416 lines
20 KiB
C++
416 lines
20 KiB
C++
/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES 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. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file INCLUDE/MessageHandling.hpp
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2007-2008
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*
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* Declaration of the MessageHandling class including global return values.
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*/
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#ifndef QPOASES_MESSAGEHANDLING_HPP
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#define QPOASES_MESSAGEHANDLING_HPP
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// #define PC_DEBUG
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#ifdef PC_DEBUG
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#include <stdio.h>
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/** Defines an alias for FILE from stdio.h. */
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#define myFILE FILE
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/** Defines an alias for stderr from stdio.h. */
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#define myStderr stderr
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/** Defines an alias for stdout from stdio.h. */
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#define myStdout stdout
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#else
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/** Defines an alias for FILE from stdio.h. */
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#define myFILE int
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/** Defines an alias for stderr from stdio.h. */
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#define myStderr 0
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/** Defines an alias for stdout from stdio.h. */
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#define myStdout 0
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#endif
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#include <Types.hpp>
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#include <Constants.hpp>
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/** Defines symbols for global return values. \n
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* Important: All return values are assumed to be nonnegative! */
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enum returnValue
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{
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TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */
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/* miscellaneous */
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SUCCESSFUL_RETURN = 0, /**< Successful return. */
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RET_DIV_BY_ZERO, /**< Division by zero. */
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RET_INDEX_OUT_OF_BOUNDS, /**< Index out of bounds. */
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RET_INVALID_ARGUMENTS, /**< At least one of the arguments is invalid. */
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RET_ERROR_UNDEFINED, /**< Error number undefined. */
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RET_WARNING_UNDEFINED, /**< Warning number undefined. */
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RET_INFO_UNDEFINED, /**< Info number undefined. */
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RET_EWI_UNDEFINED, /**< Error/warning/info number undefined. */
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RET_AVAILABLE_WITH_LINUX_ONLY, /**< This function is available under Linux only. */
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RET_UNKNOWN_BUG, /**< The error occured is not yet known. */
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RET_PRINTLEVEL_CHANGED, /**< 10 Print level changed. */
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RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */
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/* Indexlist */
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RET_INDEXLIST_MUST_BE_REORDERD, /**< Index list has to be reordered. */
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RET_INDEXLIST_EXCEEDS_MAX_LENGTH, /**< Index list exceeds its maximal physical length. */
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RET_INDEXLIST_CORRUPTED, /**< Index list corrupted. */
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RET_INDEXLIST_OUTOFBOUNDS, /**< Physical index is out of bounds. */
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RET_INDEXLIST_ADD_FAILED, /**< Adding indices from another index set failed. */
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RET_INDEXLIST_INTERSECT_FAILED, /**< Intersection with another index set failed. */
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/* SubjectTo / Bounds / Constraints */
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RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. */
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RET_ADDINDEX_FAILED, /**< Cannot swap between different indexsets. */
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RET_SWAPINDEX_FAILED, /**< 20 Adding index to index set failed. */
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RET_NOTHING_TO_DO, /**< Nothing to do. */
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RET_SETUP_BOUND_FAILED, /**< Setting up bound index failed. */
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RET_SETUP_CONSTRAINT_FAILED, /**< Setting up constraint index failed. */
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RET_MOVING_BOUND_FAILED, /**< Moving bound between index sets failed. */
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RET_MOVING_CONSTRAINT_FAILED, /**< Moving constraint between index sets failed. */
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/* QProblem */
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RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. */
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RET_NO_INIT_WITH_STANDARD_SOLVER, /**< Initialisation via extern QP solver is not yet implemented. */
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RET_RESET_FAILED, /**< Reset failed. */
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RET_INIT_FAILED, /**< Initialisation failed. */
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RET_INIT_FAILED_TQ, /**< 30 Initialisation failed due to TQ factorisation. */
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RET_INIT_FAILED_CHOLESKY, /**< Initialisation failed due to Cholesky decomposition. */
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RET_INIT_FAILED_HOTSTART, /**< Initialisation failed! QP could not be solved! */
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RET_INIT_FAILED_INFEASIBILITY, /**< Initial QP could not be solved due to infeasibility! */
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RET_INIT_FAILED_UNBOUNDEDNESS, /**< Initial QP could not be solved due to unboundedness! */
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RET_INIT_SUCCESSFUL, /**< Initialisation done. */
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RET_OBTAINING_WORKINGSET_FAILED, /**< Failed to obtain working set for auxiliary QP. */
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RET_SETUP_WORKINGSET_FAILED, /**< Failed to setup working set for auxiliary QP. */
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RET_SETUP_AUXILIARYQP_FAILED, /**< Failed to setup auxiliary QP for initialised homotopy. */
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RET_NO_EXTERN_SOLVER, /**< No extern QP solver available. */
