include/qpOASES/Utils.hpp

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/*
 *  This file is part of qpOASES.
 *
 *  qpOASES -- An Implementation of the Online Active Set Strategy.
 *  Copyright (C) 2007-2014 by Hans Joachim Ferreau, Andreas Potschka,
 *  Christian Kirches et al. All rights reserved.
 *
 *  qpOASES is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  qpOASES is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *  See the GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with qpOASES; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_UTILS_HPP
#define QPOASES_UTILS_HPP


#include <qpOASES/MessageHandling.hpp>


#ifdef __NO_SNPRINTF__
  #if (!defined(_MSC_VER)) || defined(__DSPACE__)
    /* If snprintf is not available, provide an empty implementation... */
    int snprintf( char* s, size_t n, const char* format, ... );
  #else
    /* ... or substitute snprintf by _snprintf for Microsoft compilers. */
    #define snprintf _snprintf    
  #endif
#endif /* __NO_SNPRINTF__ */


BEGIN_NAMESPACE_QPOASES


returnValue print(  const real_t* const v,  
                    int n,                  
                    const char* name = 0    
                    );

returnValue print(  const real_t* const v,      
                    int n,                      
                    const int* const V_idx,     
                    const char* name = 0        
                    );

returnValue print(  const real_t* const M,  
                    int nrow,               
                    int ncol,               
                    const char* name = 0    
                    );

returnValue print(  const real_t* const M,      
                    int nrow,                   
                    int ncol    ,               
                    const int* const ROW_idx,   
                    const int* const COL_idx,   
                    const char* name = 0        
                    );

returnValue print(  const int* const index, 
                    int n,                  
                    const char* name = 0    
                    );


returnValue myPrintf(   const char* s   
                        );


returnValue printCopyrightNotice( );


returnValue readFromFile(   real_t* data,               
                            int nrow,                   
                            int ncol,                   
                            const char* datafilename    
                            );

returnValue readFromFile(   real_t* data,               
                            int n,                      
                            const char* datafilename    
                            );

returnValue readFromFile(   int* data,                  
                            int n,                      
                            const char* datafilename    
                            );


returnValue writeIntoFile(  const real_t* const data,       
                            int nrow,                       
                            int ncol,                       
                            const char* datafilename,       
                            BooleanType append = BT_FALSE   
                            );

returnValue writeIntoFile(  const real_t* const data,       
                            int n,                          
                            const char* datafilename,       
                            BooleanType append = BT_FALSE   
                            );

returnValue writeIntoFile(  const int* const integer,       
                            int n,                          
                            const char* datafilename,       
                            BooleanType append = BT_FALSE   
                            );

returnValue writeIntoMatFile(   FILE* const matFile,        
                                const real_t* const data,   
                                int nRows,                  
                                int nCols,                  
                                const char* name            
                                );

returnValue writeIntoMatFile(   FILE* const matFile,        
                                const int* const data,      
                                int nRows,                  
                                int nCols,                  
                                const char* name            
                                );


real_t getCPUtime( );


real_t getNorm( const real_t* const v,  
                int n,                  
                int type = 2            
                );


inline BooleanType isEqual( real_t x,           
                            real_t y,           
                            real_t TOL = ZERO   
                            );


inline BooleanType isZero(  real_t x,           
                            real_t TOL = ZERO   
                            );


inline real_t getSign(  real_t arg  
                        );


inline int getMax(  int x,  
                    int y   
                    );
                    
inline int getMin(  int x,  
                    int y   
                    );

    
inline real_t getMax(   real_t x,   
                        real_t y    
                        );

inline real_t getMin(   real_t x,   
                        real_t y    
                        );

inline real_t getAbs(   real_t x    
                        );

inline real_t getSqrt(  real_t x    
                        );


void getKKTResidual(    int nV,                     
                        int nC,                     
                        const real_t* const H,      
                        const real_t* const g,      
                        const real_t* const A,      
                        const real_t* const lb,     
                        const real_t* const ub,     
                        const real_t* const lbA,    
                        const real_t* const ubA,    
                        const real_t* const x,      
                        const real_t* const y,      
                        real_t& stat,               
                        real_t& feas,               
                        real_t& cmpl                
                        );

void getKKTResidual(    int nV,                     
                        const real_t* const H,      
                        const real_t* const g,      
                        const real_t* const lb,     
                        const real_t* const ub,     
                        const real_t* const x,      
                        const real_t* const y,      
                        real_t& stat,               
                        real_t& feas,               
                        real_t& cmpl                
                        );


returnValue convertBooleanTypeToString( BooleanType value,      
                                        char* const string      
                                        );

returnValue convertSubjectToStatusToString( SubjectToStatus value,  
                                            char* const string      
                                            );

returnValue convertPrintLevelToString(  PrintLevel value,       
                                        char* const string      
                                        );


int getSimpleStatus(    returnValue returnvalue,                
                        BooleanType doPrintStatus = BT_FALSE    
                        );


returnValue normaliseConstraints(   int nV,         
                                    int nC,         
                                    real_t* A,      
                                    real_t* lbA,    
                                    real_t* ubA,    
                                    int type = 1    
                                    );


#ifdef __DEBUG__

extern "C" void gdb_printmat(   const char *fname,          
                                real_t *M,                  
                                int n,                      
                                int m,                      
                                int ldim                    
                                );
#endif /* __DEBUG__ */


#if defined(__DSPACE__) || defined(__XPCTARGET__) 
extern "C" void __cxa_pure_virtual( void );
#endif /* __DSPACE__ || __XPCTARGET__*/ 



END_NAMESPACE_QPOASES


#include <qpOASES/Utils.ipp>

#endif  /* QPOASES_UTILS_HPP */


/*
 *  end of file
 */