasible( ) const
|
||||
{
|
||||
return infeasible;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s U n b o u n d e d
|
||||
*/
|
||||
inline BooleanType QProblemB::isUnbounded( ) const
|
||||
{
|
||||
return unbounded;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t P r i n t L e v e l
|
||||
*/
|
||||
inline PrintLevel QProblemB::getPrintLevel( ) const
|
||||
{
|
||||
return printlevel;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t H e s s i a n T y p e
|
||||
*/
|
||||
inline HessianType QProblemB::getHessianType( ) const
|
||||
{
|
||||
return hessianType;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t H e s s i a n T y p e
|
||||
*/
|
||||
inline returnValue QProblemB::setHessianType( HessianType _hessianType )
|
||||
{
|
||||
hessianType = _hessianType;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P R O T E C T E D *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* s e t H
|
||||
*/
|
||||
inline returnValue QProblemB::setH( const real_t* const H_new )
|
||||
{
|
||||
int i, j;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
for( j=0; j<nV; ++j )
|
||||
H[i*NVMAX + j] = H_new[i*nV + j];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t G
|
||||
*/
|
||||
inline returnValue QProblemB::setG( const real_t* const g_new )
|
||||
{
|
||||
int i;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
g[i] = g_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::setLB( const real_t* const lb_new )
|
||||
{
|
||||
int i;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
lb[i] = lb_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t L B
|
||||
*/
|
||||
inline returnValue QProblemB::setLB( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
lb[number] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::setUB( const real_t* const ub_new )
|
||||
{
|
||||
int i;
|
||||
|
||||
int nV = getNV();
|
||||
|
||||
for( i=0; i<nV; ++i )
|
||||
ub[i] = ub_new[i];
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t U B
|
||||
*/
|
||||
inline returnValue QProblemB::setUB( int number, real_t value )
|
||||
{
|
||||
if ( ( number >= 0 ) && ( number < getNV( ) ) )
|
||||
{
|
||||
ub[number] = value;
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
{
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* c o m p u t e G i v e n s
|
||||
*/
|
||||
inline void QProblemB::computeGivens( real_t xold, real_t yold, real_t& xnew, real_t& ynew,
|
||||
real_t& c, real_t& s
|
||||
) const
|
||||
{
|
||||
if ( getAbs( yold ) <= ZERO )
|
||||
{
|
||||
c = 1.0;
|
||||
s = 0.0;
|
||||
|
||||
xnew = xold;
|
||||
ynew = yold;
|
||||
}
|
||||
else
|
||||
{
|
||||
real_t t, mu;
|
||||
|
||||
mu = getAbs( xold );
|
||||
if ( getAbs( yold ) > mu )
|
||||
mu = getAbs( yold );
|
||||
|
||||
t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
|
||||
|
||||
if ( xold < 0.0 )
|
||||
t = -t;
|
||||
|
||||
c = xold/t;
|
||||
s = yold/t;
|
||||
xnew = t;
|
||||
ynew = 0.0;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* a p p l y G i v e n s
|
||||
*/
|
||||
inline void QProblemB::applyGivens( real_t c, real_t s, real_t xold, real_t yold,
|
||||
real_t& xnew, real_t& ynew
|
||||
) const
|
||||
{
|
||||
/* Usual Givens plane rotation requiring four multiplications. */
|
||||
xnew = c*xold + s*yold;
|
||||
ynew = -s*xold + c*yold;
|
||||
// double nu = s/(1.0+c);
|
||||
//
|
||||
// xnew = xold*c + yold*s;
|
||||
// ynew = (xnew+xold)*nu - yold;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,200 +1,200 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/SubjectTo.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the SubjectTo class designed to manage working sets of
|
||||
* constraints and bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#include <SubjectTo.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* S u b j e c t T o
|
||||
*/
|
||||
SubjectTo::SubjectTo( ) : noLower( BT_TRUE ),
|
||||
noUpper( BT_TRUE ),
|
||||
size( 0 )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = ST_UNKNOWN;
|
||||
status[i] = ST_UNDEFINED;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* S u b j e c t T o
|
||||
*/
|
||||
SubjectTo::SubjectTo( const SubjectTo& rhs ) : noLower( rhs.noLower ),
|
||||
noUpper( rhs.noUpper ),
|
||||
size( rhs.size )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = rhs.type[i];
|
||||
status[i] = rhs.status[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ S u b j e c t T o
|
||||
*/
|
||||
SubjectTo::~SubjectTo( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( this != &rhs )
|
||||
{
|
||||
size = rhs.size;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = rhs.type[i];
|
||||
status[i] = rhs.status[i];
|
||||
}
|
||||
|
||||
noLower = rhs.noLower;
|
||||
noUpper = rhs.noUpper;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue SubjectTo::init( int n )
|
||||
{
|
||||
int i;
|
||||
|
||||
size = n;
|
||||
|
||||
noLower = BT_TRUE;
|
||||
noUpper = BT_TRUE;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = ST_UNKNOWN;
|
||||
status[i] = ST_UNDEFINED;
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P R O T E C T E D *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* a d d I n d e x
|
||||
*/
|
||||
returnValue SubjectTo::addIndex( Indexlist* const indexlist,
|
||||
int newnumber, SubjectToStatus newstatus
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( status[newnumber] == newstatus )
|
||||
return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );
|
||||
|
||||
status[newnumber] = newstatus;
|
||||
|
||||
if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
|
||||
return THROWERROR( RET_ADDINDEX_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e m o v e I n d e x
|
||||
*/
|
||||
returnValue SubjectTo::removeIndex( Indexlist* const indexlist,
|
||||
int removenumber
|
||||
)
|
||||
{
|
||||
status[removenumber] = ST_UNDEFINED;
|
||||
|
||||
if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_UNKNOWN_BUG );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s w a p I n d e x
|
||||
*/
|
||||
returnValue SubjectTo::swapIndex( Indexlist* const indexlist,
|
||||
int number1, int number2
|
||||
)
|
||||
{
|
||||
/* consistency checks */
|
||||
if ( status[number1] != status[number2] )
|
||||
return THROWERROR( RET_SWAPINDEX_FAILED );
|
||||
|
||||
if ( number1 == number2 )
|
||||
{
|
||||
THROWWARNING( RET_NOTHING_TO_DO );
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SWAPINDEX_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/SubjectTo.cpp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the SubjectTo class designed to manage working sets of
|
||||
* constraints and bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
#include <SubjectTo.hpp>
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* S u b j e c t T o
|
||||
*/
|
||||
SubjectTo::SubjectTo( ) : noLower( BT_TRUE ),
|
||||
noUpper( BT_TRUE ),
|
||||
size( 0 )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = ST_UNKNOWN;
|
||||
status[i] = ST_UNDEFINED;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* S u b j e c t T o
|
||||
*/
|
||||
SubjectTo::SubjectTo( const SubjectTo& rhs ) : noLower( rhs.noLower ),
|
||||
noUpper( rhs.noUpper ),
|
||||
size( rhs.size )
|
||||
{
|
||||
int i;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = rhs.type[i];
|
||||
status[i] = rhs.status[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* ~ S u b j e c t T o
|
||||
*/
|
||||
SubjectTo::~SubjectTo( )
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* o p e r a t o r =
|
||||
*/
|
||||
SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
|
||||
{
|
||||
int i;
|
||||
|
||||
if ( this != &rhs )
|
||||
{
|
||||
size = rhs.size;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = rhs.type[i];
|
||||
status[i] = rhs.status[i];
|
||||
}
|
||||
|
||||
noLower = rhs.noLower;
|
||||
noUpper = rhs.noUpper;
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* i n i t
|
||||
*/
|
||||
returnValue SubjectTo::init( int n )
|
||||
{
|
||||
int i;
|
||||
|
||||
size = n;
|
||||
|
||||
noLower = BT_TRUE;
|
||||
noUpper = BT_TRUE;
|
||||
|
||||
for( i=0; i<size; ++i )
|
||||
{
|
||||
type[i] = ST_UNKNOWN;
|
||||
status[i] = ST_UNDEFINED;
|
||||
}
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P R O T E C T E D *
|
||||
*****************************************************************************/
|
||||
|
||||
/*
|
||||
* a d d I n d e x
|
||||
*/
|
||||
returnValue SubjectTo::addIndex( Indexlist* const indexlist,
|
||||
int newnumber, SubjectToStatus newstatus
|
||||
)
|
||||
{
|
||||
/* consistency check */
|
||||
if ( status[newnumber] == newstatus )
|
||||
return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );
|
||||
|
||||
status[newnumber] = newstatus;
|
||||
|
||||
if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
|
||||
return THROWERROR( RET_ADDINDEX_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e m o v e I n d e x
|
||||
*/
|
||||
returnValue SubjectTo::removeIndex( Indexlist* const indexlist,
|
||||
int removenumber
|
||||
)
|
||||
{
|
||||
status[removenumber] = ST_UNDEFINED;
|
||||
|
||||
if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_UNKNOWN_BUG );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s w a p I n d e x
|
||||
*/
|
||||
returnValue SubjectTo::swapIndex( Indexlist* const indexlist,
|
||||
int number1, int number2
|
||||
)
|
||||
{
|
||||
/* consistency checks */
|
||||
if ( status[number1] != status[number2] )
|
||||
return THROWERROR( RET_SWAPINDEX_FAILED );
|
||||
|
||||
if ( number1 == number2 )
|
||||
{
|
||||
THROWWARNING( RET_NOTHING_TO_DO );
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
|
||||
return THROWERROR( RET_SWAPINDEX_FAILED );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,132 +1,132 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/SubjectTo.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the inlined member functions of the SubjectTo class
|
||||
* designed to manage working sets of constraints and bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* g e t T y p e
|
||||
*/
|
||||
inline SubjectToType SubjectTo::getType( int i ) const
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
return type[i];
|
||||
else
|
||||
return ST_UNKNOWN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t S t a t u s
|
||||
*/
|
||||
inline SubjectToStatus SubjectTo::getStatus( int i ) const
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
return status[i];
|
||||
else
|
||||
return ST_UNDEFINED;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t T y p e
|
||||
*/
|
||||
inline returnValue SubjectTo::setType( int i, SubjectToType value )
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
{
|
||||
type[i] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t S t a t u s
|
||||
*/
|
||||
inline returnValue SubjectTo::setStatus( int i, SubjectToStatus value )
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
{
|
||||
status[i] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N o L o w e r
|
||||
*/
|
||||
inline void SubjectTo::setNoLower( BooleanType _status )
|
||||
{
|
||||
noLower = _status;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N o U p p e r
|
||||
*/
|
||||
inline void SubjectTo::setNoUpper( BooleanType _status )
|
||||
{
|
||||
noUpper = _status;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s N o L o w e r
|
||||
*/
|
||||
inline BooleanType SubjectTo::isNoLower( ) const
|
||||
{
|
||||
return noLower;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s N o L o w e r
|
||||
*/
|
||||
inline BooleanType SubjectTo::isNoUpper( ) const
|
||||
{
|
||||
return noUpper;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/SubjectTo.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of the inlined member functions of the SubjectTo class
|
||||
* designed to manage working sets of constraints and bounds within a QProblem.
|
||||
*/
|
||||
|
||||
|
||||
/*****************************************************************************
|
||||
* P U B L I C *
|
||||
*****************************************************************************/
|
||||
|
||||
|
||||
/*
|
||||
* g e t T y p e
|
||||
*/
|
||||
inline SubjectToType SubjectTo::getType( int i ) const
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
return type[i];
|
||||
else
|
||||
return ST_UNKNOWN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t S t a t u s
|
||||
*/
|
||||
inline SubjectToStatus SubjectTo::getStatus( int i ) const
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
return status[i];
|
||||
else
|
||||
return ST_UNDEFINED;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t T y p e
|
||||
*/
|
||||
inline returnValue SubjectTo::setType( int i, SubjectToType value )
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
{
|
||||
type[i] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t S t a t u s
|
||||
*/
|
||||
inline returnValue SubjectTo::setStatus( int i, SubjectToStatus value )
|
||||
{
|
||||
if ( ( i >= 0 ) && ( i < size ) )
|
||||
{
|
||||
status[i] = value;
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
else
|
||||
return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N o L o w e r
|
||||
*/
|
||||
inline void SubjectTo::setNoLower( BooleanType _status )
|
||||
{
|
||||
noLower = _status;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* s e t N o U p p e r
|
||||
*/
|
||||
inline void SubjectTo::setNoUpper( BooleanType _status )
|
||||
{
|
||||
noUpper = _status;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s N o L o w e r
|
||||
*/
|
||||
inline BooleanType SubjectTo::isNoLower( ) const
|
||||
{
|
||||
return noLower;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* i s N o L o w e r
|
||||
*/
|
||||
inline BooleanType SubjectTo::isNoUpper( ) const
|
||||
{
|
||||
return noUpper;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,471 +1,471 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Utils.cpp
|
||||
* \author Hans Joachim Ferreau, Eckhard Arnold
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of some inlined utilities for working with the different QProblem
|
||||
* classes.