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RET_QP_UNBOUNDED, /**< 40 QP is unbounded. */
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RET_QP_INFEASIBLE, /**< QP is infeasible. */
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RET_QP_NOT_SOLVED, /**< Problems occured while solving QP with standard solver. */
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RET_QP_SOLVED, /**< QP successfully solved. */
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RET_UNABLE_TO_SOLVE_QP, /**< Problems occured while solving QP. */
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RET_INITIALISATION_STARTED, /**< Starting problem initialisation. */
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RET_HOTSTART_FAILED, /**< Unable to perform homotopy due to internal error. */
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RET_HOTSTART_FAILED_TO_INIT, /**< Unable to initialise problem. */
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RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, /**< Unable to perform homotopy as previous QP is not solved. */
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RET_ITERATION_STARTED, /**< Iteration... */
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RET_SHIFT_DETERMINATION_FAILED, /**< 50 Determination of shift of the QP data failed. */
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RET_STEPDIRECTION_DETERMINATION_FAILED, /**< Determination of step direction failed. */
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RET_STEPLENGTH_DETERMINATION_FAILED, /**< Determination of step direction failed. */
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RET_OPTIMAL_SOLUTION_FOUND, /**< Optimal solution of neighbouring QP found. */
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RET_HOMOTOPY_STEP_FAILED, /**< Unable to perform homotopy step. */
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RET_HOTSTART_STOPPED_INFEASIBILITY, /**< Premature homotopy termination because QP is infeasible. */
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RET_HOTSTART_STOPPED_UNBOUNDEDNESS, /**< Premature homotopy termination because QP is unbounded. */
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RET_WORKINGSET_UPDATE_FAILED, /**< Unable to update working sets according to initial guesses. */
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RET_MAX_NWSR_REACHED, /**< Maximum number of working set recalculations performed. */
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RET_CONSTRAINTS_NOT_SPECIFIED, /**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
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RET_INVALID_FACTORISATION_FLAG, /**< 60 Invalid factorisation flag. */
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RET_UNABLE_TO_SAVE_QPDATA, /**< Unable to save QP data. */
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RET_STEPDIRECTION_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */
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RET_STEPDIRECTION_FAILED_CHOLESKY, /**< Abnormal termination due to Cholesky factorisation. */
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RET_CYCLING_DETECTED, /**< Cycling detected. */
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RET_CYCLING_NOT_RESOLVED, /**< Cycling cannot be resolved, QP probably infeasible. */
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RET_CYCLING_RESOLVED, /**< Cycling probably resolved. */
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RET_STEPSIZE, /**< For displaying performed stepsize. */
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RET_STEPSIZE_NONPOSITIVE, /**< For displaying non-positive stepsize. */
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RET_SETUPSUBJECTTOTYPE_FAILED, /**< Setup of SubjectToTypes failed. */
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RET_ADDCONSTRAINT_FAILED, /**< 70 Addition of constraint to working set failed. */
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RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, /**< Addition of constraint to working set failed (due to QP infeasibility). */
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RET_ADDBOUND_FAILED, /**< Addition of bound to working set failed. */
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RET_ADDBOUND_FAILED_INFEASIBILITY, /**< Addition of bound to working set failed (due to QP infeasibility). */
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RET_REMOVECONSTRAINT_FAILED, /**< Removal of constraint from working set failed. */
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RET_REMOVEBOUND_FAILED, /**< Removal of bound from working set failed. */
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RET_REMOVE_FROM_ACTIVESET, /**< Removing from active set... */
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RET_ADD_TO_ACTIVESET, /**< Adding to active set... */
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RET_REMOVE_FROM_ACTIVESET_FAILED, /**< Removing from active set failed. */
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RET_ADD_TO_ACTIVESET_FAILED, /**< Adding to active set failed. */
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RET_CONSTRAINT_ALREADY_ACTIVE, /**< 80 Constraint is already active. */
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RET_ALL_CONSTRAINTS_ACTIVE, /**< All constraints are active, no further constraint can be added. */
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RET_LINEARLY_DEPENDENT, /**< New bound/constraint is linearly dependent. */
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RET_LINEARLY_INDEPENDENT, /**< New bound/constraint is linearly independent. */
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RET_LI_RESOLVED, /**< Linear independence of active contraint matrix successfully resolved. */
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RET_ENSURELI_FAILED, /**< Failed to ensure linear indepence of active contraint matrix. */
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RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */
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RET_ENSURELI_FAILED_NOINDEX, /**< No index found, QP probably infeasible. */
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RET_ENSURELI_FAILED_CYCLING, /**< Cycling detected, QP probably infeasible. */
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RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */
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RET_ALL_BOUNDS_ACTIVE, /**< 90 All bounds are active, no further bound can be added. */
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RET_CONSTRAINT_NOT_ACTIVE, /**< Constraint is not active. */
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RET_BOUND_NOT_ACTIVE, /**< Bound is not active. */
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RET_HESSIAN_NOT_SPD, /**< Projected Hessian matrix not positive definite. */
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RET_MATRIX_SHIFT_FAILED, /**< Unable to update matrices or to transform vectors. */
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RET_MATRIX_FACTORISATION_FAILED, /**< Unable to calculate new matrix factorisations. */
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RET_PRINT_ITERATION_FAILED, /**< Unable to print information on current iteration. */
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RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, /**< No global message output file initialised. */
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/* Utils */
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RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */
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RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */
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RET_UNABLE_TO_READ_FILE, /**< 100 Unable to read from file. */
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RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. */
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/* SolutionAnalysis */
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RET_NO_SOLUTION, /**< QP solution does not satisfy KKT optimality conditions. */
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RET_INACCURATE_SOLUTION /**< KKT optimality conditions not satisfied to sufficient accuracy. */
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};
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/** This class handles all kinds of messages (errors, warnings, infos) initiated
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* by qpOASES modules and stores the correspoding global preferences.
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*
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* \author Hans Joachim Ferreau (special thanks to Leonard Wirsching)
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* \version 1.3embedded
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* \date 2007-2008
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*/
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class MessageHandling
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{
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/*
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* INTERNAL DATA STRUCTURES
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*/
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public:
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/** Data structure for entries in global message list. */
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typedef struct {
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returnValue key; /**< Global return value. */
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const char* data; /**< Corresponding message. */
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VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed.
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* If this value is set to VS_HIDDEN, no message is printed! */
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} ReturnValueList;
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/*
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* PUBLIC MEMBER FUNCTIONS
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*/
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public:
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/** Default constructor. */
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MessageHandling( );
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/** Constructor which takes the desired output file. */
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MessageHandling( myFILE* _outputFile /**< Output file. */
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);
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/** Constructor which takes the desired visibility states. */
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MessageHandling( VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */
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VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
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VisibilityStatus _infoVisibility /**< Visibility status for info messages. */
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);
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/** Constructor which takes the desired output file and desired visibility states. */
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MessageHandling( myFILE* _outputFile, /**< Output file. */
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VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */
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VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
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VisibilityStatus _infoVisibility /**< Visibility status for info messages. */
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);
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/** Copy constructor (deep copy). */
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MessageHandling( const MessageHandling& rhs /**< Rhs object. */
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);
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/** Destructor. */
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~MessageHandling( );
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/** Assignment operator (deep copy). */
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MessageHandling& operator=( const MessageHandling& rhs /**< Rhs object. */
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);
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/** Prints an error message(a simplified macro THROWERROR is also provided). \n
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* Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
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* Errors of a sub function should be commented by the calling function by means of a warning message
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* (if this error does not cause an error of the calling function, either)!
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* \return Error number returned by sub function call
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*/
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returnValue throwError(
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returnValue Enumber, /**< Error number returned by sub function call. */
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const char* additionaltext, /**< Additional error text (0, if none). */
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const char* functionname, /**< Name of function which caused the error. */
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const char* filename, /**< Name of file which caused the error. */
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const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */
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VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to myStderr.
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* If GLOBAL visibility status of the message is set to VS_HIDDEN,
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* no message is printed, anyway! */
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);
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/** Prints a warning message (a simplified macro THROWWARNING is also provided).
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* Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
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* \return Warning number returned by sub function call
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*/
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returnValue throwWarning(
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returnValue Wnumber, /**< Warning number returned by sub function call. */
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const char* additionaltext, /**< Additional warning text (0, if none). */
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const char* functionname, /**< Name of function which caused the warning. */
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const char* filename, /**< Name of file which caused the warning. */
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const unsigned long linenumber, /**< Number of line which caused the warning. */
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VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to myStderr.
