114 lines
4.0 KiB
C
114 lines
4.0 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_PRINT_H_
|
|
#define ACADOS_UTILS_PRINT_H_
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include "acados/dense_qp/dense_qp_common.h"
|
|
#include "acados/ocp_nlp/ocp_nlp_common.h"
|
|
#include "acados/ocp_qp/ocp_qp_common.h"
|
|
#include "acados/ocp_qp/ocp_qp_common_frontend.h"
|
|
#include "acados/utils/types.h"
|
|
|
|
// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
|
|
|
|
// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
|
|
// const int_t ncols);
|
|
|
|
// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
|
|
|
|
// void print_array(char *file_name, real_t *array, int_t size);
|
|
|
|
// void print_int_array(char *file_name, const int_t *array, int_t size);
|
|
|
|
void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
|
|
|
|
void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
|
|
|
|
// ocp nlp
|
|
// TODO(andrea): inconsistent naming
|
|
void ocp_nlp_dims_print(ocp_nlp_dims *dims);
|
|
// TODO(andrea): inconsistent naming
|
|
void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
|
|
// TODO(andrea): inconsistent naming
|
|
void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
|
|
|
|
// ocp qp
|
|
// TODO: move printing routines below that print qp structures to HPIPM!
|
|
void print_ocp_qp_dims(ocp_qp_dims *dims);
|
|
|
|
// void print_dense_qp_dims(dense_qp_dims *dims);
|
|
|
|
void print_ocp_qp_in(ocp_qp_in *qp_in);
|
|
|
|
void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
|
|
|
|
void print_ocp_qp_out(ocp_qp_out *qp_out);
|
|
|
|
void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
|
|
|
|
void print_ocp_qp_res(ocp_qp_res *qp_res);
|
|
|
|
void print_dense_qp_in(dense_qp_in *qp_in);
|
|
// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
|
|
|
|
// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
|
|
|
|
// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
|
|
|
|
// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
|
|
|
|
// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
|
|
|
|
void print_qp_info(qp_info *info);
|
|
|
|
// void acados_warning(char warning_string[]);
|
|
|
|
// void acados_error(char error_string[]);
|
|
|
|
// void acados_not_implemented(char feature_string[]);
|
|
|
|
// blasfeo
|
|
// void print_blasfeo_target();
|
|
|
|
#ifdef __cplusplus
|
|
} /* extern "C" */
|
|
#endif
|
|
|
|
#endif // ACADOS_UTILS_PRINT_H_
|