|
||||
*/
|
||||
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#if defined(__WIN32__) || defined(WIN32)
|
||||
#include <windows.h>
|
||||
#elif defined(LINUX)
|
||||
#include <sys/stat.h>
|
||||
#include <sys/time.h>
|
||||
#endif
|
||||
|
||||
#ifdef __MATLAB__
|
||||
#include <mex.h>
|
||||
#endif
|
||||
|
||||
|
||||
#include <Utils.hpp>
|
||||
|
||||
|
||||
|
||||
#ifdef PC_DEBUG /* Define print functions only for debugging! */
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const v, int n )
|
||||
{
|
||||
int i;
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print a vector. */
|
||||
myPrintf( "[\t" );
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
sprintf( myPrintfString," %.16e\t", v[i] );
|
||||
myPrintf( myPrintfString );
|
||||
}
|
||||
myPrintf( "]\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const v, int n,
|
||||
const int* const V_idx
|
||||
)
|
||||
{
|
||||
int i;
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print a permuted vector. */
|
||||
myPrintf( "[\t" );
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
sprintf( myPrintfString," %.16e\t", v[ V_idx[i] ] );
|
||||
myPrintf( myPrintfString );
|
||||
}
|
||||
myPrintf( "]\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const v, int n,
|
||||
const char* name
|
||||
)
|
||||
{
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print vector name ... */
|
||||
sprintf( myPrintfString,"%s = ", name );
|
||||
myPrintf( myPrintfString );
|
||||
|
||||
/* ... and the vector itself. */
|
||||
return print( v, n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const M, int nrow, int ncol )
|
||||
{
|
||||
int i;
|
||||
|
||||
/* Print a matrix as a collection of row vectors. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
print( &(M[i*ncol]), ncol );
|
||||
myPrintf( "\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const M, int nrow, int ncol,
|
||||
const int* const ROW_idx, const int* const COL_idx
|
||||
)
|
||||
{
|
||||
int i;
|
||||
|
||||
/* Print a permuted matrix as a collection of permuted row vectors. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
print( &( M[ ROW_idx[i]*ncol ] ), ncol, COL_idx );
|
||||
myPrintf( "\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const M, int nrow, int ncol,
|
||||
const char* name
|
||||
)
|
||||
{
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print matrix name ... */
|
||||
sprintf( myPrintfString,"%s = ", name );
|
||||
myPrintf( myPrintfString );
|
||||
|
||||
/* ... and the matrix itself. */
|
||||
return print( M, nrow, ncol );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const int* const index, int n )
|
||||
{
|
||||
int i;
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print a indexlist. */
|
||||
myPrintf( "[\t" );
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
sprintf( myPrintfString," %d\t", index[i] );
|
||||
myPrintf( myPrintfString );
|
||||
}
|
||||
myPrintf( "]\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const int* const index, int n,
|
||||
const char* name
|
||||
)
|
||||
{
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print indexlist name ... */
|
||||
sprintf( myPrintfString,"%s = ", name );
|
||||
myPrintf( myPrintfString );
|
||||
|
||||
/* ... and the indexlist itself. */
|
||||
return print( index, n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m y P r i n t f
|
||||
*/
|
||||
returnValue myPrintf( const char* s )
|
||||
{
|
||||
#ifdef __MATLAB__
|
||||
mexPrintf( s );
|
||||
#else
|
||||
myFILE* outputfile = getGlobalMessageHandler( )->getOutputFile( );
|
||||
if ( outputfile == 0 )
|
||||
return THROWERROR( RET_NO_GLOBAL_MESSAGE_OUTPUTFILE );
|
||||
|
||||
fprintf( outputfile, "%s", s );
|
||||
#endif
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t C o p y r i g h t N o t i c e
|
||||
*/
|
||||
returnValue printCopyrightNotice( )
|
||||
{
|
||||
return myPrintf( "\nqpOASES -- An Implementation of the Online Active Set Strategy.\nCopyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.\n\nqpOASES is distributed under the terms of the \nGNU Lesser General Public License 2.1 in the hope that it will be \nuseful, but WITHOUT ANY WARRANTY; without even the implied warranty \nof MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \nSee the GNU Lesser General Public License for more details.\n\n" );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e a d F r o m F i l e
|
||||
*/
|
||||
returnValue readFromFile( real_t* data, int nrow, int ncol,
|
||||
const char* datafilename
|
||||
)
|
||||
{
|
||||
int i, j;
|
||||
float float_data;
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
|
||||
/* 2) Read data from file. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
{
|
||||
for( j=0; j<ncol; ++j )
|
||||
{
|
||||
if ( fscanf( datafile, "%f ", &float_data ) == 0 )
|
||||
{
|
||||
fclose( datafile );
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
data[i*ncol + j] = ( (real_t) float_data );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e a d F r o m F i l e
|
||||
*/
|
||||
returnValue readFromFile( real_t* data, int n,
|
||||
const char* datafilename
|
||||
)
|
||||
{
|
||||
return readFromFile( data, n, 1, datafilename );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* r e a d F r o m F i l e
|
||||
*/
|
||||
returnValue readFromFile( int* data, int n,
|
||||
const char* datafilename
|
||||
)
|
||||
{
|
||||
int i;
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
|
||||
/* 2) Read data from file. */
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
if ( fscanf( datafile, "%d\n", &(data[i]) ) == 0 )
|
||||
{
|
||||
fclose( datafile );
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* w r i t e I n t o F i l e
|
||||
*/
|
||||
returnValue writeIntoFile( const real_t* const data, int nrow, int ncol,
|
||||
const char* datafilename, BooleanType append
|
||||
)
|
||||
{
|
||||
int i, j;
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( append == BT_TRUE )
|
||||
{
|
||||
/* append data */
|
||||
if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* do not append data */
|
||||
if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Write data into file. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
{
|
||||
for( j=0; j<ncol; ++j )
|
||||
fprintf( datafile, "%.16e ", data[i*ncol+j] );
|
||||
|
||||
fprintf( datafile, "\n" );
|
||||
}
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* w r i t e I n t o F i l e
|
||||
*/
|
||||
returnValue writeIntoFile( const real_t* const data, int n,
|
||||
const char* datafilename, BooleanType append
|
||||
)
|
||||
{
|
||||
return writeIntoFile( data,1,n,datafilename,append );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* w r i t e I n t o F i l e
|
||||
*/
|
||||
returnValue writeIntoFile( const int* const data, int n,
|
||||
const char* datafilename, BooleanType append
|
||||
)
|
||||
{
|
||||
int i;
|
||||
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( append == BT_TRUE )
|
||||
{
|
||||
/* append data */
|
||||
if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* do not append data */
|
||||
if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Write data into file. */
|
||||
for( i=0; i<n; ++i )
|
||||
fprintf( datafile, "%d\n", data[i] );
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
#endif /* PC_DEBUG */
|
||||
|
||||
|
||||
/*
|
||||
* g e t C P U t i m e
|
||||
*/
|
||||
real_t getCPUtime( )
|
||||
{
|
||||
real_t current_time = -1.0;
|
||||
|
||||
#if defined(__WIN32__) || defined(WIN32)
|
||||
LARGE_INTEGER counter, frequency;
|
||||
QueryPerformanceFrequency(&frequency);
|
||||
QueryPerformanceCounter(&counter);
|
||||
current_time = ((real_t) counter.QuadPart) / ((real_t) frequency.QuadPart);
|
||||
#elif defined(LINUX)
|
||||
struct timeval theclock;
|
||||
gettimeofday( &theclock,0 );
|
||||
current_time = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;
|
||||
#endif
|
||||
|
||||
return current_time;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N o r m
|
||||
*/
|
||||
real_t getNorm( const real_t* const v, int n )
|
||||
{
|
||||
int i;
|
||||
|
||||
real_t norm = 0.0;
|
||||
|
||||
for( i=0; i<n; ++i )
|
||||
norm += v[i]*v[i];
|
||||
|
||||
return sqrt( norm );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Utils.cpp
|
||||
* \author Hans Joachim Ferreau, Eckhard Arnold
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of some inlined utilities for working with the different QProblem
|
||||
* classes.
|
||||
*/
|
||||
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#if defined(__WIN32__) || defined(WIN32)
|
||||
#include <windows.h>
|
||||
#elif defined(LINUX)
|
||||
#include <sys/stat.h>
|
||||
#include <sys/time.h>
|
||||
#endif
|
||||
|
||||
#ifdef __MATLAB__
|
||||
#include <mex.h>
|
||||
#endif
|
||||
|
||||
|
||||
#include <Utils.hpp>
|
||||
|
||||
|
||||
|
||||
#ifdef PC_DEBUG /* Define print functions only for debugging! */
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const v, int n )
|
||||
{
|
||||
int i;
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print a vector. */
|
||||
myPrintf( "[\t" );
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
sprintf( myPrintfString," %.16e\t", v[i] );
|
||||
myPrintf( myPrintfString );
|
||||
}
|
||||
myPrintf( "]\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const v, int n,
|
||||
const int* const V_idx
|
||||
)
|
||||
{
|
||||
int i;
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print a permuted vector. */
|
||||
myPrintf( "[\t" );
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
sprintf( myPrintfString," %.16e\t", v[ V_idx[i] ] );
|
||||
myPrintf( myPrintfString );
|
||||
}
|
||||
myPrintf( "]\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const v, int n,
|
||||
const char* name
|
||||
)
|
||||
{
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print vector name ... */
|
||||
sprintf( myPrintfString,"%s = ", name );
|
||||
myPrintf( myPrintfString );
|
||||
|
||||
/* ... and the vector itself. */
|
||||
return print( v, n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const M, int nrow, int ncol )
|
||||
{
|
||||
int i;
|
||||
|
||||
/* Print a matrix as a collection of row vectors. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
print( &(M[i*ncol]), ncol );
|
||||
myPrintf( "\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const M, int nrow, int ncol,
|
||||
const int* const ROW_idx, const int* const COL_idx
|
||||
)
|
||||
{
|
||||
int i;
|
||||
|
||||
/* Print a permuted matrix as a collection of permuted row vectors. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
print( &( M[ ROW_idx[i]*ncol ] ), ncol, COL_idx );
|
||||
myPrintf( "\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const real_t* const M, int nrow, int ncol,
|
||||
const char* name
|
||||
)
|
||||
{
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print matrix name ... */
|
||||
sprintf( myPrintfString,"%s = ", name );
|
||||
myPrintf( myPrintfString );
|
||||
|
||||
/* ... and the matrix itself. */
|
||||
return print( M, nrow, ncol );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const int* const index, int n )
|
||||
{
|
||||
int i;
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print a indexlist. */
|
||||
myPrintf( "[\t" );
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
sprintf( myPrintfString," %d\t", index[i] );
|
||||
myPrintf( myPrintfString );
|
||||
}
|
||||
myPrintf( "]\n" );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t
|
||||
*/
|
||||
returnValue print( const int* const index, int n,
|
||||
const char* name
|
||||
)
|
||||
{
|
||||
char myPrintfString[160];
|
||||
|
||||
/* Print indexlist name ... */
|
||||
sprintf( myPrintfString,"%s = ", name );
|
||||
myPrintf( myPrintfString );
|
||||
|
||||
/* ... and the indexlist itself. */
|
||||
return print( index, n );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* m y P r i n t f
|
||||
*/
|
||||
returnValue myPrintf( const char* s )
|
||||
{
|
||||
#ifdef __MATLAB__
|
||||
mexPrintf( s );
|
||||
#else
|
||||
myFILE* outputfile = getGlobalMessageHandler( )->getOutputFile( );
|
||||
if ( outputfile == 0 )
|
||||
return THROWERROR( RET_NO_GLOBAL_MESSAGE_OUTPUTFILE );
|
||||
|
||||
fprintf( outputfile, "%s", s );
|
||||
#endif
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* p r i n t C o p y r i g h t N o t i c e
|
||||
*/
|
||||
returnValue printCopyrightNotice( )
|
||||
{
|
||||
return myPrintf( "\nqpOASES -- An Implementation of the Online Active Set Strategy.\nCopyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.\n\nqpOASES is distributed under the terms of the \nGNU Lesser General Public License 2.1 in the hope that it will be \nuseful, but WITHOUT ANY WARRANTY; without even the implied warranty \nof MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \nSee the GNU Lesser General Public License for more details.\n\n" );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e a d F r o m F i l e
|
||||
*/
|
||||
returnValue readFromFile( real_t* data, int nrow, int ncol,
|
||||
const char* datafilename
|
||||
)
|
||||
{
|
||||
int i, j;
|
||||
float float_data;
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
|
||||
/* 2) Read data from file. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
{
|
||||
for( j=0; j<ncol; ++j )
|
||||
{
|
||||
if ( fscanf( datafile, "%f ", &float_data ) == 0 )
|
||||
{
|
||||
fclose( datafile );
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
data[i*ncol + j] = ( (real_t) float_data );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* r e a d F r o m F i l e
|
||||
*/
|
||||
returnValue readFromFile( real_t* data, int n,
|
||||
const char* datafilename
|
||||
)
|
||||
{
|
||||
return readFromFile( data, n, 1, datafilename );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* r e a d F r o m F i l e
|
||||
*/
|
||||
returnValue readFromFile( int* data, int n,
|
||||
const char* datafilename
|
||||
)
|
||||
{
|
||||
int i;
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
|
||||
/* 2) Read data from file. */
|
||||
for( i=0; i<n; ++i )
|
||||
{
|
||||
if ( fscanf( datafile, "%d\n", &(data[i]) ) == 0 )
|
||||
{
|
||||
fclose( datafile );
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* w r i t e I n t o F i l e
|
||||
*/
|
||||
returnValue writeIntoFile( const real_t* const data, int nrow, int ncol,
|
||||
const char* datafilename, BooleanType append
|
||||
)
|
||||
{
|
||||
int i, j;
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( append == BT_TRUE )
|
||||
{
|
||||
/* append data */
|
||||
if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* do not append data */
|
||||
if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Write data into file. */
|
||||
for( i=0; i<nrow; ++i )
|
||||
{
|
||||
for( j=0; j<ncol; ++j )
|
||||
fprintf( datafile, "%.16e ", data[i*ncol+j] );
|
||||
|
||||
fprintf( datafile, "\n" );
|
||||
}
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* w r i t e I n t o F i l e
|
||||
*/
|
||||
returnValue writeIntoFile( const real_t* const data, int n,
|
||||
const char* datafilename, BooleanType append
|
||||
)
|
||||
{
|
||||
return writeIntoFile( data,1,n,datafilename,append );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* w r i t e I n t o F i l e
|
||||
*/
|
||||
returnValue writeIntoFile( const int* const data, int n,
|
||||
const char* datafilename, BooleanType append
|
||||
)
|
||||
{
|
||||
int i;
|
||||
|
||||
myFILE* datafile;
|
||||
|
||||
/* 1) Open file. */
|
||||
if ( append == BT_TRUE )
|
||||
{
|
||||
/* append data */
|
||||
if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* do not append data */
|
||||
if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
|
||||
{
|
||||
char errstr[80];
|
||||
sprintf( errstr,"(%s)",datafilename );
|
||||
return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
|
||||
}
|
||||
}
|
||||
|
||||
/* 2) Write data into file. */
|
||||
for( i=0; i<n; ++i )
|
||||
fprintf( datafile, "%d\n", data[i] );
|
||||
|
||||
/* 3) Close file. */
|
||||
fclose( datafile );
|
||||
|
||||
return SUCCESSFUL_RETURN;
|
||||
}
|
||||
#endif /* PC_DEBUG */
|
||||
|
||||
|
||||
/*
|
||||
* g e t C P U t i m e
|
||||
*/
|
||||
real_t getCPUtime( )
|
||||
{
|
||||
real_t current_time = -1.0;
|
||||
|
||||
#if defined(__WIN32__) || defined(WIN32)
|
||||
LARGE_INTEGER counter, frequency;
|
||||
QueryPerformanceFrequency(&frequency);
|
||||
QueryPerformanceCounter(&counter);
|
||||
current_time = ((real_t) counter.QuadPart) / ((real_t) frequency.QuadPart);
|
||||
#elif defined(LINUX)
|
||||
struct timeval theclock;
|
||||
gettimeofday( &theclock,0 );
|
||||
current_time = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;
|
||||
#endif
|
||||
|
||||
return current_time;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* g e t N o r m
|
||||
*/
|
||||
real_t getNorm( const real_t* const v, int n )
|
||||
{
|
||||
int i;
|
||||
|
||||
real_t norm = 0.0;
|
||||
|
||||
for( i=0; i<n; ++i )
|
||||
norm += v[i]*v[i];
|
||||
|
||||
return sqrt( norm );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,51 +1,51 @@
|
|||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Utils.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of some inlined utilities for working with the different QProblem
|
||||
* classes.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* g e t A b s
|
||||
*/
|
||||
inline real_t getAbs( real_t x )
|
||||
{
|
||||
if ( x < 0.0 )
|
||||
return -x;
|
||||
else
|
||||
return x;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
/*
|
||||
* This file is part of qpOASES.
|
||||
*
|
||||
* qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
* Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* \file SRC/Utils.ipp
|
||||
* \author Hans Joachim Ferreau
|
||||
* \version 1.3embedded
|
||||
* \date 2007-2008
|
||||
*
|
||||
* Implementation of some inlined utilities for working with the different QProblem
|
||||
* classes.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* g e t A b s
|
||||
*/
|
||||
inline real_t getAbs( real_t x )
|
||||
{
|
||||
if ( x < 0.0 )
|
||||
return -x;
|
||||
else
|
||||
return x;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* end of file
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,87 +1,87 @@
|
|||
##
|
||||
## qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
## Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
##
|
||||
|
||||
|
||||
|
||||
VERSION HISTORY
|
||||
===============
|
||||
|
||||
1.3embedded (last updated on 30th April 2009):
|
||||
-----------------------------------------------------------------------
|
||||
|
||||
+ Re-programming of internal memory management to avoid dynamic memory allocations
|
||||
+ Most #ifdef directives removed
|
||||
+ Almost all type definitions gathered within INCLUDE/Types.hpp
|
||||
+ Irrelevant functionality removed (like the SQProblem class, functionality
|
||||
for loading data from files or the SCILAB interface)
|
||||
+ Replacement of all doubles by real_t
|
||||
+ Introduction of define "PC_DEBUG" for switching off all print functions
|
||||
+ stdio.h was made optional, string.h is no longer needed
|
||||
+ relative paths removed from #include directives
|
||||
+ made auxiliary objects locally static within solveInitialQP()
|
||||
+ Matlab interface fixed for single precision
|
||||
+ New return value -2 from Legacy wrapper added to Matlab/Simulink interfaces
|
||||
+ KKT optimality check moved into QProblem(B) class, SolutionAnalysis class removed
|
||||
|
||||
|
||||
1.3 (released on 2nd June 2008, last updated on 19th June 2008):
|
||||
-----------------------------------------------------------------------
|
||||
|
||||
+ Implementation of "initialised homotopy" concept
|
||||
+ Addition of the SolutionAnalysis class
|
||||
+ Utility functions for solving test problems in OQP format added
|
||||
+ Flexibility of Matlab(R) interface enhanced
|
||||
+ Major source code cleanup
|
||||
(Attention: a few class names and calling interfaces have changed!)
|
||||
|
||||
|
||||
|
||||
1.2 (released on 9th October 2007):
|
||||
-----------------------------------------------------------------------
|
||||
|
||||
+ Special treatment of diagonal Hessians
|
||||
+ Improved infeasibility detection
|
||||
+ Further improved Matlab(R) interface
|
||||
+ Extended Simulink(R) interface
|
||||
+ scilab interface added
|
||||
+ Code cleanup and several bugfixes
|
||||
|
||||
|
||||
|
||||
1.1 (released on 8th July 2007):
|
||||
--------------------------------
|
||||
|
||||
+ Implementation of the QProblemB class
|
||||
+ Basic implementation of the SQProblem class
|
||||
+ Improved Matlab(R) interface
|
||||
+ Enabling/Disabling of constraints introduced
|
||||
+ Several bugfixes
|
||||
|
||||
|
||||
|
||||
1.0 (released on 17th April 2007):
|
||||
----------------------------------
|
||||
|
||||
Initial release.