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* If GLOBAL visibility status of the message is set to VS_HIDDEN,
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* no message is printed, anyway! */
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);
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/** Prints a info message (a simplified macro THROWINFO is also provided).
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* \return Info number returned by sub function call
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*/
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returnValue throwInfo(
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returnValue Inumber, /**< Info number returned by sub function call. */
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const char* additionaltext, /**< Additional warning text (0, if none). */
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const char* functionname, /**< Name of function which submitted the info. */
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const char* filename, /**< Name of file which submitted the info. */
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const unsigned long linenumber, /**< Number of line which submitted the info. */
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VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to myStderr.
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* If GLOBAL visibility status of the message is set to VS_HIDDEN,
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* no message is printed, anyway! */
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);
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/** Resets all preferences to default values.
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* \return SUCCESSFUL_RETURN */
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returnValue reset( );
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/** Prints a complete list of all messages to output file.
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* \return SUCCESSFUL_RETURN */
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returnValue listAllMessages( );
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/** Returns visibility status for error messages.
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* \return Visibility status for error messages. */
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inline VisibilityStatus getErrorVisibilityStatus( ) const;
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/** Returns visibility status for warning messages.
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* \return Visibility status for warning messages. */
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inline VisibilityStatus getWarningVisibilityStatus( ) const;
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/** Returns visibility status for info messages.
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* \return Visibility status for info messages. */
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inline VisibilityStatus getInfoVisibilityStatus( ) const;
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/** Returns pointer to output file.
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* \return Pointer to output file. */
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inline myFILE* getOutputFile( ) const;
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/** Returns error count value.
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* \return Error count value. */
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inline int getErrorCount( ) const;
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/** Changes visibility status for error messages. */
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inline void setErrorVisibilityStatus( VisibilityStatus _errorVisibility /**< New visibility status for error messages. */
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);
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/** Changes visibility status for warning messages. */
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inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */
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);
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/** Changes visibility status for info messages. */
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inline void setInfoVisibilityStatus( VisibilityStatus _infoVisibility /**< New visibility status for info messages. */
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);
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/** Changes output file for messages. */
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inline void setOutputFile( myFILE* _outputFile /**< New output file for messages. */
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);
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/** Changes error count.
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* \return SUCCESSFUL_RETURN \n
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* RET_INVALID_ARGUMENT */
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inline returnValue setErrorCount( int _errorCount /**< New error count value. */
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);
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/** Return the error code string. */
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static const char* getErrorString(int error);
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/*
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* PROTECTED MEMBER FUNCTIONS
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*/
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protected:
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/** Prints a info message to myStderr (auxiliary function).
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* \return Error/warning/info number returned by sub function call
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*/
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returnValue throwMessage(
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returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */
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const char* additionaltext, /**< Additional warning text (0, if none). */
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const char* functionname, /**< Name of function which caused the error/warning/info. */
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const char* filename, /**< Name of file which caused the error/warning/info. */
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const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */
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VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to myStderr.
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* If GLOBAL visibility status of the message is set to VS_HIDDEN,
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* no message is printed, anyway! */
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const char* RETstring /**< Leading string of error/warning/info message. */
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);
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/*
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* PROTECTED MEMBER VARIABLES
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*/
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protected:
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VisibilityStatus errorVisibility; /**< Error messages visible? */
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VisibilityStatus warningVisibility; /**< Warning messages visible? */
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VisibilityStatus infoVisibility; /**< Info messages visible? */
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myFILE* outputFile; /**< Output file for messages. */
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int errorCount; /**< Counts number of errors (for nicer output only). */
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};
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#ifndef __FUNCTION__
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/** Ensures that __FUNCTION__ macro is defined. */
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#define __FUNCTION__ 0
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#endif
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#ifndef __FILE__
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/** Ensures that __FILE__ macro is defined. */
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#define __FILE__ 0
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#endif
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#ifndef __LINE__
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/** Ensures that __LINE__ macro is defined. */
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#define __LINE__ 0
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#endif
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/** Short version of throwError with default values, only returnValue is needed */
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#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
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/** Short version of throwWarning with default values, only returnValue is needed */
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#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
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/** Short version of throwInfo with default values, only returnValue is needed */
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#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
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/** Returns a pointer to global message handler.
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* \return Pointer to global message handler.
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*/
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MessageHandling* getGlobalMessageHandler( );
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#include <MessageHandling.ipp>
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#endif /* QPOASES_MESSAGEHANDLING_HPP */
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/*
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* end of file
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*/
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