#include <@ACADO_COMMON_HEADER@>

#include "qpOASES_e/@SOLVER_NAME@.h"

#if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1
#include "qpOASES_e/extras/SolutionAnalysis.h"
#endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */

static int @MODULE_NAME@_@PREFIX@nWSR;

@USE_NAMESPACE@

#if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1
static SolutionAnalysis @MODULE_NAME@_sa;
#endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */

int @MODULE_NAME@_@PREFIX@solve( void )
{

	returnValue retVal;
	@SOLVER_NAME@ qp;
	Options options;

	@MODULE_NAME@_@PREFIX@nWSR = QPOASES_NWSRMAX;

	@CTOR@;
	Options_setToMPC( &options );
	@SOLVER_NAME@_setOptions( &qp,options );
	
	retVal = @SOLVER_NAME@_@CALL_SOLVER@
	retVal = qpOASES_getSimpleStatus( retVal,0 );

    /* only use solution on success, if iteration limit has been reached or if QP is infeasible! */
    if ( ( retVal == 0 ) || ( retVal == 1 ) || ( retVal == -2 ) )
    {
        @SOLVER_NAME@_getPrimalSolution( &qp,@PRIMAL_SOLUTION@ );
        @SOLVER_NAME@_getDualSolution( &qp,@DUAL_SOLUTION@ );
    }
	
#if @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX == 1

	if (retVal != SUCCESSFUL_RETURN)
		return (int)retVal;
		
	retVal = @MODULE_NAME@_sa.getHessianInverse( &qp,@SIGMA@ );

#endif /* @MODULE_PREFIX@_COMPUTE_COVARIANCE_MATRIX */

	return (int)retVal;
}

int @MODULE_NAME@_@PREFIX@getNWSR( void )
{
	return @MODULE_NAME@_@PREFIX@nWSR;
}

const char* @MODULE_NAME@_@PREFIX@getErrorString( int error )
{
	return MessageHandling_getErrorCodeMessage( qpOASES_getGlobalMessageHandler(),error );
}