|
||||
|
||||
|
||||
|
||||
##
|
||||
## end of file
|
||||
##
|
||||
##
|
||||
## qpOASES -- An Implementation of the Online Active Set Strategy.
|
||||
## Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
|
||||
##
|
||||
|
||||
|
||||
|
||||
VERSION HISTORY
|
||||
===============
|
||||
|
||||
1.3embedded (last updated on 30th April 2009):
|
||||
-----------------------------------------------------------------------
|
||||
|
||||
+ Re-programming of internal memory management to avoid dynamic memory allocations
|
||||
+ Most #ifdef directives removed
|
||||
+ Almost all type definitions gathered within INCLUDE/Types.hpp
|
||||
+ Irrelevant functionality removed (like the SQProblem class, functionality
|
||||
for loading data from files or the SCILAB interface)
|
||||
+ Replacement of all doubles by real_t
|
||||
+ Introduction of define "PC_DEBUG" for switching off all print functions
|
||||
+ stdio.h was made optional, string.h is no longer needed
|
||||
+ relative paths removed from #include directives
|
||||
+ made auxiliary objects locally static within solveInitialQP()
|
||||
+ Matlab interface fixed for single precision
|
||||
+ New return value -2 from Legacy wrapper added to Matlab/Simulink interfaces
|
||||
+ KKT optimality check moved into QProblem(B) class, SolutionAnalysis class removed
|
||||
|
||||
|
||||
1.3 (released on 2nd June 2008, last updated on 19th June 2008):
|
||||
-----------------------------------------------------------------------
|
||||
|
||||
+ Implementation of "initialised homotopy" concept
|
||||
+ Addition of the SolutionAnalysis class
|
||||
+ Utility functions for solving test problems in OQP format added
|
||||
+ Flexibility of Matlab(R) interface enhanced
|
||||
+ Major source code cleanup
|
||||
(Attention: a few class names and calling interfaces have changed!)
|
||||
|
||||
|
||||
|
||||
1.2 (released on 9th October 2007):
|
||||
-----------------------------------------------------------------------
|
||||
|
||||
+ Special treatment of diagonal Hessians
|
||||
+ Improved infeasibility detection
|
||||
+ Further improved Matlab(R) interface
|
||||
+ Extended Simulink(R) interface
|
||||
+ scilab interface added
|
||||
+ Code cleanup and several bugfixes
|
||||
|
||||
|
||||
|
||||
1.1 (released on 8th July 2007):
|
||||
--------------------------------
|
||||
|
||||
+ Implementation of the QProblemB class
|
||||
+ Basic implementation of the SQProblem class
|
||||
+ Improved Matlab(R) interface
|
||||
+ Enabling/Disabling of constraints introduced
|
||||
+ Several bugfixes
|
||||
|
||||
|
||||
|
||||
1.0 (released on 17th April 2007):
|
||||
----------------------------------
|
||||
|
||||
Initial release.
|
||||
|
||||
|
||||
|
||||
##
|
||||
## end of file
|
||||
##
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -1,19 +0,0 @@
|
|||
Copyright (c) 2008-2015 Jesse Beder.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
#ifndef ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <cstddef>
|
||||
|
||||
namespace YAML {
|
||||
typedef std::size_t anchor_t;
|
||||
const anchor_t NullAnchor = 0;
|
||||
}
|
||||
|
||||
#endif // ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,67 +0,0 @@
|
|||
#ifndef BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
|
||||
namespace YAML {
|
||||
YAML_CPP_API std::string EncodeBase64(const unsigned char *data,
|
||||
std::size_t size);
|
||||
YAML_CPP_API std::vector<unsigned char> DecodeBase64(const std::string &input);
|
||||
|
||||
class YAML_CPP_API Binary {
|
||||
public:
|
||||
Binary() : m_unownedData(0), m_unownedSize(0) {}
|
||||
Binary(const unsigned char *data_, std::size_t size_)
|
||||
: m_unownedData(data_), m_unownedSize(size_) {}
|
||||
|
||||
bool owned() const { return !m_unownedData; }
|
||||
std::size_t size() const { return owned() ? m_data.size() : m_unownedSize; }
|
||||
const unsigned char *data() const {
|
||||
return owned() ? &m_data[0] : m_unownedData;
|
||||
}
|
||||
|
||||
void swap(std::vector<unsigned char> &rhs) {
|
||||
if (m_unownedData) {
|
||||
m_data.swap(rhs);
|
||||
rhs.clear();
|
||||
rhs.resize(m_unownedSize);
|
||||
std::copy(m_unownedData, m_unownedData + m_unownedSize, rhs.begin());
|
||||
m_unownedData = 0;
|
||||
m_unownedSize = 0;
|
||||
} else {
|
||||
m_data.swap(rhs);
|
||||
}
|
||||
}
|
||||
|
||||
bool operator==(const Binary &rhs) const {
|
||||
const std::size_t s = size();
|
||||
if (s != rhs.size())
|
||||
return false;
|
||||
const unsigned char *d1 = data();
|
||||
const unsigned char *d2 = rhs.data();
|
||||
for (std::size_t i = 0; i < s; i++) {
|
||||
if (*d1++ != *d2++)
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool operator!=(const Binary &rhs) const { return !(*this == rhs); }
|
||||
|
||||
private:
|
||||
std::vector<unsigned char> m_data;
|
||||
const unsigned char *m_unownedData;
|
||||
std::size_t m_unownedSize;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,39 +0,0 @@
|
|||
#ifndef ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "../anchor.h"
|
||||
|
||||
namespace YAML {
|
||||
/**
|
||||
* An object that stores and retrieves values correlating to {@link anchor_t}
|
||||
* values.
|
||||
*
|
||||
* <p>Efficient implementation that can make assumptions about how
|
||||
* {@code anchor_t} values are assigned by the {@link Parser} class.
|
||||
*/
|
||||
template <class T>
|
||||
class AnchorDict {
|
||||
public:
|
||||
void Register(anchor_t anchor, T value) {
|
||||
if (anchor > m_data.size()) {
|
||||
m_data.resize(anchor);
|
||||
}
|
||||
m_data[anchor - 1] = value;
|
||||
}
|
||||
|
||||
T Get(anchor_t anchor) const { return m_data[anchor - 1]; }
|
||||
|
||||
private:
|
||||
std::vector<T> m_data;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,147 +0,0 @@
|
|||
#ifndef GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/mark.h"
|
||||
#include <string>
|
||||
|
||||
namespace YAML {
|
||||
class Parser;
|
||||
|
||||
// GraphBuilderInterface
|
||||
// . Abstraction of node creation
|
||||
// . pParentNode is always NULL or the return value of one of the NewXXX()
|
||||
// functions.
|
||||
class GraphBuilderInterface {
|
||||
public:
|
||||
// Create and return a new node with a null value.
|
||||
virtual void *NewNull(const Mark &mark, void *pParentNode) = 0;
|
||||
|
||||
// Create and return a new node with the given tag and value.
|
||||
virtual void *NewScalar(const Mark &mark, const std::string &tag,
|
||||
void *pParentNode, const std::string &value) = 0;
|
||||
|
||||
// Create and return a new sequence node
|
||||
virtual void *NewSequence(const Mark &mark, const std::string &tag,
|
||||
void *pParentNode) = 0;
|
||||
|
||||
// Add pNode to pSequence. pNode was created with one of the NewXxx()
|
||||
// functions and pSequence with NewSequence().
|
||||
virtual void AppendToSequence(void *pSequence, void *pNode) = 0;
|
||||
|
||||
// Note that no moew entries will be added to pSequence
|
||||
virtual void SequenceComplete(void *pSequence) { (void)pSequence; }
|
||||
|
||||
// Create and return a new map node
|
||||
virtual void *NewMap(const Mark &mark, const std::string &tag,
|
||||
void *pParentNode) = 0;
|
||||
|
||||
// Add the pKeyNode => pValueNode mapping to pMap. pKeyNode and pValueNode
|
||||
// were created with one of the NewXxx() methods and pMap with NewMap().
|
||||
virtual void AssignInMap(void *pMap, void *pKeyNode, void *pValueNode) = 0;
|
||||
|
||||
// Note that no more assignments will be made in pMap
|
||||
virtual void MapComplete(void *pMap) { (void)pMap; }
|
||||
|
||||
// Return the node that should be used in place of an alias referencing
|
||||
// pNode (pNode by default)
|
||||
virtual void *AnchorReference(const Mark &mark, void *pNode) {
|
||||
(void)mark;
|
||||
return pNode;
|
||||
}
|
||||
};
|
||||
|
||||
// Typesafe wrapper for GraphBuilderInterface. Assumes that Impl defines
|
||||
// Node, Sequence, and Map types. Sequence and Map must derive from Node
|
||||
// (unless Node is defined as void). Impl must also implement function with
|
||||
// all of the same names as the virtual functions in GraphBuilderInterface
|
||||
// -- including the ones with default implementations -- but with the
|
||||
// prototypes changed to accept an explicit Node*, Sequence*, or Map* where
|
||||
// appropriate.
|
||||
template <class Impl>
|
||||
class GraphBuilder : public GraphBuilderInterface {
|
||||
public:
|
||||
typedef typename Impl::Node Node;
|
||||
typedef typename Impl::Sequence Sequence;
|
||||
typedef typename Impl::Map Map;
|
||||
|
||||
GraphBuilder(Impl &impl) : m_impl(impl) {
|
||||
Map *pMap = NULL;
|
||||
Sequence *pSeq = NULL;
|
||||
Node *pNode = NULL;
|
||||
|
||||
// Type consistency checks
|
||||
pNode = pMap;
|
||||
pNode = pSeq;
|
||||
}
|
||||
|
||||
GraphBuilderInterface &AsBuilderInterface() { return *this; }
|
||||
|
||||
virtual void *NewNull(const Mark &mark, void *pParentNode) {
|
||||
return CheckType<Node>(m_impl.NewNull(mark, AsNode(pParentNode)));
|
||||
}
|
||||
|
||||
virtual void *NewScalar(const Mark &mark, const std::string &tag,
|
||||
void *pParentNode, const std::string &value) {
|
||||
return CheckType<Node>(
|
||||
m_impl.NewScalar(mark, tag, AsNode(pParentNode), value));
|
||||
}
|
||||
|
||||
virtual void *NewSequence(const Mark &mark, const std::string &tag,
|
||||
void *pParentNode) {
|
||||
return CheckType<Sequence>(
|
||||
m_impl.NewSequence(mark, tag, AsNode(pParentNode)));
|
||||
}
|
||||
virtual void AppendToSequence(void *pSequence, void *pNode) {
|
||||
m_impl.AppendToSequence(AsSequence(pSequence), AsNode(pNode));
|
||||
}
|
||||
virtual void SequenceComplete(void *pSequence) {
|
||||
m_impl.SequenceComplete(AsSequence(pSequence));
|
||||
}
|
||||
|
||||
virtual void *NewMap(const Mark &mark, const std::string &tag,
|
||||
void *pParentNode) {
|
||||
return CheckType<Map>(m_impl.NewMap(mark, tag, AsNode(pParentNode)));
|
||||
}
|
||||
virtual void AssignInMap(void *pMap, void *pKeyNode, void *pValueNode) {
|
||||
m_impl.AssignInMap(AsMap(pMap), AsNode(pKeyNode), AsNode(pValueNode));
|
||||
}
|
||||
virtual void MapComplete(void *pMap) { m_impl.MapComplete(AsMap(pMap)); }
|
||||
|
||||
virtual void *AnchorReference(const Mark &mark, void *pNode) {
|
||||
return CheckType<Node>(m_impl.AnchorReference(mark, AsNode(pNode)));
|
||||
}
|
||||
|
||||
private:
|
||||
Impl &m_impl;
|
||||
|
||||
// Static check for pointer to T
|
||||
template <class T, class U>
|
||||
static T *CheckType(U *p) {
|
||||
return p;
|
||||
}
|
||||
|
||||
static Node *AsNode(void *pNode) { return static_cast<Node *>(pNode); }
|
||||
static Sequence *AsSequence(void *pSeq) {
|
||||
return static_cast<Sequence *>(pSeq);
|
||||
}
|
||||
static Map *AsMap(void *pMap) { return static_cast<Map *>(pMap); }
|
||||
};
|
||||
|
||||
void *BuildGraphOfNextDocument(Parser &parser,
|
||||
GraphBuilderInterface &graphBuilder);
|
||||
|
||||
template <class Impl>
|
||||
typename Impl::Node *BuildGraphOfNextDocument(Parser &parser, Impl &impl) {
|
||||
GraphBuilder<Impl> graphBuilder(impl);
|
||||
return static_cast<typename Impl::Node *>(
|
||||
BuildGraphOfNextDocument(parser, graphBuilder));
|
||||
}
|
||||
}
|
||||
|
||||
#endif // GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
#ifndef DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
// The following ifdef block is the standard way of creating macros which make
|
||||
// exporting from a DLL simpler. All files within this DLL are compiled with the
|
||||
// yaml_cpp_EXPORTS symbol defined on the command line. This symbol should not
|
||||
// be defined on any project that uses this DLL. This way any other project
|
||||
// whose source files include this file see YAML_CPP_API functions as being
|
||||
// imported from a DLL, whereas this DLL sees symbols defined with this macro as
|
||||
// being exported.
