66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
/*
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* This file was auto-generated using the ACADO Toolkit.
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*
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* While ACADO Toolkit is free software released under the terms of
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* the GNU Lesser General Public License (LGPL), the generated code
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* as such remains the property of the user who used ACADO Toolkit
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* to generate this code. In particular, user dependent data of the code
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* do not inherit the GNU LGPL license. On the other hand, parts of the
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* generated code that are a direct copy of source code from the
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* ACADO Toolkit or the software tools it is based on, remain, as derived
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* work, automatically covered by the LGPL license.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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*
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*/
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#ifndef QPOASES_HEADER
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#define QPOASES_HEADER
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#ifdef PC_DEBUG
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#include <stdio.h>
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#endif /* PC_DEBUG */
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#include <math.h>
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#ifdef __cplusplus
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#define EXTERNC extern "C"
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#else
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#define EXTERNC
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#endif
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/*
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* A set of options for qpOASES
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*/
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/** Maximum number of optimization variables. */
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#define QPOASES_NVMAX 20
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/** Maximum number of constraints. */
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#define QPOASES_NCMAX 32
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/** Maximum number of working set recalculations. */
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#define QPOASES_NWSRMAX 1000
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/** Print level for qpOASES. */
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#define QPOASES_PRINTLEVEL PL_NONE
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/** The value of EPS */
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#define QPOASES_EPS 2.221e-16
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/** Internally used floating point type */
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typedef double real_t;
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/*
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* Forward function declarations
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*/
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/** A function that calls the QP solver */
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EXTERNC int acado_solve( void );
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/** Get the number of active set changes */
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EXTERNC int acado_getNWSR( void );
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/** Get the error string. */
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const char* acado_getErrorString( int error );
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#endif /* QPOASES_HEADER */
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