80 lines
2.3 KiB
C
80 lines
2.3 KiB
C
/*
|
|
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
|
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
|
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
|
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
|
*
|
|
* This file is part of acados.
|
|
*
|
|
* The 2-Clause BSD License
|
|
*
|
|
* 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.
|
|
*
|
|
* 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.;
|
|
*/
|
|
|
|
|
|
#ifndef ACADOS_UTILS_TYPES_H_
|
|
#define ACADOS_UTILS_TYPES_H_
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include <stdbool.h>
|
|
#include <stddef.h>
|
|
|
|
#define MAX_STR_LEN 256
|
|
#define ACADOS_EPS 1e-12
|
|
#define ACADOS_NEG_INFTY -1.0e9
|
|
#define ACADOS_POS_INFTY +1.0e9
|
|
#define UNUSED(x) ((void)(x))
|
|
|
|
|
|
|
|
typedef double real_t;
|
|
typedef int int_t;
|
|
typedef size_t acados_size_t;
|
|
|
|
|
|
typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
|
|
|
|
|
|
|
|
// enum of return values
|
|
enum return_values
|
|
{
|
|
ACADOS_SUCCESS,
|
|
ACADOS_FAILURE,
|
|
ACADOS_MAXITER,
|
|
ACADOS_MINSTEP,
|
|
ACADOS_QP_FAILURE,
|
|
ACADOS_READY,
|
|
};
|
|
|
|
|
|
|
|
#ifdef __cplusplus
|
|
} /* extern "C" */
|
|
#endif
|
|
|
|
#endif // ACADOS_UTILS_TYPES_H_
|