|
||||
#undef YAML_CPP_API
|
||||
|
||||
#ifdef YAML_CPP_DLL // Using or Building YAML-CPP DLL (definition defined
|
||||
// manually)
|
||||
#ifdef yaml_cpp_EXPORTS // Building YAML-CPP DLL (definition created by CMake
|
||||
// or defined manually)
|
||||
// #pragma message( "Defining YAML_CPP_API for DLL export" )
|
||||
#define YAML_CPP_API __declspec(dllexport)
|
||||
#else // yaml_cpp_EXPORTS
|
||||
// #pragma message( "Defining YAML_CPP_API for DLL import" )
|
||||
#define YAML_CPP_API __declspec(dllimport)
|
||||
#endif // yaml_cpp_EXPORTS
|
||||
#else // YAML_CPP_DLL
|
||||
#define YAML_CPP_API
|
||||
#endif // YAML_CPP_DLL
|
||||
|
||||
#endif // DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,57 +0,0 @@
|
|||
#ifndef EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <stack>
|
||||
|
||||
#include "yaml-cpp/anchor.h"
|
||||
#include "yaml-cpp/emitterstyle.h"
|
||||
#include "yaml-cpp/eventhandler.h"
|
||||
|
||||
namespace YAML {
|
||||
struct Mark;
|
||||
} // namespace YAML
|
||||
|
||||
namespace YAML {
|
||||
class Emitter;
|
||||
|
||||
class EmitFromEvents : public EventHandler {
|
||||
public:
|
||||
EmitFromEvents(Emitter& emitter);
|
||||
|
||||
virtual void OnDocumentStart(const Mark& mark);
|
||||
virtual void OnDocumentEnd();
|
||||
|
||||
virtual void OnNull(const Mark& mark, anchor_t anchor);
|
||||
virtual void OnAlias(const Mark& mark, anchor_t anchor);
|
||||
virtual void OnScalar(const Mark& mark, const std::string& tag,
|
||||
anchor_t anchor, const std::string& value);
|
||||
|
||||
virtual void OnSequenceStart(const Mark& mark, const std::string& tag,
|
||||
anchor_t anchor, EmitterStyle::value style);
|
||||
virtual void OnSequenceEnd();
|
||||
|
||||
virtual void OnMapStart(const Mark& mark, const std::string& tag,
|
||||
anchor_t anchor, EmitterStyle::value style);
|
||||
virtual void OnMapEnd();
|
||||
|
||||
private:
|
||||
void BeginNode();
|
||||
void EmitProps(const std::string& tag, anchor_t anchor);
|
||||
|
||||
private:
|
||||
Emitter& m_emitter;
|
||||
|
||||
struct State {
|
||||
enum value { WaitingForSequenceEntry, WaitingForKey, WaitingForValue };
|
||||
};
|
||||
std::stack<State::value> m_stateStack;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,254 +0,0 @@
|
|||
#ifndef EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <cstddef>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
|
||||
#include "yaml-cpp/binary.h"
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/emitterdef.h"
|
||||
#include "yaml-cpp/emittermanip.h"
|
||||
#include "yaml-cpp/noncopyable.h"
|
||||
#include "yaml-cpp/null.h"
|
||||
#include "yaml-cpp/ostream_wrapper.h"
|
||||
|
||||
namespace YAML {
|
||||
class Binary;
|
||||
struct _Null;
|
||||
} // namespace YAML
|
||||
|
||||
namespace YAML {
|
||||
class EmitterState;
|
||||
|
||||
class YAML_CPP_API Emitter : private noncopyable {
|
||||
public:
|
||||
Emitter();
|
||||
explicit Emitter(std::ostream& stream);
|
||||
~Emitter();
|
||||
|
||||
// output
|
||||
const char* c_str() const;
|
||||
std::size_t size() const;
|
||||
|
||||
// state checking
|
||||
bool good() const;
|
||||
const std::string GetLastError() const;
|
||||
|
||||
// global setters
|
||||
bool SetOutputCharset(EMITTER_MANIP value);
|
||||
bool SetStringFormat(EMITTER_MANIP value);
|
||||
bool SetBoolFormat(EMITTER_MANIP value);
|
||||
bool SetIntBase(EMITTER_MANIP value);
|
||||
bool SetSeqFormat(EMITTER_MANIP value);
|
||||
bool SetMapFormat(EMITTER_MANIP value);
|
||||
bool SetIndent(std::size_t n);
|
||||
bool SetPreCommentIndent(std::size_t n);
|
||||
bool SetPostCommentIndent(std::size_t n);
|
||||
bool SetFloatPrecision(std::size_t n);
|
||||
bool SetDoublePrecision(std::size_t n);
|
||||
|
||||
// local setters
|
||||
Emitter& SetLocalValue(EMITTER_MANIP value);
|
||||
Emitter& SetLocalIndent(const _Indent& indent);
|
||||
Emitter& SetLocalPrecision(const _Precision& precision);
|
||||
|
||||
// overloads of write
|
||||
Emitter& Write(const std::string& str);
|
||||
Emitter& Write(bool b);
|
||||
Emitter& Write(char ch);
|
||||
Emitter& Write(const _Alias& alias);
|
||||
Emitter& Write(const _Anchor& anchor);
|
||||
Emitter& Write(const _Tag& tag);
|
||||
Emitter& Write(const _Comment& comment);
|
||||
Emitter& Write(const _Null& n);
|
||||
Emitter& Write(const Binary& binary);
|
||||
|
||||
template <typename T>
|
||||
Emitter& WriteIntegralType(T value);
|
||||
|
||||
template <typename T>
|
||||
Emitter& WriteStreamable(T value);
|
||||
|
||||
private:
|
||||
template <typename T>
|
||||
void SetStreamablePrecision(std::stringstream&) {}
|
||||
std::size_t GetFloatPrecision() const;
|
||||
std::size_t GetDoublePrecision() const;
|
||||
|
||||
void PrepareIntegralStream(std::stringstream& stream) const;
|
||||
void StartedScalar();
|
||||
|
||||
private:
|
||||
void EmitBeginDoc();
|
||||
void EmitEndDoc();
|
||||
void EmitBeginSeq();
|
||||
void EmitEndSeq();
|
||||
void EmitBeginMap();
|
||||
void EmitEndMap();
|
||||
void EmitNewline();
|
||||
void EmitKindTag();
|
||||
void EmitTag(bool verbatim, const _Tag& tag);
|
||||
|
||||
void PrepareNode(EmitterNodeType::value child);
|
||||
void PrepareTopNode(EmitterNodeType::value child);
|
||||
void FlowSeqPrepareNode(EmitterNodeType::value child);
|
||||
void BlockSeqPrepareNode(EmitterNodeType::value child);
|
||||
|
||||
void FlowMapPrepareNode(EmitterNodeType::value child);
|
||||
|
||||
void FlowMapPrepareLongKey(EmitterNodeType::value child);
|
||||
void FlowMapPrepareLongKeyValue(EmitterNodeType::value child);
|
||||
void FlowMapPrepareSimpleKey(EmitterNodeType::value child);
|
||||
void FlowMapPrepareSimpleKeyValue(EmitterNodeType::value child);
|
||||
|
||||
void BlockMapPrepareNode(EmitterNodeType::value child);
|
||||
|
||||
void BlockMapPrepareLongKey(EmitterNodeType::value child);
|
||||
void BlockMapPrepareLongKeyValue(EmitterNodeType::value child);
|
||||
void BlockMapPrepareSimpleKey(EmitterNodeType::value child);
|
||||
void BlockMapPrepareSimpleKeyValue(EmitterNodeType::value child);
|
||||
|
||||
void SpaceOrIndentTo(bool requireSpace, std::size_t indent);
|
||||
|
||||
const char* ComputeFullBoolName(bool b) const;
|
||||
bool CanEmitNewline() const;
|
||||
|
||||
private:
|
||||
std::unique_ptr<EmitterState> m_pState;
|
||||
ostream_wrapper m_stream;
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
inline Emitter& Emitter::WriteIntegralType(T value) {
|
||||
if (!good())
|
||||
return *this;
|
||||
|
||||
PrepareNode(EmitterNodeType::Scalar);
|
||||
|
||||
std::stringstream stream;
|
||||
PrepareIntegralStream(stream);
|
||||
stream << value;
|
||||
m_stream << stream.str();
|
||||
|
||||
StartedScalar();
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline Emitter& Emitter::WriteStreamable(T value) {
|
||||
if (!good())
|
||||
return *this;
|
||||
|
||||
PrepareNode(EmitterNodeType::Scalar);
|
||||
|
||||
std::stringstream stream;
|
||||
SetStreamablePrecision<T>(stream);
|
||||
stream << value;
|
||||
m_stream << stream.str();
|
||||
|
||||
StartedScalar();
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <>
|
||||
inline void Emitter::SetStreamablePrecision<float>(std::stringstream& stream) {
|
||||
stream.precision(static_cast<std::streamsize>(GetFloatPrecision()));
|
||||
}
|
||||
|
||||
template <>
|
||||
inline void Emitter::SetStreamablePrecision<double>(std::stringstream& stream) {
|
||||
stream.precision(static_cast<std::streamsize>(GetDoublePrecision()));
|
||||
}
|
||||
|
||||
// overloads of insertion
|
||||
inline Emitter& operator<<(Emitter& emitter, const std::string& v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, bool v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, char v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, unsigned char v) {
|
||||
return emitter.Write(static_cast<char>(v));
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, const _Alias& v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, const _Anchor& v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, const _Tag& v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, const _Comment& v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, const _Null& v) {
|
||||
return emitter.Write(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, const Binary& b) {
|
||||
return emitter.Write(b);
|
||||
}
|
||||
|
||||
inline Emitter& operator<<(Emitter& emitter, const char* v) {
|
||||
return emitter.Write(std::string(v));
|
||||
}
|
||||
|
||||
inline Emitter& operator<<(Emitter& emitter, int v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, unsigned int v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, short v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, unsigned short v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, long v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, unsigned long v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, long long v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, unsigned long long v) {
|
||||
return emitter.WriteIntegralType(v);
|
||||
}
|
||||
|
||||
inline Emitter& operator<<(Emitter& emitter, float v) {
|
||||
return emitter.WriteStreamable(v);
|
||||
}
|
||||
inline Emitter& operator<<(Emitter& emitter, double v) {
|
||||
return emitter.WriteStreamable(v);
|
||||
}
|
||||
|
||||
inline Emitter& operator<<(Emitter& emitter, EMITTER_MANIP value) {
|
||||
return emitter.SetLocalValue(value);
|
||||
}
|
||||
|
||||
inline Emitter& operator<<(Emitter& emitter, _Indent indent) {
|
||||
return emitter.SetLocalIndent(indent);
|
||||
}
|
||||
|
||||
inline Emitter& operator<<(Emitter& emitter, _Precision precision) {
|
||||
return emitter.SetLocalPrecision(precision);
|
||||
}
|
||||
}
|
||||
|
||||
#endif // EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
#ifndef EMITTERDEF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EMITTERDEF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
namespace YAML {
|
||||
struct EmitterNodeType {
|
||||
enum value { NoType, Property, Scalar, FlowSeq, BlockSeq, FlowMap, BlockMap };
|
||||
};
|
||||
}
|
||||
|
||||
#endif // EMITTERDEF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,137 +0,0 @@
|
|||
#ifndef EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
namespace YAML {
|
||||
enum EMITTER_MANIP {
|
||||
// general manipulators
|
||||
Auto,
|
||||
TagByKind,
|
||||
Newline,
|
||||
|
||||
// output character set
|
||||
EmitNonAscii,
|
||||
EscapeNonAscii,
|
||||
|
||||
// string manipulators
|
||||
// Auto, // duplicate
|
||||
SingleQuoted,
|
||||
DoubleQuoted,
|
||||
Literal,
|
||||
|
||||
// bool manipulators
|
||||
YesNoBool, // yes, no
|
||||
TrueFalseBool, // true, false
|
||||
OnOffBool, // on, off
|
||||
UpperCase, // TRUE, N
|
||||
LowerCase, // f, yes
|
||||
CamelCase, // No, Off
|
||||
LongBool, // yes, On
|
||||
ShortBool, // y, t
|
||||
|
||||
// int manipulators
|
||||
Dec,
|
||||
Hex,
|
||||
Oct,
|
||||
|
||||
// document manipulators
|
||||
BeginDoc,
|
||||
EndDoc,
|
||||
|
||||
// sequence manipulators
|
||||
BeginSeq,
|
||||
EndSeq,
|
||||
Flow,
|
||||
Block,
|
||||
|
||||
// map manipulators
|
||||
BeginMap,
|
||||
EndMap,
|
||||
Key,
|
||||
Value,
|
||||
// Flow, // duplicate
|
||||
// Block, // duplicate
|
||||
// Auto, // duplicate
|
||||
LongKey
|
||||
};
|
||||
|
||||
struct _Indent {
|
||||
_Indent(int value_) : value(value_) {}
|
||||
int value;
|
||||
};
|
||||
|
||||
inline _Indent Indent(int value) { return _Indent(value); }
|
||||
|
||||
struct _Alias {
|
||||
_Alias(const std::string& content_) : content(content_) {}
|
||||
std::string content;
|
||||
};
|
||||
|
||||
inline _Alias Alias(const std::string content) { return _Alias(content); }
|
||||
|
||||
struct _Anchor {
|
||||
_Anchor(const std::string& content_) : content(content_) {}
|
||||
std::string content;
|
||||
};
|
||||
|
||||
inline _Anchor Anchor(const std::string content) { return _Anchor(content); }
|
||||
|
||||
struct _Tag {
|
||||
struct Type {
|
||||
enum value { Verbatim, PrimaryHandle, NamedHandle };
|
||||
};
|
||||
|
||||
explicit _Tag(const std::string& prefix_, const std::string& content_,
|
||||
Type::value type_)
|
||||
: prefix(prefix_), content(content_), type(type_) {}
|
||||
std::string prefix;
|
||||
std::string content;
|
||||
Type::value type;
|
||||
};
|
||||
|
||||
inline _Tag VerbatimTag(const std::string content) {
|
||||
return _Tag("", content, _Tag::Type::Verbatim);
|
||||
}
|
||||
|
||||
inline _Tag LocalTag(const std::string content) {
|
||||
return _Tag("", content, _Tag::Type::PrimaryHandle);
|
||||
}
|
||||
|
||||
inline _Tag LocalTag(const std::string& prefix, const std::string content) {
|
||||
return _Tag(prefix, content, _Tag::Type::NamedHandle);
|
||||
}
|
||||
|
||||
inline _Tag SecondaryTag(const std::string content) {
|
||||
return _Tag("", content, _Tag::Type::NamedHandle);
|
||||
}
|
||||
|
||||
struct _Comment {
|
||||
_Comment(const std::string& content_) : content(content_) {}
|
||||
std::string content;
|
||||
};
|
||||
|
||||
inline _Comment Comment(const std::string content) { return _Comment(content); }
|
||||
|
||||
struct _Precision {
|
||||
_Precision(int floatPrecision_, int doublePrecision_)
|
||||
: floatPrecision(floatPrecision_), doublePrecision(doublePrecision_) {}
|
||||
|
||||
int floatPrecision;
|
||||
int doublePrecision;
|
||||
};
|
||||
|
||||
inline _Precision FloatPrecision(int n) { return _Precision(n, -1); }
|
||||
|
||||
inline _Precision DoublePrecision(int n) { return _Precision(-1, n); }
|
||||
|
||||
inline _Precision Precision(int n) { return _Precision(n, n); }
|
||||
}
|
||||
|
||||
#endif // EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
#ifndef EMITTERSTYLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EMITTERSTYLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
namespace YAML {
|
||||
struct EmitterStyle {
|
||||
enum value { Default, Block, Flow };
|
||||
};
|
||||
}
|
||||
|
||||
#endif // EMITTERSTYLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
#ifndef EVENTHANDLER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EVENTHANDLER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "yaml-cpp/anchor.h"
|
||||
#include "yaml-cpp/emitterstyle.h"
|
||||
|
||||
namespace YAML {
|
||||
struct Mark;
|
||||
|
||||
class EventHandler {
|
||||
public:
|
||||
virtual ~EventHandler() {}
|
||||
|
||||
virtual void OnDocumentStart(const Mark& mark) = 0;
|
||||
virtual void OnDocumentEnd() = 0;
|
||||
|
||||
virtual void OnNull(const Mark& mark, anchor_t anchor) = 0;
|
||||
virtual void OnAlias(const Mark& mark, anchor_t anchor) = 0;
|
||||
virtual void OnScalar(const Mark& mark, const std::string& tag,
|
||||
anchor_t anchor, const std::string& value) = 0;
|
||||
|
||||
virtual void OnSequenceStart(const Mark& mark, const std::string& tag,
|
||||
anchor_t anchor, EmitterStyle::value style) = 0;
|
||||
virtual void OnSequenceEnd() = 0;
|
||||
|
||||
virtual void OnMapStart(const Mark& mark, const std::string& tag,
|
||||
anchor_t anchor, EmitterStyle::value style) = 0;
|
||||
virtual void OnMapEnd() = 0;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // EVENTHANDLER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,257 +0,0 @@
|
|||
#ifndef EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/mark.h"
|
||||
#include "yaml-cpp/traits.h"
|
||||
#include <sstream>
|
||||
#include <stdexcept>
|
||||
#include <string>
|
||||
|
||||
namespace YAML {
|
||||
// error messages
|
||||
namespace ErrorMsg {
|
||||
const char* const YAML_DIRECTIVE_ARGS =
|
||||
"YAML directives must have exactly one argument";
|
||||
const char* const YAML_VERSION = "bad YAML version: ";
|
||||
const char* const YAML_MAJOR_VERSION = "YAML major version too large";
|
||||
const char* const REPEATED_YAML_DIRECTIVE = "repeated YAML directive";
|
||||
const char* const TAG_DIRECTIVE_ARGS =
|
||||
"TAG directives must have exactly two arguments";
|
||||
const char* const REPEATED_TAG_DIRECTIVE = "repeated TAG directive";
|
||||
const char* const CHAR_IN_TAG_HANDLE =
|
||||
"illegal character found while scanning tag handle";
|
||||
const char* const TAG_WITH_NO_SUFFIX = "tag handle with no suffix";
|
||||
const char* const END_OF_VERBATIM_TAG = "end of verbatim tag not found";
|
||||
const char* const END_OF_MAP = "end of map not found";
|
||||
const char* const END_OF_MAP_FLOW = "end of map flow not found";
|
||||
const char* const END_OF_SEQ = "end of sequence not found";
|
||||
const char* const END_OF_SEQ_FLOW = "end of sequence flow not found";
|
||||
const char* const MULTIPLE_TAGS =
|
||||
"cannot assign multiple tags to the same node";
|
||||
const char* const MULTIPLE_ANCHORS =
|
||||
"cannot assign multiple anchors to the same node";
|
||||
const char* const MULTIPLE_ALIASES =
|
||||
"cannot assign multiple aliases to the same node";
