117 lines
3.8 KiB
C++
117 lines
3.8 KiB
C++
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit 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 3 of the License, or (at your option) any later version.
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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. 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 ACADO Toolkit; 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/acado/code_generation/export_qpoases_interface.hpp
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* \author Milan Vukov
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* \date 2012 - 2014
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*/
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#ifndef ACADO_TOOLKIT_EXPORT_QPOASES_INTERFACE_HPP
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#define ACADO_TOOLKIT_EXPORT_QPOASES_INTERFACE_HPP
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#include <acado/code_generation/export_templated_file.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief A class for generating the glue code for interfacing qpOASES.
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*
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* \ingroup AuxiliaryFunctionality
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*
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* \author Milan Vukov
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*
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* \note Based on code originally developed by Hans Joachim Ferreau and Boris Houska.
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*/
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class ExportQpOasesInterface
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{
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public:
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/** Default constructor.
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*
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* @param[in] _headerFileName Name of exported file for header file.
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* @param[in] _sourceFileName Name of exported file for source file.
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* @param[in] _commonHeaderName Name of common header file to be included.
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* @param[in] _realString std::string to be used to declare real variables.
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* @param[in] _intString std::string to be used to declare integer variables.
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* @param[in] _precision Number of digits to be used for exporting real values.
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* @param[in] _commentString std::string to be used for exporting comments.
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*
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* \return SUCCESSFUL_RETURN
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*/
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ExportQpOasesInterface( const std::string& _headerFileName,
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const std::string& _sourceFileName,
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const std::string& _commonHeaderName = "",
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const std::string& _realString = "real_t",
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const std::string& _intString = "int",
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int _precision = 16,
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const std::string& _commentString = std::string()
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);
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/** Destructor. */
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virtual ~ExportQpOasesInterface()
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{}
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/** Configure the template
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue configure( const std::string& _prefix,
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const std::string& _solverDefine,
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const int nvmax,
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const int ncmax,
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const int nwsrmax,
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const std::string& _printLevel,
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bool _useSinglePrecision,
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const std::string& _commonHeader,
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const std::string& _namespace,
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const std::string& _primalSolution,
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const std::string& _dualSolution,
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const std::string& _sigma,
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bool _hotstartQP,
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bool _externalCholesky,
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const std::string& _qpH,
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const std::string& _qpR,
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const std::string& _qpg,
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const std::string& _qpA,
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const std::string& _qplb,
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const std::string& _qpub,
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const std::string& _qplbA,
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const std::string& _qpubA
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);
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/** Export the interface. */
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virtual returnValue exportCode();
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protected:
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ExportTemplatedFile qpoHeader;
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ExportTemplatedFile qpoSource;
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};
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_EXPORT_QPOASES_INTERFACE_HPP
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