|
||||
const char* const ALIAS_CONTENT =
|
||||
"aliases can't have any content, *including* tags";
|
||||
const char* const INVALID_HEX = "bad character found while scanning hex number";
|
||||
const char* const INVALID_UNICODE = "invalid unicode: ";
|
||||
const char* const INVALID_ESCAPE = "unknown escape character: ";
|
||||
const char* const UNKNOWN_TOKEN = "unknown token";
|
||||
const char* const DOC_IN_SCALAR = "illegal document indicator in scalar";
|
||||
const char* const EOF_IN_SCALAR = "illegal EOF in scalar";
|
||||
const char* const CHAR_IN_SCALAR = "illegal character in scalar";
|
||||
const char* const TAB_IN_INDENTATION =
|
||||
"illegal tab when looking for indentation";
|
||||
const char* const FLOW_END = "illegal flow end";
|
||||
const char* const BLOCK_ENTRY = "illegal block entry";
|
||||
const char* const MAP_KEY = "illegal map key";
|
||||
const char* const MAP_VALUE = "illegal map value";
|
||||
const char* const ALIAS_NOT_FOUND = "alias not found after *";
|
||||
const char* const ANCHOR_NOT_FOUND = "anchor not found after &";
|
||||
const char* const CHAR_IN_ALIAS =
|
||||
"illegal character found while scanning alias";
|
||||
const char* const CHAR_IN_ANCHOR =
|
||||
"illegal character found while scanning anchor";
|
||||
const char* const ZERO_INDENT_IN_BLOCK =
|
||||
"cannot set zero indentation for a block scalar";
|
||||
const char* const CHAR_IN_BLOCK = "unexpected character in block scalar";
|
||||
const char* const AMBIGUOUS_ANCHOR =
|
||||
"cannot assign the same alias to multiple nodes";
|
||||
const char* const UNKNOWN_ANCHOR = "the referenced anchor is not defined";
|
||||
|
||||
const char* const INVALID_NODE =
|
||||
"invalid node; this may result from using a map iterator as a sequence "
|
||||
"iterator, or vice-versa";
|
||||
const char* const INVALID_SCALAR = "invalid scalar";
|
||||
const char* const KEY_NOT_FOUND = "key not found";
|
||||
const char* const BAD_CONVERSION = "bad conversion";
|
||||
const char* const BAD_DEREFERENCE = "bad dereference";
|
||||
const char* const BAD_SUBSCRIPT = "operator[] call on a scalar";
|
||||
const char* const BAD_PUSHBACK = "appending to a non-sequence";
|
||||
const char* const BAD_INSERT = "inserting in a non-convertible-to-map";
|
||||
|
||||
const char* const UNMATCHED_GROUP_TAG = "unmatched group tag";
|
||||
const char* const UNEXPECTED_END_SEQ = "unexpected end sequence token";
|
||||
const char* const UNEXPECTED_END_MAP = "unexpected end map token";
|
||||
const char* const SINGLE_QUOTED_CHAR =
|
||||
"invalid character in single-quoted string";
|
||||
const char* const INVALID_ANCHOR = "invalid anchor";
|
||||
const char* const INVALID_ALIAS = "invalid alias";
|
||||
const char* const INVALID_TAG = "invalid tag";
|
||||
const char* const BAD_FILE = "bad file";
|
||||
|
||||
template <typename T>
|
||||
inline const std::string KEY_NOT_FOUND_WITH_KEY(
|
||||
const T&, typename disable_if<is_numeric<T>>::type* = 0) {
|
||||
return KEY_NOT_FOUND;
|
||||
}
|
||||
|
||||
inline const std::string KEY_NOT_FOUND_WITH_KEY(const std::string& key) {
|
||||
std::stringstream stream;
|
||||
stream << KEY_NOT_FOUND << ": " << key;
|
||||
return stream.str();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline const std::string KEY_NOT_FOUND_WITH_KEY(
|
||||
const T& key, typename enable_if<is_numeric<T>>::type* = 0) {
|
||||
std::stringstream stream;
|
||||
stream << KEY_NOT_FOUND << ": " << key;
|
||||
return stream.str();
|
||||
}
|
||||
}
|
||||
|
||||
class YAML_CPP_API Exception : public std::runtime_error {
|
||||
public:
|
||||
Exception(const Mark& mark_, const std::string& msg_)
|
||||
: std::runtime_error(build_what(mark_, msg_)), mark(mark_), msg(msg_) {}
|
||||
virtual ~Exception() noexcept;
|
||||
|
||||
Exception(const Exception&) = default;
|
||||
|
||||
Mark mark;
|
||||
std::string msg;
|
||||
|
||||
private:
|
||||
static const std::string build_what(const Mark& mark,
|
||||
const std::string& msg) {
|
||||
if (mark.is_null()) {
|
||||
return msg.c_str();
|
||||
}
|
||||
|
||||
std::stringstream output;
|
||||
output << "yaml-cpp: error at line " << mark.line + 1 << ", column "
|
||||
<< mark.column + 1 << ": " << msg;
|
||||
return output.str();
|
||||
}
|
||||
};
|
||||
|
||||
class YAML_CPP_API ParserException : public Exception {
|
||||
public:
|
||||
ParserException(const Mark& mark_, const std::string& msg_)
|
||||
: Exception(mark_, msg_) {}
|
||||
ParserException(const ParserException&) = default;
|
||||
virtual ~ParserException() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API RepresentationException : public Exception {
|
||||
public:
|
||||
RepresentationException(const Mark& mark_, const std::string& msg_)
|
||||
: Exception(mark_, msg_) {}
|
||||
RepresentationException(const RepresentationException&) = default;
|
||||
virtual ~RepresentationException() noexcept;
|
||||
};
|
||||
|
||||
// representation exceptions
|
||||
class YAML_CPP_API InvalidScalar : public RepresentationException {
|
||||
public:
|
||||
InvalidScalar(const Mark& mark_)
|
||||
: RepresentationException(mark_, ErrorMsg::INVALID_SCALAR) {}
|
||||
InvalidScalar(const InvalidScalar&) = default;
|
||||
virtual ~InvalidScalar() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API KeyNotFound : public RepresentationException {
|
||||
public:
|
||||
template <typename T>
|
||||
KeyNotFound(const Mark& mark_, const T& key_)
|
||||
: RepresentationException(mark_, ErrorMsg::KEY_NOT_FOUND_WITH_KEY(key_)) {
|
||||
}
|
||||
KeyNotFound(const KeyNotFound&) = default;
|
||||
virtual ~KeyNotFound() noexcept;
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
class YAML_CPP_API TypedKeyNotFound : public KeyNotFound {
|
||||
public:
|
||||
TypedKeyNotFound(const Mark& mark_, const T& key_)
|
||||
: KeyNotFound(mark_, key_), key(key_) {}
|
||||
virtual ~TypedKeyNotFound() noexcept {}
|
||||
|
||||
T key;
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
inline TypedKeyNotFound<T> MakeTypedKeyNotFound(const Mark& mark,
|
||||
const T& key) {
|
||||
return TypedKeyNotFound<T>(mark, key);
|
||||
}
|
||||
|
||||
class YAML_CPP_API InvalidNode : public RepresentationException {
|
||||
public:
|
||||
InvalidNode()
|
||||
: RepresentationException(Mark::null_mark(), ErrorMsg::INVALID_NODE) {}
|
||||
InvalidNode(const InvalidNode&) = default;
|
||||
virtual ~InvalidNode() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API BadConversion : public RepresentationException {
|
||||
public:
|
||||
explicit BadConversion(const Mark& mark_)
|
||||
: RepresentationException(mark_, ErrorMsg::BAD_CONVERSION) {}
|
||||
BadConversion(const BadConversion&) = default;
|
||||
virtual ~BadConversion() noexcept;
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
class TypedBadConversion : public BadConversion {
|
||||
public:
|
||||
explicit TypedBadConversion(const Mark& mark_) : BadConversion(mark_) {}
|
||||
};
|
||||
|
||||
class YAML_CPP_API BadDereference : public RepresentationException {
|
||||
public:
|
||||
BadDereference()
|
||||
: RepresentationException(Mark::null_mark(), ErrorMsg::BAD_DEREFERENCE) {}
|
||||
BadDereference(const BadDereference&) = default;
|
||||
virtual ~BadDereference() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API BadSubscript : public RepresentationException {
|
||||
public:
|
||||
BadSubscript()
|
||||
: RepresentationException(Mark::null_mark(), ErrorMsg::BAD_SUBSCRIPT) {}
|
||||
BadSubscript(const BadSubscript&) = default;
|
||||
virtual ~BadSubscript() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API BadPushback : public RepresentationException {
|
||||
public:
|
||||
BadPushback()
|
||||
: RepresentationException(Mark::null_mark(), ErrorMsg::BAD_PUSHBACK) {}
|
||||
BadPushback(const BadPushback&) = default;
|
||||
virtual ~BadPushback() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API BadInsert : public RepresentationException {
|
||||
public:
|
||||
BadInsert()
|
||||
: RepresentationException(Mark::null_mark(), ErrorMsg::BAD_INSERT) {}
|
||||
BadInsert(const BadInsert&) = default;
|
||||
virtual ~BadInsert() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API EmitterException : public Exception {
|
||||
public:
|
||||
EmitterException(const std::string& msg_)
|
||||
: Exception(Mark::null_mark(), msg_) {}
|
||||
EmitterException(const EmitterException&) = default;
|
||||
virtual ~EmitterException() noexcept;
|
||||
};
|
||||
|
||||
class YAML_CPP_API BadFile : public Exception {
|
||||
public:
|
||||
BadFile() : Exception(Mark::null_mark(), ErrorMsg::BAD_FILE) {}
|
||||
BadFile(const BadFile&) = default;
|
||||
virtual ~BadFile() noexcept;
|
||||
};
|
||||
}
|
||||
|
||||
#endif // EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
#ifndef MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
|
||||
namespace YAML {
|
||||
struct YAML_CPP_API Mark {
|
||||
Mark() : pos(0), line(0), column(0) {}
|
||||
|
||||
static const Mark null_mark() { return Mark(-1, -1, -1); }
|
||||
|
||||
bool is_null() const { return pos == -1 && line == -1 && column == -1; }
|
||||
|
||||
int pos;
|
||||
int line, column;
|
||||
|
||||
private:
|
||||
Mark(int pos_, int line_, int column_)
|
||||
: pos(pos_), line(line_), column(column_) {}
|
||||
};
|
||||
}
|
||||
|
||||
#endif // MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,331 +0,0 @@
|
|||
#ifndef NODE_CONVERT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define NODE_CONVERT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <array>
|
||||
#include <limits>
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <sstream>
|
||||
#include <vector>
|
||||
|
||||
#include "yaml-cpp/binary.h"
|
||||
#include "yaml-cpp/node/impl.h"
|
||||
#include "yaml-cpp/node/iterator.h"
|
||||
#include "yaml-cpp/node/node.h"
|
||||
#include "yaml-cpp/node/type.h"
|
||||
#include "yaml-cpp/null.h"
|
||||
|
||||
namespace YAML {
|
||||
class Binary;
|
||||
struct _Null;
|
||||
template <typename T>
|
||||
struct convert;
|
||||
} // namespace YAML
|
||||
|
||||
namespace YAML {
|
||||
namespace conversion {
|
||||
inline bool IsInfinity(const std::string& input) {
|
||||
return input == ".inf" || input == ".Inf" || input == ".INF" ||
|
||||
input == "+.inf" || input == "+.Inf" || input == "+.INF";
|
||||
}
|
||||
|
||||
inline bool IsNegativeInfinity(const std::string& input) {
|
||||
return input == "-.inf" || input == "-.Inf" || input == "-.INF";
|
||||
}
|
||||
|
||||
inline bool IsNaN(const std::string& input) {
|
||||
return input == ".nan" || input == ".NaN" || input == ".NAN";
|
||||
}
|
||||
}
|
||||
|
||||
// Node
|
||||
template <>
|
||||
struct convert<Node> {
|
||||
static Node encode(const Node& rhs) { return rhs; }
|
||||
|
||||
static bool decode(const Node& node, Node& rhs) {
|
||||
rhs.reset(node);
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
// std::string
|
||||
template <>
|
||||
struct convert<std::string> {
|
||||
static Node encode(const std::string& rhs) { return Node(rhs); }
|
||||
|
||||
static bool decode(const Node& node, std::string& rhs) {
|
||||
if (!node.IsScalar())
|
||||
return false;
|
||||
rhs = node.Scalar();
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
// C-strings can only be encoded
|
||||
template <>
|
||||
struct convert<const char*> {
|
||||
static Node encode(const char*& rhs) { return Node(rhs); }
|
||||
};
|
||||
|
||||
template <std::size_t N>
|
||||
struct convert<const char[N]> {
|
||||
static Node encode(const char(&rhs)[N]) { return Node(rhs); }
|
||||
};
|
||||
|
||||
template <>
|
||||
struct convert<_Null> {
|
||||
static Node encode(const _Null& /* rhs */) { return Node(); }
|
||||
|
||||
static bool decode(const Node& node, _Null& /* rhs */) {
|
||||
return node.IsNull();
|
||||
}
|
||||
};
|
||||
|
||||
#define YAML_DEFINE_CONVERT_STREAMABLE(type, negative_op) \
|
||||
template <> \
|
||||
struct convert<type> { \
|
||||
static Node encode(const type& rhs) { \
|
||||
std::stringstream stream; \
|
||||
stream.precision(std::numeric_limits<type>::digits10 + 1); \
|
||||
stream << rhs; \
|
||||
return Node(stream.str()); \
|
||||
} \
|
||||
\
|
||||
static bool decode(const Node& node, type& rhs) { \
|
||||
if (node.Type() != NodeType::Scalar) \
|
||||
return false; \
|
||||
const std::string& input = node.Scalar(); \
|
||||
std::stringstream stream(input); \
|
||||
stream.unsetf(std::ios::dec); \
|
||||
if ((stream >> std::noskipws >> rhs) && (stream >> std::ws).eof()) \
|
||||
return true; \
|
||||
if (std::numeric_limits<type>::has_infinity) { \
|
||||
if (conversion::IsInfinity(input)) { \
|
||||
rhs = std::numeric_limits<type>::infinity(); \
|
||||
return true; \
|
||||
} else if (conversion::IsNegativeInfinity(input)) { \
|
||||
rhs = negative_op std::numeric_limits<type>::infinity(); \
|
||||
return true; \
|
||||
} \
|
||||
} \
|
||||
\
|
||||
if (std::numeric_limits<type>::has_quiet_NaN && \
|
||||
conversion::IsNaN(input)) { \
|
||||
rhs = std::numeric_limits<type>::quiet_NaN(); \
|
||||
return true; \
|
||||
} \
|
||||
\
|
||||
return false; \
|
||||
} \
|
||||
}
|
||||
|
||||
#define YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(type) \
|
||||
YAML_DEFINE_CONVERT_STREAMABLE(type, -)
|
||||
|
||||
#define YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(type) \
|
||||
YAML_DEFINE_CONVERT_STREAMABLE(type, +)
|
||||
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(int);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(short);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(long);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(long long);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned short);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned long);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned long long);
|
||||
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(char);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(signed char);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned char);
|
||||
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(float);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(double);
|
||||
YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(long double);
|
||||
|
||||
#undef YAML_DEFINE_CONVERT_STREAMABLE_SIGNED
|
||||
#undef YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED
|
||||
#undef YAML_DEFINE_CONVERT_STREAMABLE
|
||||
|
||||
// bool
|
||||
template <>
|
||||
struct convert<bool> {
|
||||
static Node encode(bool rhs) { return rhs ? Node("true") : Node("false"); }
|
||||
|
||||
YAML_CPP_API static bool decode(const Node& node, bool& rhs);
|
||||
};
|
||||
|
||||
// std::map
|
||||
template <typename K, typename V>
|
||||
struct convert<std::map<K, V>> {
|
||||
static Node encode(const std::map<K, V>& rhs) {
|
||||
Node node(NodeType::Map);
|
||||
for (typename std::map<K, V>::const_iterator it = rhs.begin();
|
||||
it != rhs.end(); ++it)
|
||||
node.force_insert(it->first, it->second);
|
||||
return node;
|
||||
}
|
||||
|
||||
static bool decode(const Node& node, std::map<K, V>& rhs) {
|
||||
if (!node.IsMap())
|
||||
return false;
|
||||
|
||||
rhs.clear();
|
||||
for (const_iterator it = node.begin(); it != node.end(); ++it)
|
||||
#if defined(__GNUC__) && __GNUC__ < 4
|
||||
// workaround for GCC 3:
|
||||
rhs[it->first.template as<K>()] = it->second.template as<V>();
|
||||
#else
|
||||
rhs[it->first.as<K>()] = it->second.as<V>();
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
// std::vector
|
||||
template <typename T>
|
||||
struct convert<std::vector<T>> {
|
||||
static Node encode(const std::vector<T>& rhs) {
|
||||
Node node(NodeType::Sequence);
|
||||
for (typename std::vector<T>::const_iterator it = rhs.begin();
|
||||
it != rhs.end(); ++it)
|
||||
node.push_back(*it);
|
||||
return node;
|
||||
}
|
||||
|
||||
static bool decode(const Node& node, std::vector<T>& rhs) {
|
||||
if (!node.IsSequence())
|
||||
return false;
|
||||
|
||||
rhs.clear();
|
||||
for (const_iterator it = node.begin(); it != node.end(); ++it)
|
||||
#if defined(__GNUC__) && __GNUC__ < 4
|
||||
// workaround for GCC 3:
|
||||
rhs.push_back(it->template as<T>());
|
||||
#else
|
||||
rhs.push_back(it->as<T>());
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
// std::list
|
||||
template <typename T>
|
||||
struct convert<std::list<T>> {
|
||||
static Node encode(const std::list<T>& rhs) {
|
||||
Node node(NodeType::Sequence);
|
||||
for (typename std::list<T>::const_iterator it = rhs.begin();
|
||||
it != rhs.end(); ++it)
|
||||
node.push_back(*it);
|
||||
return node;
|
||||
}
|
||||
|
||||
static bool decode(const Node& node, std::list<T>& rhs) {
|
||||
if (!node.IsSequence())
|
||||
return false;
|
||||
|
||||
rhs.clear();
|
||||
for (const_iterator it = node.begin(); it != node.end(); ++it)
|
||||
#if defined(__GNUC__) && __GNUC__ < 4
|
||||
// workaround for GCC 3:
|
||||
rhs.push_back(it->template as<T>());
|
||||
#else
|
||||
rhs.push_back(it->as<T>());
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
// std::array
|
||||
template <typename T, std::size_t N>
|
||||
struct convert<std::array<T, N>> {
|
||||
static Node encode(const std::array<T, N>& rhs) {
|
||||
Node node(NodeType::Sequence);
|
||||
for (const auto& element : rhs) {
|
||||
node.push_back(element);
|
||||
}
|
||||
return node;
|
||||
}
|
||||
|
||||
static bool decode(const Node& node, std::array<T, N>& rhs) {
|
||||
if (!isNodeValid(node)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (auto i = 0u; i < node.size(); ++i) {
|
||||
#if defined(__GNUC__) && __GNUC__ < 4
|
||||
// workaround for GCC 3:
|
||||
rhs[i] = node[i].template as<T>();
|
||||
#else
|
||||
rhs[i] = node[i].as<T>();
|
||||
#endif
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
private:
|
||||
static bool isNodeValid(const Node& node) {
|
||||
return node.IsSequence() && node.size() == N;
|
||||
}
|
||||
};
|
||||
|
||||
// std::pair
|
||||
template <typename T, typename U>
|
||||
struct convert<std::pair<T, U>> {
|
||||
static Node encode(const std::pair<T, U>& rhs) {
|
||||
Node node(NodeType::Sequence);
|
||||
node.push_back(rhs.first);
|
||||
node.push_back(rhs.second);
|
||||
return node;
|
||||
}
|
||||
|
||||
static bool decode(const Node& node, std::pair<T, U>& rhs) {
|
||||
if (!node.IsSequence())
|
||||
return false;
|
||||
if (node.size() != 2)
|
||||
return false;
|
||||
|
||||
#if defined(__GNUC__) && __GNUC__ < 4
|
||||
// workaround for GCC 3:
|
||||
rhs.first = node[0].template as<T>();
|
||||
#else
|
||||
rhs.first = node[0].as<T>();
|
||||
#endif
|
||||
#if defined(__GNUC__) && __GNUC__ < 4
|
||||
// workaround for GCC 3:
|
||||
rhs.second = node[1].template as<U>();
|
||||
#else
|
||||
rhs.second = node[1].as<U>();
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
// binary
|
||||
template <>
|
||||
struct convert<Binary> {
|
||||
static Node encode(const Binary& rhs) {
|
||||
return Node(EncodeBase64(rhs.data(), rhs.size()));
|
||||
}
|
||||
|
||||
static bool decode(const Node& node, Binary& rhs) {
|
||||
if (!node.IsScalar())
|
||||
return false;
|
||||
|
||||
std::vector<unsigned char> data = DecodeBase64(node.Scalar());
|
||||
if (data.empty() && !node.Scalar().empty())
|
||||
return false;
|
||||
|
||||
rhs.swap(data);
|
||||
return true;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
#endif // NODE_CONVERT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
#ifndef NODE_DETAIL_BOOL_TYPE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define NODE_DETAIL_BOOL_TYPE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
struct unspecified_bool {
|
||||
struct NOT_ALLOWED;
|
||||
static void true_value(NOT_ALLOWED*) {}
|
||||
};
|
||||
typedef void (*unspecified_bool_type)(unspecified_bool::NOT_ALLOWED*);
|
||||
}
|
||||
}
|
||||
|
||||
#define YAML_CPP_OPERATOR_BOOL() \
|
||||
operator YAML::detail::unspecified_bool_type() const { \
|
||||
return this->operator!() ? 0 \
|
||||
: &YAML::detail::unspecified_bool::true_value; \
|
||||
}
|
||||
|
||||
#endif // NODE_DETAIL_BOOL_TYPE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,185 +0,0 @@
|
|||
#ifndef NODE_DETAIL_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define NODE_DETAIL_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/node/detail/node.h"
|
||||
#include "yaml-cpp/node/detail/node_data.h"
|
||||
#include <type_traits>
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
template <typename Key, typename Enable = void>
|
||||
struct get_idx {
|
||||
static node* get(const std::vector<node*>& /* sequence */,
|
||||
const Key& /* key */, shared_memory_holder /* pMemory */) {
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
|
||||
template <typename Key>
|
||||
struct get_idx<Key,
|
||||
typename std::enable_if<std::is_unsigned<Key>::value &&
|
||||
!std::is_same<Key, bool>::value>::type> {
|
||||
static node* get(const std::vector<node*>& sequence, const Key& key,
|
||||
shared_memory_holder /* pMemory */) {
|
||||
return key < sequence.size() ? sequence[key] : 0;
|
||||
}
|
||||
|
||||
static node* get(std::vector<node*>& sequence, const Key& key,
|
||||
shared_memory_holder pMemory) {
|
||||
if (key > sequence.size() || (key > 0 && !sequence[key-1]->is_defined()))
|
||||
return 0;
|
||||
if (key == sequence.size())
|
||||
sequence.push_back(&pMemory->create_node());
|
||||
return sequence[key];
|
||||
}
|
||||
};
|
||||
|
||||
template <typename Key>
|
||||
struct get_idx<Key, typename std::enable_if<std::is_signed<Key>::value>::type> {
|
||||
static node* get(const std::vector<node*>& sequence, const Key& key,
|
||||
shared_memory_holder pMemory) {
|
||||
return key >= 0 ? get_idx<std::size_t>::get(
|
||||
sequence, static_cast<std::size_t>(key), pMemory)
|
||||
: 0;
|
||||
}
|
||||
static node* get(std::vector<node*>& sequence, const Key& key,
|
||||
shared_memory_holder pMemory) {
|
||||
return key >= 0 ? get_idx<std::size_t>::get(
|
||||
sequence, static_cast<std::size_t>(key), pMemory)
|
||||
: 0;
|
||||
}
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
inline bool node::equals(const T& rhs, shared_memory_holder pMemory) {
|
||||
T lhs;
|
||||
if (convert<T>::decode(Node(*this, pMemory), lhs)) {
|
||||
return lhs == rhs;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
inline bool node::equals(const char* rhs, shared_memory_holder pMemory) {
|
||||
return equals<std::string>(rhs, pMemory);
|
||||
}
|
||||
|
||||
// indexing
|
||||
template <typename Key>
|
||||
inline node* node_data::get(const Key& key,
|
||||
shared_memory_holder pMemory) const {
|
||||
switch (m_type) {
|
||||
case NodeType::Map:
|
||||
break;
|
||||
case NodeType::Undefined:
|
||||
case NodeType::Null:
|
||||
return NULL;
|
||||
case NodeType::Sequence:
|
||||
if (node* pNode = get_idx<Key>::get(m_sequence, key, pMemory))
|
||||
return pNode;
|
||||
return NULL;
|
||||
case NodeType::Scalar:
|
||||
throw BadSubscript();
|
||||
}
|
||||
|
||||
for (node_map::const_iterator it = m_map.begin(); it != m_map.end(); ++it) {
|
||||
if (it->first->equals(key, pMemory)) {
|
||||
return it->second;
|
||||
}
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
template <typename Key>
|
||||
inline node& node_data::get(const Key& key, shared_memory_holder pMemory) {
|
||||
switch (m_type) {
|
||||
case NodeType::Map:
|
||||
break;
|
||||
case NodeType::Undefined:
|
||||
case NodeType::Null:
|
||||
case NodeType::Sequence:
|
||||
if (node* pNode = get_idx<Key>::get(m_sequence, key, pMemory)) {
|
||||
m_type = NodeType::Sequence;
|
||||
return *pNode;
|
||||
}
|
||||
|
||||
convert_to_map(pMemory);
|
||||
break;
|
||||
case NodeType::Scalar:
|
||||
throw BadSubscript();
|
||||
}
|
||||
|
||||
for (node_map::const_iterator it = m_map.begin(); it != m_map.end(); ++it) {
|
||||
if (it->first->equals(key, pMemory)) {
|
||||
return *it->second;
|
||||
}
|
||||
}
|
||||
|
||||
node& k = convert_to_node(key, pMemory);
|
||||
node& v = pMemory->create_node();
|
||||
insert_map_pair(k, v);
|
||||
return v;
|
||||
}
|
||||
|
||||
template <typename Key>
|
||||
inline bool node_data::remove(const Key& key, shared_memory_holder pMemory) {
|
||||
if (m_type != NodeType::Map)
|
||||
return false;
|
||||
|
||||
kv_pairs::iterator it = m_undefinedPairs.begin();
|
||||
while (it != m_undefinedPairs.end()) {
|
||||
kv_pairs::iterator jt = std::next(it);
|
||||
if (it->first->equals(key, pMemory))
|
||||
m_undefinedPairs.erase(it);
|
||||
it = jt;
|
||||
}
|
||||
|
||||
for (node_map::iterator it = m_map.begin(); it != m_map.end(); ++it) {
|
||||
if (it->first->equals(key, pMemory)) {
|
||||
m_map.erase(it);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// map
|
||||
template <typename Key, typename Value>
|
||||
inline void node_data::force_insert(const Key& key, const Value& value,
|
||||
shared_memory_holder pMemory) {
|
||||
switch (m_type) {
|
||||
case NodeType::Map:
|
||||
break;
|
||||
case NodeType::Undefined:
|
||||
case NodeType::Null:
|
||||
case NodeType::Sequence:
|
||||
convert_to_map(pMemory);
|
||||
break;
|
||||
case NodeType::Scalar:
|
||||
throw BadInsert();
|
||||
}
|
||||
|
||||
node& k = convert_to_node(key, pMemory);
|
||||
node& v = convert_to_node(value, pMemory);
|
||||
insert_map_pair(k, v);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline node& node_data::convert_to_node(const T& rhs,
|
||||
shared_memory_holder pMemory) {
|
||||
Node value = convert<T>::encode(rhs);
|
||||
value.EnsureNodeExists();
|
||||
pMemory->merge(*value.m_pMemory);
|
||||
return *value.m_pNode;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif // NODE_DETAIL_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,91 +0,0 @@
|
|||
#ifndef VALUE_DETAIL_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_DETAIL_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/ptr.h"
|
||||
#include "yaml-cpp/node/detail/node_iterator.h"
|
||||
#include <cstddef>
|
||||
#include <iterator>
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
struct iterator_value;
|
||||
|
||||
template <typename V>
|
||||
class iterator_base : public std::iterator<std::forward_iterator_tag, V,
|
||||
std::ptrdiff_t, V*, V> {
|
||||
|
||||
private:
|
||||
template <typename>
|
||||
friend class iterator_base;
|
||||
struct enabler {};
|
||||
typedef node_iterator base_type;
|
||||
|
||||
struct proxy {
|
||||
explicit proxy(const V& x) : m_ref(x) {}
|
||||
V* operator->() { return std::addressof(m_ref); }
|
||||
operator V*() { return std::addressof(m_ref); }
|
||||
|
||||
V m_ref;
|
||||
};
|
||||
|
||||
public:
|
||||
typedef typename iterator_base::value_type value_type;
|
||||
|
||||
public:
|
||||
iterator_base() : m_iterator(), m_pMemory() {}
|
||||
explicit iterator_base(base_type rhs, shared_memory_holder pMemory)
|
||||
: m_iterator(rhs), m_pMemory(pMemory) {}
|
||||
|
||||
template <class W>
|
||||
iterator_base(const iterator_base<W>& rhs,
|
||||
typename std::enable_if<std::is_convertible<W*, V*>::value,
|
||||
enabler>::type = enabler())
|
||||
: m_iterator(rhs.m_iterator), m_pMemory(rhs.m_pMemory) {}
|
||||
|
||||
iterator_base<V>& operator++() {
|
||||
++m_iterator;
|
||||
return *this;
|
||||
}
|
||||
|
||||
iterator_base<V> operator++(int) {
|
||||
iterator_base<V> iterator_pre(*this);
|
||||
++(*this);
|
||||
return iterator_pre;
|
||||
}
|
||||
|
||||
template <typename W>
|
||||
bool operator==(const iterator_base<W>& rhs) const {
|
||||
return m_iterator == rhs.m_iterator;
|
||||
}
|
||||
|
||||
template <typename W>
|
||||
bool operator!=(const iterator_base<W>& rhs) const {
|
||||
return m_iterator != rhs.m_iterator;
|
||||
}
|
||||
|
||||
value_type operator*() const {
|
||||
const typename base_type::value_type& v = *m_iterator;
|
||||
if (v.pNode)
|
||||
return value_type(Node(*v, m_pMemory));
|
||||
if (v.first && v.second)
|
||||
return value_type(Node(*v.first, m_pMemory), Node(*v.second, m_pMemory));
|
||||
return value_type();
|
||||
}
|
||||
|
||||
proxy operator->() const { return proxy(**this); }
|
||||
|
||||
private:
|
||||
base_type m_iterator;
|
||||
shared_memory_holder m_pMemory;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // VALUE_DETAIL_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,27 +0,0 @@
|
|||
#ifndef VALUE_DETAIL_ITERATOR_FWD_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_DETAIL_ITERATOR_FWD_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include <list>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
namespace YAML {
|
||||
|
||||
namespace detail {
|
||||
struct iterator_value;
|
||||
template <typename V>
|
||||
class iterator_base;
|
||||
}
|
||||
|
||||
typedef detail::iterator_base<detail::iterator_value> iterator;
|
||||
typedef detail::iterator_base<const detail::iterator_value> const_iterator;
|
||||
}
|
||||
|
||||
#endif // VALUE_DETAIL_ITERATOR_FWD_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,46 +0,0 @@
|
|||
#ifndef VALUE_DETAIL_MEMORY_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_DETAIL_MEMORY_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <set>
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/ptr.h"
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
class node;
|
||||
} // namespace detail
|
||||
} // namespace YAML
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
class YAML_CPP_API memory {
|
||||
public:
|
||||
node& create_node();
|
||||
void merge(const memory& rhs);
|
||||
|
||||
private:
|
||||
typedef std::set<shared_node> Nodes;
|
||||
Nodes m_nodes;
|
||||
};
|
||||
|
||||
class YAML_CPP_API memory_holder {
|
||||
public:
|
||||
memory_holder() : m_pMemory(new memory) {}
|
||||
|
||||
node& create_node() { return m_pMemory->create_node(); }
|
||||
void merge(memory_holder& rhs);
|
||||
|
||||
private:
|
||||
shared_memory m_pMemory;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // VALUE_DETAIL_MEMORY_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,169 +0,0 @@
|
|||
#ifndef NODE_DETAIL_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define NODE_DETAIL_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/emitterstyle.h"
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/type.h"
|
||||
#include "yaml-cpp/node/ptr.h"
|
||||
#include "yaml-cpp/node/detail/node_ref.h"
|
||||
#include <set>
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
class node {
|
||||
public:
|
||||
node() : m_pRef(new node_ref) {}
|
||||
node(const node&) = delete;
|
||||
node& operator=(const node&) = delete;
|
||||
|
||||
bool is(const node& rhs) const { return m_pRef == rhs.m_pRef; }
|
||||
const node_ref* ref() const { return m_pRef.get(); }
|
||||
|
||||
bool is_defined() const { return m_pRef->is_defined(); }
|
||||
const Mark& mark() const { return m_pRef->mark(); }
|
||||
NodeType::value type() const { return m_pRef->type(); }
|
||||
|
||||
const std::string& scalar() const { return m_pRef->scalar(); }
|
||||
const std::string& tag() const { return m_pRef->tag(); }
|
||||
EmitterStyle::value style() const { return m_pRef->style(); }
|
||||
|
||||
template <typename T>
|
||||
bool equals(const T& rhs, shared_memory_holder pMemory);
|
||||
bool equals(const char* rhs, shared_memory_holder pMemory);
|
||||
|
||||
void mark_defined() {
|
||||
if (is_defined())
|
||||
return;
|
||||
|
||||
m_pRef->mark_defined();
|
||||
for (nodes::iterator it = m_dependencies.begin();
|
||||
it != m_dependencies.end(); ++it)
|
||||
(*it)->mark_defined();
|
||||
m_dependencies.clear();
|
||||
}
|
||||
|
||||
void add_dependency(node& rhs) {
|
||||
if (is_defined())
|
||||
rhs.mark_defined();
|
||||
else
|
||||
m_dependencies.insert(&rhs);
|
||||
}
|
||||
|
||||
void set_ref(const node& rhs) {
|
||||
if (rhs.is_defined())
|
||||
mark_defined();
|
||||
m_pRef = rhs.m_pRef;
|
||||
}
|
||||
void set_data(const node& rhs) {
|
||||
if (rhs.is_defined())
|
||||
mark_defined();
|
||||
m_pRef->set_data(*rhs.m_pRef);
|
||||
}
|
||||
|
||||
void set_mark(const Mark& mark) { m_pRef->set_mark(mark); }
|
||||
|
||||
void set_type(NodeType::value type) {
|
||||
if (type != NodeType::Undefined)
|
||||
mark_defined();
|
||||
m_pRef->set_type(type);
|
||||
}
|
||||
void set_null() {
|
||||
mark_defined();
|
||||
m_pRef->set_null();
|
||||
}
|
||||
void set_scalar(const std::string& scalar) {
|
||||
mark_defined();
|
||||
m_pRef->set_scalar(scalar);
|
||||
}
|
||||
void set_tag(const std::string& tag) {
|
||||
mark_defined();
|
||||
m_pRef->set_tag(tag);
|
||||
}
|
||||
|
||||
// style
|
||||
void set_style(EmitterStyle::value style) {
|
||||
mark_defined();
|
||||
m_pRef->set_style(style);
|
||||
}
|
||||
|
||||
// size/iterator
|
||||
std::size_t size() const { return m_pRef->size(); }
|
||||
|
||||
const_node_iterator begin() const {
|
||||
return static_cast<const node_ref&>(*m_pRef).begin();
|
||||
}
|
||||
node_iterator begin() { return m_pRef->begin(); }
|
||||
|
||||
const_node_iterator end() const {
|
||||
return static_cast<const node_ref&>(*m_pRef).end();
|
||||
}
|
||||
node_iterator end() { return m_pRef->end(); }
|
||||
|
||||
// sequence
|
||||
void push_back(node& node, shared_memory_holder pMemory) {
|
||||
m_pRef->push_back(node, pMemory);
|
||||
node.add_dependency(*this);
|
||||
}
|
||||
void insert(node& key, node& value, shared_memory_holder pMemory) {
|
||||
m_pRef->insert(key, value, pMemory);
|
||||
key.add_dependency(*this);
|
||||
value.add_dependency(*this);
|
||||
}
|
||||
|
||||
// indexing
|
||||
template <typename Key>
|
||||
node* get(const Key& key, shared_memory_holder pMemory) const {
|
||||
// NOTE: this returns a non-const node so that the top-level Node can wrap
|
||||
// it, and returns a pointer so that it can be NULL (if there is no such
|
||||
// key).
|
||||
return static_cast<const node_ref&>(*m_pRef).get(key, pMemory);
|
||||
}
|
||||
template <typename Key>
|
||||
node& get(const Key& key, shared_memory_holder pMemory) {
|
||||
node& value = m_pRef->get(key, pMemory);
|
||||
value.add_dependency(*this);
|
||||
return value;
|
||||
}
|
||||
template <typename Key>
|
||||
bool remove(const Key& key, shared_memory_holder pMemory) {
|
||||
return m_pRef->remove(key, pMemory);
|
||||
}
|
||||
|
||||
node* get(node& key, shared_memory_holder pMemory) const {
|
||||
// NOTE: this returns a non-const node so that the top-level Node can wrap
|
||||
// it, and returns a pointer so that it can be NULL (if there is no such
|
||||
// key).
|
||||
return static_cast<const node_ref&>(*m_pRef).get(key, pMemory);
|
||||
}
|
||||
node& get(node& key, shared_memory_holder pMemory) {
|
||||
node& value = m_pRef->get(key, pMemory);
|
||||
key.add_dependency(*this);
|
||||
value.add_dependency(*this);
|
||||
return value;
|
||||
}
|
||||
bool remove(node& key, shared_memory_holder pMemory) {
|
||||
return m_pRef->remove(key, pMemory);
|
||||
}
|
||||
|
||||
// map
|
||||
template <typename Key, typename Value>
|
||||
void force_insert(const Key& key, const Value& value,
|
||||
shared_memory_holder pMemory) {
|
||||
m_pRef->force_insert(key, value, pMemory);
|
||||
}
|
||||
|
||||
private:
|
||||
shared_node_ref m_pRef;
|
||||
typedef std::set<node*> nodes;
|
||||
nodes m_dependencies;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // NODE_DETAIL_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,127 +0,0 @@
|
|||
#ifndef VALUE_DETAIL_NODE_DATA_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_DETAIL_NODE_DATA_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/detail/node_iterator.h"
|
||||
#include "yaml-cpp/node/iterator.h"
|
||||
#include "yaml-cpp/node/ptr.h"
|
||||
#include "yaml-cpp/node/type.h"
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
class node;
|
||||
} // namespace detail
|
||||
} // namespace YAML
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
class YAML_CPP_API node_data {
|
||||
public:
|
||||
node_data();
|
||||
node_data(const node_data&) = delete;
|
||||
node_data& operator=(const node_data&) = delete;
|
||||
|
||||
void mark_defined();
|
||||
void set_mark(const Mark& mark);
|
||||
void set_type(NodeType::value type);
|
||||
void set_tag(const std::string& tag);
|
||||
void set_null();
|
||||
void set_scalar(const std::string& scalar);
|
||||
void set_style(EmitterStyle::value style);
|
||||
|
||||
bool is_defined() const { return m_isDefined; }
|
||||
const Mark& mark() const { return m_mark; }
|
||||
NodeType::value type() const {
|
||||
return m_isDefined ? m_type : NodeType::Undefined;
|
||||
}
|
||||
const std::string& scalar() const { return m_scalar; }
|
||||
const std::string& tag() const { return m_tag; }
|
||||
EmitterStyle::value style() const { return m_style; }
|
||||
|
||||
// size/iterator
|
||||
std::size_t size() const;
|
||||
|
||||
const_node_iterator begin() const;
|
||||
node_iterator begin();
|
||||
|
||||
const_node_iterator end() const;
|
||||
node_iterator end();
|
||||
|
||||
// sequence
|
||||
void push_back(node& node, shared_memory_holder pMemory);
|
||||
void insert(node& key, node& value, shared_memory_holder pMemory);
|
||||
|
||||
// indexing
|
||||
template <typename Key>
|
||||
node* get(const Key& key, shared_memory_holder pMemory) const;
|
||||
template <typename Key>
|
||||
node& get(const Key& key, shared_memory_holder pMemory);
|
||||
template <typename Key>
|
||||
bool remove(const Key& key, shared_memory_holder pMemory);
|
||||
|
||||
node* get(node& key, shared_memory_holder pMemory) const;
|
||||
node& get(node& key, shared_memory_holder pMemory);
|
||||
bool remove(node& key, shared_memory_holder pMemory);
|
||||
|
||||
// map
|
||||
template <typename Key, typename Value>
|
||||
void force_insert(const Key& key, const Value& value,
|
||||
shared_memory_holder pMemory);
|
||||
|
||||
public:
|
||||
static std::string empty_scalar;
|
||||
|
||||
private:
|
||||
void compute_seq_size() const;
|
||||
void compute_map_size() const;
|
||||
|
||||
void reset_sequence();
|
||||
void reset_map();
|
||||
|
||||
void insert_map_pair(node& key, node& value);
|
||||
void convert_to_map(shared_memory_holder pMemory);
|
||||
void convert_sequence_to_map(shared_memory_holder pMemory);
|
||||
|
||||
template <typename T>
|
||||
static node& convert_to_node(const T& rhs, shared_memory_holder pMemory);
|
||||
|
||||
private:
|
||||
bool m_isDefined;
|
||||
Mark m_mark;
|
||||
NodeType::value m_type;
|
||||
std::string m_tag;
|
||||
EmitterStyle::value m_style;
|
||||
|
||||
// scalar
|
||||
std::string m_scalar;
|
||||
|
||||
// sequence
|
||||
typedef std::vector<node*> node_seq;
|
||||
node_seq m_sequence;
|
||||
|
||||
mutable std::size_t m_seqSize;
|
||||
|
||||
// map
|
||||
typedef std::vector<std::pair<node*, node*>> node_map;
|
||||
node_map m_map;
|
||||
|
||||
typedef std::pair<node*, node*> kv_pair;
|
||||
typedef std::list<kv_pair> kv_pairs;
|
||||
mutable kv_pairs m_undefinedPairs;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // VALUE_DETAIL_NODE_DATA_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,180 +0,0 @@
|
|||
#ifndef VALUE_DETAIL_NODE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_DETAIL_NODE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/ptr.h"
|
||||
#include <cstddef>
|
||||
#include <iterator>
|
||||
#include <memory>
|
||||
#include <map>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
struct iterator_type {
|
||||
enum value { None, Sequence, Map };
|
||||
};
|
||||
|
||||
template <typename V>
|
||||
struct node_iterator_value : public std::pair<V*, V*> {
|
||||
typedef std::pair<V*, V*> kv;
|
||||
|
||||
node_iterator_value() : kv(), pNode(0) {}
|
||||
explicit node_iterator_value(V& rhs) : kv(), pNode(&rhs) {}
|
||||
explicit node_iterator_value(V& key, V& value) : kv(&key, &value), pNode(0) {}
|
||||
|
||||
V& operator*() const { return *pNode; }
|
||||
V& operator->() const { return *pNode; }
|
||||
|
||||
V* pNode;
|
||||
};
|
||||
|
||||
typedef std::vector<node*> node_seq;
|
||||
typedef std::vector<std::pair<node*, node*>> node_map;
|
||||
|
||||
template <typename V>
|
||||
struct node_iterator_type {
|
||||
typedef node_seq::iterator seq;
|
||||
typedef node_map::iterator map;
|
||||
};
|
||||
|
||||
template <typename V>
|
||||
struct node_iterator_type<const V> {
|
||||
typedef node_seq::const_iterator seq;
|
||||
typedef node_map::const_iterator map;
|
||||
};
|
||||
|
||||
template <typename V>
|
||||
class node_iterator_base
|
||||
: public std::iterator<std::forward_iterator_tag, node_iterator_value<V>,
|
||||
std::ptrdiff_t, node_iterator_value<V>*,
|
||||
node_iterator_value<V>> {
|
||||
private:
|
||||
struct enabler {};
|
||||
|
||||
struct proxy {
|
||||
explicit proxy(const node_iterator_value<V>& x) : m_ref(x) {}
|
||||
node_iterator_value<V>* operator->() { return std::addressof(m_ref); }
|
||||
operator node_iterator_value<V>*() { return std::addressof(m_ref); }
|
||||
|
||||
node_iterator_value<V> m_ref;
|
||||
};
|
||||
|
||||
public:
|
||||
typedef typename node_iterator_type<V>::seq SeqIter;
|
||||
typedef typename node_iterator_type<V>::map MapIter;
|
||||
typedef node_iterator_value<V> value_type;
|
||||
|
||||
node_iterator_base()
|
||||
: m_type(iterator_type::None), m_seqIt(), m_mapIt(), m_mapEnd() {}
|
||||
explicit node_iterator_base(SeqIter seqIt)
|
||||
: m_type(iterator_type::Sequence),
|
||||
m_seqIt(seqIt),
|
||||
m_mapIt(),
|
||||
m_mapEnd() {}
|
||||
explicit node_iterator_base(MapIter mapIt, MapIter mapEnd)
|
||||
: m_type(iterator_type::Map),
|
||||
m_seqIt(),
|
||||
m_mapIt(mapIt),
|
||||
m_mapEnd(mapEnd) {
|
||||
m_mapIt = increment_until_defined(m_mapIt);
|
||||
}
|
||||
|
||||
template <typename W>
|
||||
node_iterator_base(const node_iterator_base<W>& rhs,
|
||||
typename std::enable_if<std::is_convertible<W*, V*>::value,
|
||||
enabler>::type = enabler())
|
||||
: m_type(rhs.m_type),
|
||||
m_seqIt(rhs.m_seqIt),
|
||||
m_mapIt(rhs.m_mapIt),
|
||||
m_mapEnd(rhs.m_mapEnd) {}
|
||||
|
||||
template <typename>
|
||||
friend class node_iterator_base;
|
||||
|
||||
template <typename W>
|
||||
bool operator==(const node_iterator_base<W>& rhs) const {
|
||||
if (m_type != rhs.m_type)
|
||||
return false;
|
||||
|
||||
switch (m_type) {
|
||||
case iterator_type::None:
|
||||
return true;
|
||||
case iterator_type::Sequence:
|
||||
return m_seqIt == rhs.m_seqIt;
|
||||
case iterator_type::Map:
|
||||
return m_mapIt == rhs.m_mapIt;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
template <typename W>
|
||||
bool operator!=(const node_iterator_base<W>& rhs) const {
|
||||
return !(*this == rhs);
|
||||
}
|
||||
|
||||
node_iterator_base<V>& operator++() {
|
||||
switch (m_type) {
|
||||
case iterator_type::None:
|
||||
break;
|
||||
case iterator_type::Sequence:
|
||||
++m_seqIt;
|
||||
break;
|
||||
case iterator_type::Map:
|
||||
++m_mapIt;
|
||||
m_mapIt = increment_until_defined(m_mapIt);
|
||||
break;
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
node_iterator_base<V> operator++(int) {
|
||||
node_iterator_base<V> iterator_pre(*this);
|
||||
++(*this);
|
||||
return iterator_pre;
|
||||
}
|
||||
|
||||
value_type operator*() const {
|
||||
switch (m_type) {
|
||||
case iterator_type::None:
|
||||
return value_type();
|
||||
case iterator_type::Sequence:
|
||||
return value_type(**m_seqIt);
|
||||
case iterator_type::Map:
|
||||
return value_type(*m_mapIt->first, *m_mapIt->second);
|
||||
}
|
||||
return value_type();
|
||||
}
|
||||
|
||||
proxy operator->() const { return proxy(**this); }
|
||||
|
||||
MapIter increment_until_defined(MapIter it) {
|
||||
while (it != m_mapEnd && !is_defined(it))
|
||||
++it;
|
||||
return it;
|
||||
}
|
||||
|
||||
bool is_defined(MapIter it) const {
|
||||
return it->first->is_defined() && it->second->is_defined();
|
||||
}
|
||||
|
||||
private:
|
||||
typename iterator_type::value m_type;
|
||||
|
||||
SeqIter m_seqIt;
|
||||
MapIter m_mapIt, m_mapEnd;
|
||||
};
|
||||
|
||||
typedef node_iterator_base<node> node_iterator;
|
||||
typedef node_iterator_base<const node> const_node_iterator;
|
||||
}
|
||||
}
|
||||
|
||||
#endif // VALUE_DETAIL_NODE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,98 +0,0 @@
|
|||
#ifndef VALUE_DETAIL_NODE_REF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_DETAIL_NODE_REF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/type.h"
|
||||
#include "yaml-cpp/node/ptr.h"
|
||||
#include "yaml-cpp/node/detail/node_data.h"
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
class node_ref {
|
||||
public:
|
||||
node_ref() : m_pData(new node_data) {}
|
||||
node_ref(const node_ref&) = delete;
|
||||
node_ref& operator=(const node_ref&) = delete;
|
||||
|
||||
bool is_defined() const { return m_pData->is_defined(); }
|
||||
const Mark& mark() const { return m_pData->mark(); }
|
||||
NodeType::value type() const { return m_pData->type(); }
|
||||
const std::string& scalar() const { return m_pData->scalar(); }
|
||||
const std::string& tag() const { return m_pData->tag(); }
|
||||
EmitterStyle::value style() const { return m_pData->style(); }
|
||||
|
||||
void mark_defined() { m_pData->mark_defined(); }
|
||||
void set_data(const node_ref& rhs) { m_pData = rhs.m_pData; }
|
||||
|
||||
void set_mark(const Mark& mark) { m_pData->set_mark(mark); }
|
||||
void set_type(NodeType::value type) { m_pData->set_type(type); }
|
||||
void set_tag(const std::string& tag) { m_pData->set_tag(tag); }
|
||||
void set_null() { m_pData->set_null(); }
|
||||
void set_scalar(const std::string& scalar) { m_pData->set_scalar(scalar); }
|
||||
void set_style(EmitterStyle::value style) { m_pData->set_style(style); }
|
||||
|
||||
// size/iterator
|
||||
std::size_t size() const { return m_pData->size(); }
|
||||
|
||||
const_node_iterator begin() const {
|
||||
return static_cast<const node_data&>(*m_pData).begin();
|
||||
}
|
||||
node_iterator begin() { return m_pData->begin(); }
|
||||
|
||||
const_node_iterator end() const {
|
||||
return static_cast<const node_data&>(*m_pData).end();
|
||||
}
|
||||
node_iterator end() { return m_pData->end(); }
|
||||
|
||||
// sequence
|
||||
void push_back(node& node, shared_memory_holder pMemory) {
|
||||
m_pData->push_back(node, pMemory);
|
||||
}
|
||||
void insert(node& key, node& value, shared_memory_holder pMemory) {
|
||||
m_pData->insert(key, value, pMemory);
|
||||
}
|
||||
|
||||
// indexing
|
||||
template <typename Key>
|
||||
node* get(const Key& key, shared_memory_holder pMemory) const {
|
||||
return static_cast<const node_data&>(*m_pData).get(key, pMemory);
|
||||
}
|
||||
template <typename Key>
|
||||
node& get(const Key& key, shared_memory_holder pMemory) {
|
||||
return m_pData->get(key, pMemory);
|
||||
}
|
||||
template <typename Key>
|
||||
bool remove(const Key& key, shared_memory_holder pMemory) {
|
||||
return m_pData->remove(key, pMemory);
|
||||
}
|
||||
|
||||
node* get(node& key, shared_memory_holder pMemory) const {
|
||||
return static_cast<const node_data&>(*m_pData).get(key, pMemory);
|
||||
}
|
||||
node& get(node& key, shared_memory_holder pMemory) {
|
||||
return m_pData->get(key, pMemory);
|
||||
}
|
||||
bool remove(node& key, shared_memory_holder pMemory) {
|
||||
return m_pData->remove(key, pMemory);
|
||||
}
|
||||
|
||||
// map
|
||||
template <typename Key, typename Value>
|
||||
void force_insert(const Key& key, const Value& value,
|
||||
shared_memory_holder pMemory) {
|
||||
m_pData->force_insert(key, value, pMemory);
|
||||
}
|
||||
|
||||
private:
|
||||
shared_node_data m_pData;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // VALUE_DETAIL_NODE_REF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
#ifndef NODE_EMIT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define NODE_EMIT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
#include <iosfwd>
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
|
||||
namespace YAML {
|
||||
class Emitter;
|
||||
class Node;
|
||||
|
||||
/**
|
||||
* Emits the node to the given {@link Emitter}. If there is an error in writing,
|
||||
* {@link Emitter#good} will return false.
|
||||
*/
|
||||
YAML_CPP_API Emitter& operator<<(Emitter& out, const Node& node);
|
||||
|
||||
/** Emits the node to the given output stream. */
|
||||
YAML_CPP_API std::ostream& operator<<(std::ostream& out, const Node& node);
|
||||
|
||||
/** Converts the node to a YAML string. */
|
||||
YAML_CPP_API std::string Dump(const Node& node);
|
||||
} // namespace YAML
|
||||
|
||||
#endif // NODE_EMIT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,448 +0,0 @@
|
|||
#ifndef NODE_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define NODE_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/node/node.h"
|
||||
#include "yaml-cpp/node/iterator.h"
|
||||
#include "yaml-cpp/node/detail/memory.h"
|
||||
#include "yaml-cpp/node/detail/node.h"
|
||||
#include "yaml-cpp/exceptions.h"
|
||||
#include <string>
|
||||
|
||||
namespace YAML {
|
||||
inline Node::Node() : m_isValid(true), m_pNode(NULL) {}
|
||||
|
||||
inline Node::Node(NodeType::value type)
|
||||
: m_isValid(true),
|
||||
m_pMemory(new detail::memory_holder),
|
||||
m_pNode(&m_pMemory->create_node()) {
|
||||
m_pNode->set_type(type);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline Node::Node(const T& rhs)
|
||||
: m_isValid(true),
|
||||
m_pMemory(new detail::memory_holder),
|
||||
m_pNode(&m_pMemory->create_node()) {
|
||||
Assign(rhs);
|
||||
}
|
||||
|
||||
inline Node::Node(const detail::iterator_value& rhs)
|
||||
: m_isValid(rhs.m_isValid),
|
||||
m_pMemory(rhs.m_pMemory),
|
||||
m_pNode(rhs.m_pNode) {}
|
||||
|
||||
inline Node::Node(const Node& rhs)
|
||||
: m_isValid(rhs.m_isValid),
|
||||
m_pMemory(rhs.m_pMemory),
|
||||
m_pNode(rhs.m_pNode) {}
|
||||
|
||||
inline Node::Node(Zombie) : m_isValid(false), m_pNode(NULL) {}
|
||||
|
||||
inline Node::Node(detail::node& node, detail::shared_memory_holder pMemory)
|
||||
: m_isValid(true), m_pMemory(pMemory), m_pNode(&node) {}
|
||||
|
||||
inline Node::~Node() {}
|
||||
|
||||
inline void Node::EnsureNodeExists() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
if (!m_pNode) {
|
||||
m_pMemory.reset(new detail::memory_holder);
|
||||
m_pNode = &m_pMemory->create_node();
|
||||
m_pNode->set_null();
|
||||
}
|
||||
}
|
||||
|
||||
inline bool Node::IsDefined() const {
|
||||
if (!m_isValid) {
|
||||
return false;
|
||||
}
|
||||
return m_pNode ? m_pNode->is_defined() : true;
|
||||
}
|
||||
|
||||
inline Mark Node::Mark() const {
|
||||
if (!m_isValid) {
|
||||
throw InvalidNode();
|
||||
}
|
||||
return m_pNode ? m_pNode->mark() : Mark::null_mark();
|
||||
}
|
||||
|
||||
inline NodeType::value Node::Type() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
return m_pNode ? m_pNode->type() : NodeType::Null;
|
||||
}
|
||||
|
||||
// access
|
||||
|
||||
// template helpers
|
||||
template <typename T, typename S>
|
||||
struct as_if {
|
||||
explicit as_if(const Node& node_) : node(node_) {}
|
||||
const Node& node;
|
||||
|
||||
T operator()(const S& fallback) const {
|
||||
if (!node.m_pNode)
|
||||
return fallback;
|
||||
|
||||
T t;
|
||||
if (convert<T>::decode(node, t))
|
||||
return t;
|
||||
return fallback;
|
||||
}
|
||||
};
|
||||
|
||||
template <typename S>
|
||||
struct as_if<std::string, S> {
|
||||
explicit as_if(const Node& node_) : node(node_) {}
|
||||
const Node& node;
|
||||
|
||||
std::string operator()(const S& fallback) const {
|
||||
if (node.Type() != NodeType::Scalar)
|
||||
return fallback;
|
||||
return node.Scalar();
|
||||
}
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
struct as_if<T, void> {
|
||||
explicit as_if(const Node& node_) : node(node_) {}
|
||||
const Node& node;
|
||||
|
||||
T operator()() const {
|
||||
if (!node.m_pNode)
|
||||
throw TypedBadConversion<T>(node.Mark());
|
||||
|
||||
T t;
|
||||
if (convert<T>::decode(node, t))
|
||||
return t;
|
||||
throw TypedBadConversion<T>(node.Mark());
|
||||
}
|
||||
};
|
||||
|
||||
template <>
|
||||
struct as_if<std::string, void> {
|
||||
explicit as_if(const Node& node_) : node(node_) {}
|
||||
const Node& node;
|
||||
|
||||
std::string operator()() const {
|
||||
if (node.Type() != NodeType::Scalar)
|
||||
throw TypedBadConversion<std::string>(node.Mark());
|
||||
return node.Scalar();
|
||||
}
|
||||
};
|
||||
|
||||
// access functions
|
||||
template <typename T>
|
||||
inline T Node::as() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
return as_if<T, void>(*this)();
|
||||
}
|
||||
|
||||
template <typename T, typename S>
|
||||
inline T Node::as(const S& fallback) const {
|
||||
if (!m_isValid)
|
||||
return fallback;
|
||||
return as_if<T, S>(*this)(fallback);
|
||||
}
|
||||
|
||||
inline const std::string& Node::Scalar() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
return m_pNode ? m_pNode->scalar() : detail::node_data::empty_scalar;
|
||||
}
|
||||
|
||||
inline const std::string& Node::Tag() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
return m_pNode ? m_pNode->tag() : detail::node_data::empty_scalar;
|
||||
}
|
||||
|
||||
inline void Node::SetTag(const std::string& tag) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
m_pNode->set_tag(tag);
|
||||
}
|
||||
|
||||
inline EmitterStyle::value Node::Style() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
return m_pNode ? m_pNode->style() : EmitterStyle::Default;
|
||||
}
|
||||
|
||||
inline void Node::SetStyle(EmitterStyle::value style) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
m_pNode->set_style(style);
|
||||
}
|
||||
|
||||
// assignment
|
||||
inline bool Node::is(const Node& rhs) const {
|
||||
if (!m_isValid || !rhs.m_isValid)
|
||||
throw InvalidNode();
|
||||
if (!m_pNode || !rhs.m_pNode)
|
||||
return false;
|
||||
return m_pNode->is(*rhs.m_pNode);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline Node& Node::operator=(const T& rhs) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
Assign(rhs);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline void Node::reset(const YAML::Node& rhs) {
|
||||
if (!m_isValid || !rhs.m_isValid)
|
||||
throw InvalidNode();
|
||||
m_pMemory = rhs.m_pMemory;
|
||||
m_pNode = rhs.m_pNode;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline void Node::Assign(const T& rhs) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
AssignData(convert<T>::encode(rhs));
|
||||
}
|
||||
|
||||
template <>
|
||||
inline void Node::Assign(const std::string& rhs) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
m_pNode->set_scalar(rhs);
|
||||
}
|
||||
|
||||
inline void Node::Assign(const char* rhs) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
m_pNode->set_scalar(rhs);
|
||||
}
|
||||
|
||||
inline void Node::Assign(char* rhs) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
m_pNode->set_scalar(rhs);
|
||||
}
|
||||
|
||||
inline Node& Node::operator=(const Node& rhs) {
|
||||
if (!m_isValid || !rhs.m_isValid)
|
||||
throw InvalidNode();
|
||||
if (is(rhs))
|
||||
return *this;
|
||||
AssignNode(rhs);
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline void Node::AssignData(const Node& rhs) {
|
||||
if (!m_isValid || !rhs.m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
rhs.EnsureNodeExists();
|
||||
|
||||
m_pNode->set_data(*rhs.m_pNode);
|
||||
m_pMemory->merge(*rhs.m_pMemory);
|
||||
}
|
||||
|
||||
inline void Node::AssignNode(const Node& rhs) {
|
||||
if (!m_isValid || !rhs.m_isValid)
|
||||
throw InvalidNode();
|
||||
rhs.EnsureNodeExists();
|
||||
|
||||
if (!m_pNode) {
|
||||
m_pNode = rhs.m_pNode;
|
||||
m_pMemory = rhs.m_pMemory;
|
||||
return;
|
||||
}
|
||||
|
||||
m_pNode->set_ref(*rhs.m_pNode);
|
||||
m_pMemory->merge(*rhs.m_pMemory);
|
||||
m_pNode = rhs.m_pNode;
|
||||
}
|
||||
|
||||
// size/iterator
|
||||
inline std::size_t Node::size() const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
return m_pNode ? m_pNode->size() : 0;
|
||||
}
|
||||
|
||||
inline const_iterator Node::begin() const {
|
||||
if (!m_isValid)
|
||||
return const_iterator();
|
||||
return m_pNode ? const_iterator(m_pNode->begin(), m_pMemory)
|
||||
: const_iterator();
|
||||
}
|
||||
|
||||
inline iterator Node::begin() {
|
||||
if (!m_isValid)
|
||||
return iterator();
|
||||
return m_pNode ? iterator(m_pNode->begin(), m_pMemory) : iterator();
|
||||
}
|
||||
|
||||
inline const_iterator Node::end() const {
|
||||
if (!m_isValid)
|
||||
return const_iterator();
|
||||
return m_pNode ? const_iterator(m_pNode->end(), m_pMemory) : const_iterator();
|
||||
}
|
||||
|
||||
inline iterator Node::end() {
|
||||
if (!m_isValid)
|
||||
return iterator();
|
||||
return m_pNode ? iterator(m_pNode->end(), m_pMemory) : iterator();
|
||||
}
|
||||
|
||||
// sequence
|
||||
template <typename T>
|
||||
inline void Node::push_back(const T& rhs) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
push_back(Node(rhs));
|
||||
}
|
||||
|
||||
inline void Node::push_back(const Node& rhs) {
|
||||
if (!m_isValid || !rhs.m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
rhs.EnsureNodeExists();
|
||||
|
||||
m_pNode->push_back(*rhs.m_pNode, m_pMemory);
|
||||
m_pMemory->merge(*rhs.m_pMemory);
|
||||
}
|
||||
|
||||
// helpers for indexing
|
||||
namespace detail {
|
||||
template <typename T>
|
||||
struct to_value_t {
|
||||
explicit to_value_t(const T& t_) : t(t_) {}
|
||||
const T& t;
|
||||
typedef const T& return_type;
|
||||
|
||||
const T& operator()() const { return t; }
|
||||
};
|
||||
|
||||
template <>
|
||||
struct to_value_t<const char*> {
|
||||
explicit to_value_t(const char* t_) : t(t_) {}
|
||||
const char* t;
|
||||
typedef std::string return_type;
|
||||
|
||||
const std::string operator()() const { return t; }
|
||||
};
|
||||
|
||||
template <>
|
||||
struct to_value_t<char*> {
|
||||
explicit to_value_t(char* t_) : t(t_) {}
|
||||
const char* t;
|
||||
typedef std::string return_type;
|
||||
|
||||
const std::string operator()() const { return t; }
|
||||
};
|
||||
|
||||
template <std::size_t N>
|
||||
struct to_value_t<char[N]> {
|
||||
explicit to_value_t(const char* t_) : t(t_) {}
|
||||
const char* t;
|
||||
typedef std::string return_type;
|
||||
|
||||
const std::string operator()() const { return t; }
|
||||
};
|
||||
|
||||
// converts C-strings to std::strings so they can be copied
|
||||
template <typename T>
|
||||
inline typename to_value_t<T>::return_type to_value(const T& t) {
|
||||
return to_value_t<T>(t)();
|
||||
}
|
||||
}
|
||||
|
||||
// indexing
|
||||
template <typename Key>
|
||||
inline const Node Node::operator[](const Key& key) const {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
detail::node* value = static_cast<const detail::node&>(*m_pNode)
|
||||
.get(detail::to_value(key), m_pMemory);
|
||||
if (!value) {
|
||||
return Node(ZombieNode);
|
||||
}
|
||||
return Node(*value, m_pMemory);
|
||||
}
|
||||
|
||||
template <typename Key>
|
||||
inline Node Node::operator[](const Key& key) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
detail::node& value = m_pNode->get(detail::to_value(key), m_pMemory);
|
||||
return Node(value, m_pMemory);
|
||||
}
|
||||
|
||||
template <typename Key>
|
||||
inline bool Node::remove(const Key& key) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
return m_pNode->remove(detail::to_value(key), m_pMemory);
|
||||
}
|
||||
|
||||
inline const Node Node::operator[](const Node& key) const {
|
||||
if (!m_isValid || !key.m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
key.EnsureNodeExists();
|
||||
m_pMemory->merge(*key.m_pMemory);
|
||||
detail::node* value =
|
||||
static_cast<const detail::node&>(*m_pNode).get(*key.m_pNode, m_pMemory);
|
||||
if (!value) {
|
||||
return Node(ZombieNode);
|
||||
}
|
||||
return Node(*value, m_pMemory);
|
||||
}
|
||||
|
||||
inline Node Node::operator[](const Node& key) {
|
||||
if (!m_isValid || !key.m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
key.EnsureNodeExists();
|
||||
m_pMemory->merge(*key.m_pMemory);
|
||||
detail::node& value = m_pNode->get(*key.m_pNode, m_pMemory);
|
||||
return Node(value, m_pMemory);
|
||||
}
|
||||
|
||||
inline bool Node::remove(const Node& key) {
|
||||
if (!m_isValid || !key.m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
key.EnsureNodeExists();
|
||||
return m_pNode->remove(*key.m_pNode, m_pMemory);
|
||||
}
|
||||
|
||||
// map
|
||||
template <typename Key, typename Value>
|
||||
inline void Node::force_insert(const Key& key, const Value& value) {
|
||||
if (!m_isValid)
|
||||
throw InvalidNode();
|
||||
EnsureNodeExists();
|
||||
m_pNode->force_insert(detail::to_value(key), detail::to_value(value),
|
||||
m_pMemory);
|
||||
}
|
||||
|
||||
// free functions
|
||||
inline bool operator==(const Node& lhs, const Node& rhs) { return lhs.is(rhs); }
|
||||
}
|
||||
|
||||
#endif // NODE_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
|
@ -1,31 +0,0 @@
|
|||
#ifndef VALUE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
#define VALUE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
|
||||
#if defined(_MSC_VER) || \
|
||||
(defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
|
||||
(__GNUC__ >= 4)) // GCC supports "pragma once" correctly since 3.4
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
#include "yaml-cpp/dll.h"
|
||||
#include "yaml-cpp/node/node.h"
|
||||
#include "yaml-cpp/node/detail/iterator_fwd.h"
|
||||
#include "yaml-cpp/node/detail/iterator.h"
|
||||
#include <list>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
namespace YAML {
|
||||
namespace detail {
|
||||
struct iterator_value : public Node, std::pair<Node, Node> {
|
||||
iterator_value() {}
|
||||
explicit iterator_value(const Node& rhs)
|
||||
: Node(rhs),
|
||||
std::pair<Node, Node>(Node(Node::ZombieNode), Node(Node::ZombieNode)) {}
|
||||
explicit iterator_value(const Node& key, const Node& value)
|
||||
: Node(Node::ZombieNode), std::pair<Node, Node>(key, value) {}
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif // VALUE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue