update ota/recovery url

dp 0.7.2 bug fixes

.gitignore

@@ -44,7 +44,7 @@ selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
 selfdrive/modeld/_modeld
-selfdrive/modeld/_monitoringd
+selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one

CONTRIBUTING.md

@@ -29,3 +29,12 @@ Code is automatically check for style by travis as part of the automated tests.
 We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
 
 If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+```
+git submodule init
+git submodule update
+```
+in order to pull down the submodules, such as `panda` and `opendbc`.

Dockerfile.openpilot

@@ -1,84 +0,0 @@
-FROM ubuntu:16.04
-ENV PYTHONUNBUFFERED 1
-
-RUN apt-get update && apt-get install -y \
-    autoconf \
-    build-essential \
-    bzip2 \
-    clang \
-    cmake \
-    curl \
-    ffmpeg \
-    git \
-    libarchive-dev \
-    libbz2-dev \
-    libcurl4-openssl-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libglew-dev \
-    libgles2-mesa-dev \
-    libglfw3-dev \
-    libglib2.0-0 \
-    liblzma-dev \
-    libmysqlclient-dev \
-    libomp-dev \
-    libopencv-dev \
-    libssl-dev \
-    libsqlite3-dev \
-    libtool \
-    libusb-1.0-0-dev \
-    libzmq5-dev \
-    locales \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers \
-    python-dev \
-    python-pip \
-    screen \
-    sudo \
-    vim \
-    wget
-
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-
-RUN python --version
-RUN cd /tmp && pipenv install --system --deploy
-
-# Install subset of dev dependencies needed for CI
-RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
-
-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
-
-RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda
-
-COPY SConstruct /tmp/openpilot/SConstruct
-
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN cd /tmp/openpilot && scons -j$(nproc)

Makefile

@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
-	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-

Pipfile

@@ -1,128 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-opencv-python= "==3.4.2.17"
-PyQt5 = "*"
-ipython = "*"
-networkx = "==2.3"
-azure-core = "==1.1.1"
-azure-common = "==1.1.24"
-azure-nspkg = "==3.0.2"
-azure-storage-blob = "==2.1.0"
-azure-storage-common = "==2.1.0"
-azure-storage-nspkg = "==3.1.0"
-boto = "*"
-"boto3" = "*"
-control = "*"
-datadog = "*"
-dlib = "*"
-elasticsearch = "*"
-future = "*"
-futures = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "*"
-imageio = "*"
-ipykernel = "*"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-numpy = "*"
-osmium = "*"
-pbr = "*"
-percache = "*"
-pprofile = "*"
-pycurl = "*"
-git-pylint-commit-hook = "*"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "*"
-python-logstash = "*"
-redis = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-tenacity = "*"
-tensorflow-gpu = ""
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "*"
-scipy = "*"
-fastcluster = "*"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-python-logstash-async = "*"
-seaborn = "*"
-pyproj = "*"
-mock = "*"
-matplotlib = "*"
-dictdiffer = "*"
-aenum = "*"
-coverage = "*"
-azure-cli-core = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-flake8 = "*"
-pylint = "*"
-pycryptodome = "*"
-pillow = "*"
-scons = "*"
-cysignals = "*"
-
-[requires]
-python_version = "3.7.3"

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/UelUjKAh.png)](#)
 
 Table of Contents
 =======================
@@ -68,12 +68,12 @@ Supported Cars
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
 | Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
 | Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
 | Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
 | Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
@@ -83,19 +83,22 @@ Supported Cars
 | Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
 | Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
 | Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
+| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
 | Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
@@ -106,7 +109,7 @@ Supported Cars
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
 | Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
 | Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019        | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
 | Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
@@ -118,6 +121,7 @@ Supported Cars
 | Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
 | Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
 | Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
 | Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
 
@@ -131,9 +135,9 @@ Community Maintained Cars and Features
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
 | Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 
@@ -242,7 +246,7 @@ Safety and Testing
 Testing on PC
 ------
 
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
 
 Community and Contributing
 ------

RELEASES.md

@@ -1,3 +1,12 @@
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
 Version 0.7.1 (2020-01-20)
 ========================
  * comma two support!

SConstruct

@@ -1,6 +1,7 @@
 import os
 import subprocess
 import sys
+import platform
 
 AddOption('--test',
           action='store_true',
@@ -11,6 +12,8 @@ AddOption('--asan',
           help='turn on ASAN')
 
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
 
 if arch == "aarch64":
   lenv = {
@@ -29,7 +32,6 @@ if arch == "aarch64":
     "/data/data/com.termux/files/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
-    "#phonelibs/yaml-cpp/lib",
     "#phonelibs/nanovg",
     "#phonelibs/libyuv/lib",
   ]
@@ -48,22 +50,34 @@ else:
     "#phonelibs/zmq/x64/include",
     "#external/tensorflow/include",
   ]
-  libpath = [
-    "#phonelibs/capnp-cpp/x64/lib",
-    "#phonelibs/capnp-c/x64/lib",
-    "#phonelibs/yaml-cpp/x64/lib",
-    "#phonelibs/snpe/x86_64-linux-clang",
-    "#phonelibs/zmq/x64/lib",
-    "#phonelibs/libyuv/x64/lib",
-    "#external/zmq/lib",
-    "#external/tensorflow/lib",
-    "#cereal",
-    "#selfdrive/common",
-    "/usr/lib",
-    "/usr/local/lib",
-  ]
+
+  if arch == "Darwin":
+    libpath = [
+      "#phonelibs/capnp-cpp/mac/lib",
+      "#phonelibs/capnp-c/mac/lib",
+      "#phonelibs/libyuv/mac/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/local/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+  else:
+    libpath = [
+      "#phonelibs/capnp-cpp/x64/lib",
+      "#phonelibs/capnp-c/x64/lib",
+      "#phonelibs/snpe/x86_64-linux-clang",
+      "#phonelibs/zmq/x64/lib",
+      "#phonelibs/libyuv/x64/lib",
+      "#external/zmq/lib",
+      "#external/tensorflow/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
 
   rpath = ["phonelibs/capnp-cpp/x64/lib",
+           "phonelibs/zmq/x64/lib",
            "external/tensorflow/lib",
            "cereal",
            "selfdrive/common"]
@@ -98,7 +112,6 @@ env = Environment(
     "#selfdrive",
     "#phonelibs/bzip2",
     "#phonelibs/libyuv/include",
-    "#phonelibs/yaml-cpp/include",
     "#phonelibs/openmax/include",
     "#phonelibs/json/src",
     "#phonelibs/json11",
@@ -195,8 +208,10 @@ SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['phonelibs/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/camerad/SConscript'])
+if arch != "Darwin":
+  SConscript(['selfdrive/camerad/SConscript'])
+  SConscript(['selfdrive/modeld/SConscript'])
+
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])

cereal/car.capnp

@@ -90,14 +90,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     ldw @65;
     carUnrecognized @66;
     radarCommIssue @67;
+    driverMonitorLowAcc @68;
     # dragonpilot
-    manualSteeringRequired @68;
-    manualSteeringRequiredBlinkersOn @69;
-    leadCarMoving @70;
-    leadCarDetected @71;
-    preAutoLaneChangeLeft @72;
-    preAutoLaneChangeRight @73;
-    autoLaneChange @74;
+    manualSteeringRequired @69;
+    manualSteeringRequiredBlinkersOn @70;
+    leadCarMoving @71;
+    leadCarDetected @72;
+    preAutoLaneChangeLeft @73;
+    preAutoLaneChangeRight @74;
+    autoLaneChange @75;
   }
 }
 
@@ -353,6 +354,7 @@ struct CarParams {
   tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
 
   longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indi @27 :LateralINDITuning;
@@ -379,6 +381,12 @@ struct CarParams {
   carFw @44 :List(CarFw);
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
+  fingerprintSource @49: FingerprintSource;
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -473,4 +481,9 @@ struct CarParams {
     dsu @6;
     apgs @7;
   }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+  }
 }

cereal/log.capnp

@@ -279,6 +279,7 @@ struct ThermalData {
   batteryCurrent @15 :Int32;
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
+  networkType @22 :NetworkType;
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
@@ -291,7 +292,7 @@ struct ThermalData {
   memUsedPercent @19 :Int8;
   cpuPerc @20 :Int8;
 
-  ipAddr @22 :Text; # dragonpilot
+  ipAddr @23 :Text; # dragonpilot
 
   enum ThermalStatus {
     green @0;   # all processes run
@@ -299,6 +300,15 @@ struct ThermalData {
     red @2;     # no engage, will disengage
     danger @3;  # immediate process shutdown
   }
+
+  enum NetworkType {
+    none @0;
+    wifi @1;
+    cell2G @2;
+    cell3G @3;
+    cell4G @4;
+    cell5G @5;
+  }
 }
 
 struct HealthData {
@@ -1426,6 +1436,7 @@ struct UbloxGnss {
     measurementReport @0 :MeasurementReport;
     ephemeris @1 :Ephemeris;
     ionoData @2 :IonoData;
+    hwStatus @3 :HwStatus;
   }
 
   struct MeasurementReport {
@@ -1549,8 +1560,29 @@ struct UbloxGnss {
     healthValid @5 :Bool;
     ionoCoeffsValid @6 :Bool;
   }
-}
 
+  struct HwStatus {
+    noisePerMS @0 :UInt16;
+    agcCnt @1 :UInt16;
+    aStatus @2 :AntennaSupervisorState;
+    aPower @3 :AntennaPowerStatus;
+    jamInd @4 :UInt8;
+
+    enum AntennaSupervisorState {
+      init @0;
+      dontknow @1;
+      ok @2;
+      short @3;
+      open @4;
+    }
+
+    enum AntennaPowerStatus {
+      off @0;
+      on @1;
+      dontknow @2;
+    }
+  }
+}
 
 struct Clocks {
   bootTimeNanos @0 :UInt64;
@@ -1758,7 +1790,7 @@ struct OrbKeyFrame {
   descriptors @3 :Data;
 }
 
-struct DriverMonitoring {
+struct DriverState {
   frameId @0 :UInt32;
   descriptorDEPRECATED @1 :List(Float32);
   stdDEPRECATED @2 :Float32;
@@ -1774,6 +1806,25 @@ struct DriverMonitoring {
   facePositionStd @12 :List(Float32);
 }
 
+struct DMonitoringState {
+  # TODO: deprecate old fields in controlsState
+  events @0 :List(Car.CarEvent);
+  faceDetected @1 :Bool;
+  isDistracted @2 :Bool;
+  awarenessStatus @3 :Float32;
+  isRHD @4 :Bool;
+  rhdChecked @5 :Bool;
+  posePitchOffset @6 :Float32;
+  posePitchValidCount @7 :UInt32;
+  poseYawOffset @8 :Float32;
+  poseYawValidCount @9 :UInt32;
+  stepChange @10 :Float32;
+  awarenessActive @11 :Float32;
+  awarenessPassive @12 :Float32;
+  isLowStd @13 :Bool;
+  hiStdCount @14 :UInt32;
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   lastKmsg @1 :Data;
@@ -1893,7 +1944,7 @@ struct Event {
     orbKeyFrame @56 :OrbKeyFrame;
     uiLayoutState @57 :UiLayoutState;
     orbFeaturesSummary @58 :OrbFeaturesSummary;
-    driverMonitoring @59 :DriverMonitoring;
+    driverState @59 :DriverState;
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
@@ -1904,5 +1955,6 @@ struct Event {
     carEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     frontFrame @70: FrameData;
+    dMonitoringState @71: DMonitoringState;
   }
 }

cereal/service_list.yaml

@@ -65,16 +65,17 @@ orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.]
 orbFeaturesSummary: [8062, true, 0.]
-driverMonitoring: [8063, true, 5., 1]
+driverState: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20.]
+cameraOdometry: [8066, true, 20., 5]
 pathPlan: [8067, true, 20.]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
+dMonitoringState: [8073, true, 5., 1]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]

check_code_quality.sh

@@ -1,12 +0,0 @@
-#!/bin/bash
-
-# Only pyflakes checks (--select=F)
-flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-RESULT=$?
-if [ $RESULT -eq 0 ]; then
-    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-    RESULT=$? & 3
-fi
-
-[ $RESULT -ne 0 ] && exit 1
-exit 0

common/android.py

@@ -5,6 +5,9 @@ import re
 import struct
 import subprocess
 import random
+from cereal import log
+
+NetworkType = log.ThermalData.NetworkType
 
 ANDROID = os.path.isfile('/EON')
 
@@ -89,3 +92,39 @@ def parse_service_call_bytes(ret):
     return r
   except Exception:
     return None
+
+def get_network_type():
+  if not ANDROID:
+    return NetworkType.none
+
+  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+  if wifi_check is None:
+    return NetworkType.none
+  elif 'WIFI' in wifi_check:
+    return NetworkType.wifi
+  else:
+    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+    # from TelephonyManager.java
+    cell_networks = {
+      0: NetworkType.none,
+      1: NetworkType.cell2G,
+      2: NetworkType.cell2G,
+      3: NetworkType.cell3G,
+      4: NetworkType.cell2G,
+      5: NetworkType.cell3G,
+      6: NetworkType.cell3G,
+      7: NetworkType.cell3G,
+      8: NetworkType.cell3G,
+      9: NetworkType.cell3G,
+      10: NetworkType.cell3G,
+      11: NetworkType.cell2G,
+      12: NetworkType.cell3G,
+      13: NetworkType.cell4G,
+      14: NetworkType.cell4G,
+      15: NetworkType.cell3G,
+      16: NetworkType.cell2G,
+      17: NetworkType.cell3G,
+      18: NetworkType.cell4G,
+      19: NetworkType.cell4G
+    }
+    return cell_networks.get(cell_check, NetworkType.none)

common/api/__init__.py

@@ -1,13 +1,13 @@
 import jwt
 import requests
 from datetime import datetime, timedelta
-
+from common.basedir import PERSIST
 from selfdrive.version import version
 
 class Api():
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
-    with open('/persist/comma/id_rsa') as f:
+    with open(PERSIST+'/comma/id_rsa') as f:
       self.private_key = f.read()
 
   def get(self, *args, **kwargs):

common/basedir.py

@@ -1,4 +1,11 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
+from common.android import ANDROID
+if ANDROID:
+  PERSIST = "/persist"
+  PARAMS = "/data/params"
+else:
+  PERSIST = os.path.join(BASEDIR, "persist")
+  PARAMS = os.path.join(BASEDIR, "persist", "params")
 

common/clock.pyx

@@ -1,16 +1,22 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
 
-cdef double readclock(int clock_id):
-    cdef timespec ts
-    cdef double current
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
 
-    clock_gettime(clock_id, &ts)
-    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-    return current
+cdef double readclock(clockid_t clock_id):
+  cdef timespec ts
+  cdef double current
 
+  clock_gettime(clock_id, &ts)
+  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+  return current
 
 def monotonic_time():
-    return readclock(CLOCK_MONOTONIC_RAW)
+  return readclock(CLOCK_MONOTONIC_RAW)
 
 def sec_since_boot():
-    return readclock(CLOCK_BOOTTIME)
+  return readclock(CLOCK_BOOTTIME)
+

common/ffi_wrapper.py

@@ -2,8 +2,14 @@ import os
 import sys
 import fcntl
 import hashlib
+import platform
 from cffi import FFI
 
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
 
 def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
   if libraries is None:

common/logging_extra.py

@@ -1,9 +1,11 @@
+import io
 import os
 import sys
 import copy
 import json
 import socket
 import logging
+import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -118,6 +120,42 @@ class SwagLogger(logging.Logger):
     else:
       self.info(evt)
 
+  def findCaller(self, stack_info=False, stacklevel=1):
+    """
+    Find the stack frame of the caller so that we can note the source
+    file name, line number and function name.
+    """
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+        f = f.f_back
+    orig_f = f
+    while f and stacklevel > 1:
+        f = f.f_back
+        stacklevel -= 1
+    if not f:
+        f = orig_f
+    rv = "(unknown file)", 0, "(unknown function)", None
+    while hasattr(f, "f_code"):
+        co = f.f_code
+        filename = os.path.normcase(co.co_filename)
+        if filename == _srcfile:
+            f = f.f_back
+            continue
+        sinfo = None
+        if stack_info:
+            sio = io.StringIO()
+            sio.write('Stack (most recent call last):\n')
+            traceback.print_stack(f, file=sio)
+            sinfo = sio.getvalue()
+            if sinfo[-1] == '\n':
+                sinfo = sinfo[:-1]
+            sio.close()
+        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+        break
+    return rv
+
 if __name__ == "__main__":
   log = SwagLogger()
 

common/params.py

@@ -29,7 +29,7 @@ import fcntl
 import tempfile
 import threading
 from enum import Enum
-
+from common.basedir import PARAMS
 
 def mkdirs_exists_ok(path):
   try:
@@ -54,6 +54,7 @@ keys = {
   "AthenadPid": [TxType.PERSISTENT],
   "CalibrationParams": [TxType.PERSISTENT],
   "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "CommunityFeaturesToggle": [TxType.PERSISTENT],
   "CompletedTrainingVersion": [TxType.PERSISTENT],
@@ -112,6 +113,8 @@ keys = {
   "DragonCachedModel": [TxType.PERSISTENT],
   "DragonCachedFP": [TxType.PERSISTENT],
   "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonCachedCarFW": [TxType.PERSISTENT],
+  "DragonCachedSource": [TxType.PERSISTENT],
   "DragonAllowGas": [TxType.PERSISTENT],
   "DragonToyotaStockDSU": [TxType.PERSISTENT],
   "DragonLatCtrl": [TxType.PERSISTENT],
@@ -148,12 +151,10 @@ keys = {
   "DragonUIBlinker": [TxType.PERSISTENT],
   "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
   "DragonCarModel": [TxType.PERSISTENT],
-  "DragonCarVIN": [TxType.PERSISTENT],
+  "DragonCarVIN": [TxType.PERSISTENT], #deprecated
   "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
   "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
   "DragonToyotaSnGMod": [TxType.PERSISTENT],
-  "DragonIsEON": [TxType.PERSISTENT], # deprecated
-  "DragonHWChecked": [TxType.PERSISTENT], # deprecated
   "DragonEnableSRLearner": [TxType.PERSISTENT],
   "DragonWazeMode": [TxType.PERSISTENT],
   "DragonRunWaze": [TxType.PERSISTENT],
@@ -383,7 +384,7 @@ def write_db(params_path, key, value):
     lock.release()
 
 class Params():
-  def __init__(self, db='/data/params'):
+  def __init__(self, db=PARAMS):
     self.db = db
 
     # create the database if it doesn't exist...
@@ -391,6 +392,11 @@ class Params():
       with self.transaction(write=True):
         pass
 
+  def clear_all(self):
+    shutil.rmtree(self.db, ignore_errors=True)
+    with self.transaction(write=True):
+      pass
+
   def transaction(self, write=False):
     if write:
       return DBWriter(self.db)

common/transformations/camera.py

@@ -131,37 +131,6 @@ def img_from_device(pt_device):
   return pt_img.reshape(input_shape)[:,:2]
 
 
-#TODO please use generic img transform below
-def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2  # pylint: disable=import-error
-
-  size = img.shape[:2]
-  rot = orient.rot_from_euler(eulers)
-  quadrangle = np.array([[0, 0],
-                         [size[1]-1, 0],
-                         [0, size[0]-1],
-                         [size[1]-1, size[0]-1]], dtype=np.float32)
-  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
-  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
-  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-  if crop:
-    W_border = (size[1] - crop[0])//2
-    H_border = (size[0] - crop[1])//2
-    outside_crop = (((warped_quadrangle[:,0] < W_border) |
-                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
-                    ((warped_quadrangle[:,1] < H_border) |
-                     (warped_quadrangle[:,1] >= size[0] - H_border)))
-    if not outside_crop.all():
-      raise ValueError("warped image not contained inside crop")
-  else:
-    H_border, W_border = 0, 0
-  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
-  img_warped = cv2.warpPerspective(img, M, size[::-1])
-  return img_warped[H_border: size[0] - H_border,
-                    W_border: size[1] - W_border]
-
-
 def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
   camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
   calib_frame_from_ground = np.dot(eon_intrinsics,

dragonpilot/chinese-fonts/installer.sh

@@ -31,7 +31,7 @@
 
 
 # Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=zh-CN
+lang=en
 
 update_font=0
 remove_old_font=0

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
+  "ota_url": "http://dpp.cool/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
   "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_url": "http://dpp.cool/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
   "recovery_len": 15861036,
   "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
 }

installer/updater/updater.cc

@@ -155,8 +155,6 @@ struct Updater {
   TouchState touch;
 
   int fb_w, fb_h;
-  EGLDisplay display;
-  EGLSurface surface;
 
   FramebufferState *fb = NULL;
   NVGcontext *vg = NULL;
@@ -198,7 +196,7 @@ struct Updater {
     touch_init(&touch);
 
     fb = framebuffer_init("updater", 0x00001000, false,
-                          &display, &surface, &fb_w, &fb_h);
+                          &fb_w, &fb_h);
     assert(fb);
 
     vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
@@ -708,7 +706,7 @@ struct Updater {
 
       glDisable(GL_BLEND);
 
-      eglSwapBuffers(display, surface);
+      framebuffer_swap(fb);
 
       assert(glGetError() == GL_NO_ERROR);
 

opendbc/.gitignore

@@ -3,6 +3,8 @@
 *.tmp
 *.dylib
 .*.swp
+.DS_Store
+
 can/*.so
 can/build/
 can/obj/

opendbc/README.md

@@ -16,6 +16,9 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind
 
 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
 
+### How to use reverse engineered DBC
+To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
+
 ### DBC file preprocessor
 
 DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.

opendbc/generator/honda/honda_crv_executive_2016_can.dbc

@@ -0,0 +1,65 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/generator/toyota/lexus_nx300h_2018_pt.dbc

@@ -0,0 +1,37 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/gm_global_a_high_voltage_management.dbc

@@ -0,0 +1,176 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_: 
+BU_: K16_BECM K114B_HPCM T18_BatteryCharger
+
+BO_ 512 Battery_Module_1: 8 K16_BECM
+   SG_ Voltage_1_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_1 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 514 Battery_Module_2: 8 K16_BECM
+   SG_ Voltage_2_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_2 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 516 Battery_Module_3: 8 K16_BECM
+   SG_ Voltage_3_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_3 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 518 Battery_Module_4: 8 K16_BECM
+   SG_ Voltage_4_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_4 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 528 Pack_Stats: 8 K16_BECM
+   SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM
+   SG_ Pack_Amps : 9|10@0+ (0.1,0) [0|0] "" K16_BECM
+   SG_ Pack_Amps2 : 28|12@0+ (0.05,0) [0|0] "" K16_BECM
+
+BO_ 530 Charger_stats: 6 T18_BatteryCharger
+   SG_ Charger_HV_Current : 0|13@1+ (0.05,0) [0|0] "A" K16_BECM
+   SG_ HV_Voltage : 13|10@1+ (0.5,0) [0|0] "V" K16_BECM
+   SG_ LV_Current : 23|8@1+ (0.2,0) [0|0] "A" K16_BECM
+   SG_ LV_Voltage : 31|10@1- (0.025,0) [0|0] "V" K16_BECM
+
+BO_ 770 Battery_temp: 8 K16_BECM
+   SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_B m0 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_C m0 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_D m0 : 32|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_E m0 : 40|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_F m0 : 48|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_G m1 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_H m1 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+   SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM
+
+BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
+BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
+BA_DEF_ BO_ "isj1939dbc" INT 0 0;
+BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff";
+BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
+BA_DEF_DEF_ "isj1939dbc" 0;
+CM_ BU_ K16_BECM "Battery Energy Control Module";
+CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
+CM_ BU_ T18_BatteryCharger "Battery Charger";

opendbc/honda_crv_executive_2016_can_generated.dbc

@@ -0,0 +1,319 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_crv_executive_2016_can.dbc starts here"
+
+
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/hyundai_kia_generic.dbc

@@ -792,7 +792,7 @@ BO_ 1362 SNV11: 4 SNV
  SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,HUD
 
 BO_ 593 MDPS12: 8 MDPS
- SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm"  LDWS_LKAS
+ SG_ CR_Mdps_StrColTq : 0|11@1+ (1.0,-1024.0) [-1024.0|1024.0] ""  LDWS_LKAS
  SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
  SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
  SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
@@ -1444,3 +1444,5 @@ BO_ 905 SCC14: 8 SCC
  SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
  SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
 
+BO_ 882 ELECT_GEAR: 8 XXX
+ SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU

opendbc/lexus_nx300h_2018_pt_generated.dbc

@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW
 
 BO_ 36 KINEMATICS: 8 XXX
- SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
  SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
 
 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 XXX
 
 BO_ 180 SPEED: 8 XXX
  SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 353 DSU_SPEED: 8 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX
 
 BO_ 951 ESP_CONTROL: 8 ESP
  SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 XXX
  SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
 
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
  SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
  SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -231,7 +243,7 @@ BO_ 1409 VIN_PART_2: 8 CGW
 BO_ 1410 VIN_PART_3: 8 CGW
  SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
 
-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1553 UI_SETTING: 8 XXX
  SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -344,24 +356,23 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
-CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+CM_ "lexus_nx300h_2018_pt.dbc starts here"
 
 
 
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.00,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -370,20 +381,16 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/subaru_global_2017.dbc

@@ -110,6 +110,8 @@ BO_ 281 Steering_Torque: 8 XXX
  SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
  SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
  SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 312 Brake_Pressure_L_R: 8 XXX
  SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX

panda/board/drivers/gmlan_alt.h

@@ -122,7 +122,12 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
   return len;
 }
 
+void TIM4_IRQ_Handler(void);
+
 void setup_timer4(void) {
+  // register interrupt
+  REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
+
   // setup
   register_set(&(TIM4->PSC), (48-1), 0xFFFFU);    // Tick on 1 us
   register_set(&(TIM4->CR1), TIM_CR1_CEN, 0x3FU); // Enable
@@ -236,7 +241,6 @@ void TIM4_IRQ_Handler(void) {
         gmlan_sendmax = -1;   // exit
       }
     }
-    TIM4->SR = 0;
   } else if (gmlan_alt_mode == GPIO_SWITCH) {
     if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
       if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
@@ -259,10 +263,10 @@ void TIM4_IRQ_Handler(void) {
         }
       }
     }
-    TIM4->SR = 0;
   } else {
-    puts("invalid gmlan_alt_mode\n");
+    // Invalid GMLAN mode. Do not put a print statement here, way too fast to keep up with
   }
+  TIM4->SR = 0;
 }
 
 bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -280,7 +284,6 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
     set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
 
     // 33kbps
-    REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
     setup_timer4();
   }
   return gmlan_send_ok;

panda/board/main.c

@@ -294,19 +294,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
       break;
     // **** 0xb0: set IR power
     case 0xb0:
-      if(power_save_status == POWER_SAVE_STATUS_DISABLED){
-        current_board->set_ir_power(setup->b.wValue.w);
-      } else {
-        puts("Setting IR power not allowed in power saving mode\n");
-      }
+      current_board->set_ir_power(setup->b.wValue.w);
       break;
     // **** 0xb1: set fan power
     case 0xb1:
-      if(power_save_status == POWER_SAVE_STATUS_DISABLED){
-        current_board->set_fan_power(setup->b.wValue.w);
-      } else {
-        puts("Setting fan power not allowed in power saving mode\n");
-      }
+      current_board->set_fan_power(setup->b.wValue.w);
       break;
     // **** 0xb2: get fan rpm
     case 0xb2:
@@ -716,6 +708,10 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
       if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
         set_power_save_state(POWER_SAVE_STATUS_ENABLED);
       }
+
+      // Also disable fan and IR when the heartbeat goes missing
+      current_board->set_fan_power(0U);
+      current_board->set_ir_power(0U);
     }
 
     // enter CDP mode when car starts to ensure we are charging a turned off EON

panda/board/power_saving.h

@@ -49,10 +49,9 @@ void set_power_save_state(int state) {
       set_gpio_output(GPIOA, 14, enable);
     }
 
-    // Switch off IR and fan when in power saving
+    // Switch off IR when in power saving
     if(!enable){
       current_board->set_ir_power(0U);
-      current_board->set_fan_power(0U);
     }   
 
     power_save_status = state;

panda/python/uds.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import time
 import struct
+from collections import deque
 from typing import Callable, NamedTuple, Tuple, List
 from enum import IntEnum
 
@@ -275,11 +276,12 @@ class CanClient():
     self.rx = can_recv
     self.tx_addr = tx_addr
     self.rx_addr = rx_addr
+    self.rx_buff = deque()
     self.sub_addr = sub_addr
     self.bus = bus
     self.debug = debug
 
-  def _recv_filter(self, bus, addr):
+  def _recv_filter(self, bus: int, addr: int) -> bool:
     # handle functional addresses (switch to first addr to respond)
     if self.tx_addr == 0x7DF:
       is_response = addr >= 0x7E8 and addr <= 0x7EF
@@ -296,12 +298,12 @@ class CanClient():
         self.rx_addr = addr
     return bus == self.bus and addr == self.rx_addr
 
-  def recv(self, drain=False) -> List[bytes]:
-    msg_array = []
+  def _recv_buffer(self, drain: bool=False) -> None:
     while True:
       msgs = self.rx()
       if drain:
         if self.debug: print("CAN-RX: drain - {}".format(len(msgs)))
+        self.rx_buff.clear()
       else:
         for rx_addr, rx_ts, rx_data, rx_bus in msgs or []:
           if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
@@ -313,15 +315,24 @@ class CanClient():
             if self.sub_addr is not None:
               rx_data = rx_data[1:]
 
-            msg_array.append(rx_data)
+            self.rx_buff.append(rx_data)
       # break when non-full buffer is processed
       if len(msgs) < 254:
-        return msg_array
+        return
+
+  def recv(self, drain: bool=False) -> List[bytes]:
+    # buffer rx messages in case two response messages are received at once
+    # (e.g. response pending and success/failure response)
+    self._recv_buffer(drain)
+    try:
+      while True:
+        yield self.rx_buff.popleft()
+    except IndexError:
+      pass # empty
 
   def send(self, msgs: List[bytes], delay: float=0) -> None:
-    first = True
-    for msg in msgs:
-      if delay and not first:
+    for i, msg in enumerate(msgs):
+      if delay and i != 0:
         if self.debug: print(f"CAN-TX: delay - {delay}")
         time.sleep(delay)
 
@@ -332,8 +343,9 @@ class CanClient():
       assert len(msg) <= 8
 
       self.tx(self.tx_addr, msg, self.bus)
-      first = False
-
+      # prevent rx buffer from overflowing on large tx
+      if i % 10 == 9:
+        self._recv_buffer()
 
 class IsoTpMessage():
   def __init__(self, can_client: CanClient, timeout: float=1, debug: bool=False, max_len: int=8):

phonelibs/eigen/COPYING.MINPACK

@@ -1,52 +1,52 @@
-Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
-
-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.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
-   "This product includes software developed by the
-   University of Chicago, as Operator of Argonne National
-   Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
+Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
+
+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.
+
+3. The end-user documentation included with the
+redistribution, if any, must include the following
+acknowledgment:
+
+   "This product includes software developed by the
+   University of Chicago, as Operator of Argonne National
+   Laboratory.
+
+Alternately, this acknowledgment may appear in the software
+itself, if and wherever such third-party acknowledgments
+normally appear.
+
+4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+BE CORRECTED.
+
+5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+POSSIBILITY OF SUCH LOSS OR DAMAGES.
+

phonelibs/fastcv/x64/include/stdint_.h

@@ -1,247 +0,0 @@
-// ISO C9x  compliant stdint.h for Microsoft Visual Studio
-// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 
-// 
-//  Copyright (c) 2006-2008 Alexander Chemeris
-// 
-// 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.
-// 
-//   3. The name of the author may be used to endorse or promote products
-//      derived from this software without specific prior written permission.
-// 
-// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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 _MSC_VER // [
-#error "Use this header only with Microsoft Visual C++ compilers!"
-#endif // _MSC_VER ]
-
-#ifndef _MSC_STDINT_H_ // [
-#define _MSC_STDINT_H_
-
-#if _MSC_VER > 1000
-#pragma once
-#endif
-
-#include <limits.h>
-
-// For Visual Studio 6 in C++ mode and for many Visual Studio versions when
-// compiling for ARM we should wrap <wchar.h> include with 'extern "C++" {}'
-// or compiler give many errors like this:
-//   error C2733: second C linkage of overloaded function 'wmemchr' not allowed
-#ifdef __cplusplus
-extern "C" {
-#endif
-#  include <wchar.h>
-#ifdef __cplusplus
-}
-#endif
-
-// Define _W64 macros to mark types changing their size, like intptr_t.
-#ifndef _W64
-#  if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
-#     define _W64 __w64
-#  else
-#     define _W64
-#  endif
-#endif
-
-
-// 7.18.1 Integer types
-
-// 7.18.1.1 Exact-width integer types
-
-// Visual Studio 6 and Embedded Visual C++ 4 doesn't
-// realize that, e.g. char has the same size as __int8
-// so we give up on __intX for them.
-#if (_MSC_VER < 1300)
-   typedef signed char       int8_t;
-   typedef signed short      int16_t;
-   typedef signed int        int32_t;
-   typedef unsigned char     uint8_t;
-   typedef unsigned short    uint16_t;
-   typedef unsigned int      uint32_t;
-#else
-   typedef signed __int8     int8_t;
-   typedef signed __int16    int16_t;
-   typedef signed __int32    int32_t;
-   typedef unsigned __int8   uint8_t;
-   typedef unsigned __int16  uint16_t;
-   typedef unsigned __int32  uint32_t;
-#endif
-typedef signed __int64       int64_t;
-typedef unsigned __int64     uint64_t;
-
-
-// 7.18.1.2 Minimum-width integer types
-typedef int8_t    int_least8_t;
-typedef int16_t   int_least16_t;
-typedef int32_t   int_least32_t;
-typedef int64_t   int_least64_t;
-typedef uint8_t   uint_least8_t;
-typedef uint16_t  uint_least16_t;
-typedef uint32_t  uint_least32_t;
-typedef uint64_t  uint_least64_t;
-
-// 7.18.1.3 Fastest minimum-width integer types
-typedef int8_t    int_fast8_t;
-typedef int16_t   int_fast16_t;
-typedef int32_t   int_fast32_t;
-typedef int64_t   int_fast64_t;
-typedef uint8_t   uint_fast8_t;
-typedef uint16_t  uint_fast16_t;
-typedef uint32_t  uint_fast32_t;
-typedef uint64_t  uint_fast64_t;
-
-// 7.18.1.4 Integer types capable of holding object pointers
-#ifdef _WIN64 // [
-   typedef signed __int64    intptr_t;
-   typedef unsigned __int64  uintptr_t;
-#else // _WIN64 ][
-   typedef _W64 signed int   intptr_t;
-   typedef _W64 unsigned int uintptr_t;
-#endif // _WIN64 ]
-
-// 7.18.1.5 Greatest-width integer types
-typedef int64_t   intmax_t;
-typedef uint64_t  uintmax_t;
-
-
-// 7.18.2 Limits of specified-width integer types
-
-#if !defined(__cplusplus) || defined(__STDC_LIMIT_MACROS) // [   See footnote 220 at page 257 and footnote 221 at page 259
-
-// 7.18.2.1 Limits of exact-width integer types
-#define INT8_MIN     ((int8_t)_I8_MIN)
-#define INT8_MAX     _I8_MAX
-#define INT16_MIN    ((int16_t)_I16_MIN)
-#define INT16_MAX    _I16_MAX
-#define INT32_MIN    ((int32_t)_I32_MIN)
-#define INT32_MAX    _I32_MAX
-#define INT64_MIN    ((int64_t)_I64_MIN)
-#define INT64_MAX    _I64_MAX
-#define UINT8_MAX    _UI8_MAX
-#define UINT16_MAX   _UI16_MAX
-#define UINT32_MAX   _UI32_MAX
-#define UINT64_MAX   _UI64_MAX
-
-// 7.18.2.2 Limits of minimum-width integer types
-#define INT_LEAST8_MIN    INT8_MIN
-#define INT_LEAST8_MAX    INT8_MAX
-#define INT_LEAST16_MIN   INT16_MIN
-#define INT_LEAST16_MAX   INT16_MAX
-#define INT_LEAST32_MIN   INT32_MIN
-#define INT_LEAST32_MAX   INT32_MAX
-#define INT_LEAST64_MIN   INT64_MIN
-#define INT_LEAST64_MAX   INT64_MAX
-#define UINT_LEAST8_MAX   UINT8_MAX
-#define UINT_LEAST16_MAX  UINT16_MAX
-#define UINT_LEAST32_MAX  UINT32_MAX
-#define UINT_LEAST64_MAX  UINT64_MAX
-
-// 7.18.2.3 Limits of fastest minimum-width integer types
-#define INT_FAST8_MIN    INT8_MIN
-#define INT_FAST8_MAX    INT8_MAX
-#define INT_FAST16_MIN   INT16_MIN
-#define INT_FAST16_MAX   INT16_MAX
-#define INT_FAST32_MIN   INT32_MIN
-#define INT_FAST32_MAX   INT32_MAX
-#define INT_FAST64_MIN   INT64_MIN
-#define INT_FAST64_MAX   INT64_MAX
-#define UINT_FAST8_MAX   UINT8_MAX
-#define UINT_FAST16_MAX  UINT16_MAX
-#define UINT_FAST32_MAX  UINT32_MAX
-#define UINT_FAST64_MAX  UINT64_MAX
-
-// 7.18.2.4 Limits of integer types capable of holding object pointers
-#ifdef _WIN64 // [
-#  define INTPTR_MIN   INT64_MIN
-#  define INTPTR_MAX   INT64_MAX
-#  define UINTPTR_MAX  UINT64_MAX
-#else // _WIN64 ][
-#  define INTPTR_MIN   INT32_MIN
-#  define INTPTR_MAX   INT32_MAX
-#  define UINTPTR_MAX  UINT32_MAX
-#endif // _WIN64 ]
-
-// 7.18.2.5 Limits of greatest-width integer types
-#define INTMAX_MIN   INT64_MIN
-#define INTMAX_MAX   INT64_MAX
-#define UINTMAX_MAX  UINT64_MAX
-
-// 7.18.3 Limits of other integer types
-
-#ifdef _WIN64 // [
-#  define PTRDIFF_MIN  _I64_MIN
-#  define PTRDIFF_MAX  _I64_MAX
-#else  // _WIN64 ][
-#  define PTRDIFF_MIN  _I32_MIN
-#  define PTRDIFF_MAX  _I32_MAX
-#endif  // _WIN64 ]
-
-#define SIG_ATOMIC_MIN  INT_MIN
-#define SIG_ATOMIC_MAX  INT_MAX
-
-#ifndef SIZE_MAX // [
-#  ifdef _WIN64 // [
-#     define SIZE_MAX  _UI64_MAX
-#  else // _WIN64 ][
-#     define SIZE_MAX  _UI32_MAX
-#  endif // _WIN64 ]
-#endif // SIZE_MAX ]
-
-// WCHAR_MIN and WCHAR_MAX are also defined in <wchar.h>
-#ifndef WCHAR_MIN // [
-#  define WCHAR_MIN  0
-#endif  // WCHAR_MIN ]
-#ifndef WCHAR_MAX // [
-#  define WCHAR_MAX  _UI16_MAX
-#endif  // WCHAR_MAX ]
-
-#define WINT_MIN  0
-#define WINT_MAX  _UI16_MAX
-
-#endif // __STDC_LIMIT_MACROS ]
-
-
-// 7.18.4 Limits of other integer types
-
-#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [   See footnote 224 at page 260
-
-// 7.18.4.1 Macros for minimum-width integer constants
-
-#define INT8_C(val)  val##i8
-#define INT16_C(val) val##i16
-#define INT32_C(val) val##i32
-#define INT64_C(val) val##i64
-
-#define UINT8_C(val)  val##ui8
-#define UINT16_C(val) val##ui16
-#define UINT32_C(val) val##ui32
-#define UINT64_C(val) val##ui64
-
-// 7.18.4.2 Macros for greatest-width integer constants
-#define INTMAX_C   INT64_C
-#define UINTMAX_C  UINT64_C
-
-#endif // __STDC_CONSTANT_MACROS ]
-
-
-#endif // _MSC_STDINT_H_ ]

phonelibs/install_capnp.sh

@@ -1,42 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j4
-make install
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-rm /usr/local/bin/capnpc
-ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j4
-make install
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib

phonelibs/libyuv/LICENSE

@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * 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.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-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.

phonelibs/libyuv/LICENSE.libyuv

@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * 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.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-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.

phonelibs/libyuv/build.txt

@@ -1,4 +0,0 @@
-git clone https://chromium.googlesource.com/libyuv/libyuv
-cd libyuv
-git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
-cmake .

phonelibs/libyuv/x64/include

@@ -1 +0,0 @@
-../include

phonelibs/qpoases/INCLUDE/Bounds.hpp

@@ -1,189 +1,189 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/Bounds.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_BOUNDS_HPP
-#define QPOASES_BOUNDS_HPP
-
-
-#include <SubjectTo.hpp>
-
-
-
-/** This class manages working sets of bounds by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class Bounds : public SubjectTo
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		Bounds( );
-
-		/** Copy constructor (deep copy). */
-		Bounds(	const Bounds& rhs	/**< Rhs object. */
-				);
-
-		/** Destructor. */
-		~Bounds( );
-
-		/** Assignment operator (deep copy). */
-		Bounds& operator=(	const Bounds& rhs	/**< Rhs object. */
-							);
-
-
-		/** Pseudo-constructor takes the number of bounds.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int n	/**< Number of bounds. */
-							);
-
-
-		/** Initially adds number of a new (i.e. not yet in the list) bound to
-		 *  given index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_BOUND_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS \n
-					RET_INVALID_ARGUMENTS */
-		returnValue setupBound(	int _number,					/**< Number of new bound. */
-								SubjectToStatus _status			/**< Status of new bound. */
-								);
-
-		/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
-		 *  to the index set of free bounds; the order depends on the SujectToType
-		 *  of each index.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_BOUND_FAILED */
-		returnValue setupAllFree( );
-
-
-		/** Moves index of a bound from index list of fixed to that of free bounds.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_BOUND_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		returnValue moveFixedToFree(	int _number				/**< Number of bound to be freed. */
-										);
-
-		/** Moves index of a bound from index list of free to that of fixed bounds.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_BOUND_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		returnValue moveFreeToFixed(	int _number,			/**< Number of bound to be fixed. */
-										SubjectToStatus _status	/**< Status of bound to be fixed. */
-										);
-
-		/** Swaps the indices of two free bounds within the index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SWAPINDEX_FAILED */
-		returnValue swapFree(	int number1,					/**< Number of first constraint or bound. */
-								int number2						/**< Number of second constraint or bound. */
-								);
-
-
-		/** Returns number of variables.
-		 *	\return Number of variables. */
-		inline int getNV( ) const;
-
-		/** Returns number of implicitly fixed variables.
-		 *	\return Number of implicitly fixed variables. */
-		inline int getNFV( ) const;
-
-		/** Returns number of bounded (but possibly free) variables.
-		 *	\return Number of bounded (but possibly free) variables. */
-		inline int getNBV( ) const;
-
-		/** Returns number of unbounded variables.
-		 *	\return Number of unbounded variables. */
-		inline int getNUV( ) const;
-
-
-		/** Sets number of implicitly fixed variables.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNFV(	int n	/**< Number of implicitly fixed variables. */
-									);
-
-		/** Sets number of bounded (but possibly free) variables.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNBV(	int n	/**< Number of bounded (but possibly free) variables. */
-									);
-
-		/** Sets number of unbounded variables.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNUV(	int n	/**< Number of unbounded variables */
-									);
-
-
-		/** Returns number of free variables.
-		 *	\return Number of free variables. */
-		inline int getNFR( );
-
-		/** Returns number of fixed variables.
-		 *	\return Number of fixed variables. */
-		inline int getNFX( );
-
-
-		/** Returns a pointer to free variables index list.
-		 *	\return Pointer to free variables index list. */
-		inline Indexlist* getFree( );
-
-		/** Returns a pointer to fixed variables index list.
-		 *	\return Pointer to fixed variables index list. */
-		inline Indexlist* getFixed( );
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int nV;					/**< Number of variables (nV = nFV + nBV + nUV). */
-		int nFV;				/**< Number of implicitly fixed variables. */
-		int	nBV;				/**< Number of bounded (but possibly free) variables. */
-		int nUV;				/**< Number of unbounded variables. */
-
-		Indexlist free;			/**< Index list of free variables. */
-		Indexlist fixed;		/**< Index list of fixed variables. */
-};
-
-#include <Bounds.ipp>
-
-#endif	/* QPOASES_BOUNDS_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/Bounds.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of the Bounds class designed to manage working sets of
+ *	bounds within a QProblem.
+ */
+
+
+#ifndef QPOASES_BOUNDS_HPP
+#define QPOASES_BOUNDS_HPP
+
+
+#include <SubjectTo.hpp>
+
+
+
+/** This class manages working sets of bounds by storing
+ *	index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ */
+class Bounds : public SubjectTo
+{
+	/*
+	 *	PUBLIC MEMBER FUNCTIONS
+	 */
+	public:
+		/** Default constructor. */
+		Bounds( );
+
+		/** Copy constructor (deep copy). */
+		Bounds(	const Bounds& rhs	/**< Rhs object. */
+				);
+
+		/** Destructor. */
+		~Bounds( );
+
+		/** Assignment operator (deep copy). */
+		Bounds& operator=(	const Bounds& rhs	/**< Rhs object. */
+							);
+
+
+		/** Pseudo-constructor takes the number of bounds.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue init(	int n	/**< Number of bounds. */
+							);
+
+
+		/** Initially adds number of a new (i.e. not yet in the list) bound to
+		 *  given index set.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_SETUP_BOUND_FAILED \n
+					RET_INDEX_OUT_OF_BOUNDS \n
+					RET_INVALID_ARGUMENTS */
+		returnValue setupBound(	int _number,					/**< Number of new bound. */
+								SubjectToStatus _status			/**< Status of new bound. */
+								);
+
+		/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+		 *  to the index set of free bounds; the order depends on the SujectToType
+		 *  of each index.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_SETUP_BOUND_FAILED */
+		returnValue setupAllFree( );
+
+
+		/** Moves index of a bound from index list of fixed to that of free bounds.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_MOVING_BOUND_FAILED \n
+					RET_INDEX_OUT_OF_BOUNDS */
+		returnValue moveFixedToFree(	int _number				/**< Number of bound to be freed. */
+										);
+
+		/** Moves index of a bound from index list of free to that of fixed bounds.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_MOVING_BOUND_FAILED \n
+					RET_INDEX_OUT_OF_BOUNDS */
+		returnValue moveFreeToFixed(	int _number,			/**< Number of bound to be fixed. */
+										SubjectToStatus _status	/**< Status of bound to be fixed. */
+										);
+
+		/** Swaps the indices of two free bounds within the index set.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_SWAPINDEX_FAILED */
+		returnValue swapFree(	int number1,					/**< Number of first constraint or bound. */
+								int number2						/**< Number of second constraint or bound. */
+								);
+
+
+		/** Returns number of variables.
+		 *	\return Number of variables. */
+		inline int getNV( ) const;
+
+		/** Returns number of implicitly fixed variables.
+		 *	\return Number of implicitly fixed variables. */
+		inline int getNFV( ) const;
+
+		/** Returns number of bounded (but possibly free) variables.
+		 *	\return Number of bounded (but possibly free) variables. */
+		inline int getNBV( ) const;
+
+		/** Returns number of unbounded variables.
+		 *	\return Number of unbounded variables. */
+		inline int getNUV( ) const;
+
+
+		/** Sets number of implicitly fixed variables.
+		 *	\return SUCCESSFUL_RETURN */
+		inline returnValue setNFV(	int n	/**< Number of implicitly fixed variables. */
+									);
+
+		/** Sets number of bounded (but possibly free) variables.
+		 *	\return SUCCESSFUL_RETURN */
+		inline returnValue setNBV(	int n	/**< Number of bounded (but possibly free) variables. */
+									);
+
+		/** Sets number of unbounded variables.
+		 *	\return SUCCESSFUL_RETURN */
+		inline returnValue setNUV(	int n	/**< Number of unbounded variables */
+									);
+
+
+		/** Returns number of free variables.
+		 *	\return Number of free variables. */
+		inline int getNFR( );
+
+		/** Returns number of fixed variables.
+		 *	\return Number of fixed variables. */
+		inline int getNFX( );
+
+
+		/** Returns a pointer to free variables index list.
+		 *	\return Pointer to free variables index list. */
+		inline Indexlist* getFree( );
+
+		/** Returns a pointer to fixed variables index list.
+		 *	\return Pointer to fixed variables index list. */
+		inline Indexlist* getFixed( );
+
+
+	/*
+	 *	PROTECTED MEMBER VARIABLES
+	 */
+	protected:
+		int nV;					/**< Number of variables (nV = nFV + nBV + nUV). */
+		int nFV;				/**< Number of implicitly fixed variables. */
+		int	nBV;				/**< Number of bounded (but possibly free) variables. */
+		int nUV;				/**< Number of unbounded variables. */
+
+		Indexlist free;			/**< Index list of free variables. */
+		Indexlist fixed;		/**< Index list of fixed variables. */
+};
+
+#include <Bounds.ipp>
+
+#endif	/* QPOASES_BOUNDS_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/Constants.hpp

@@ -1,108 +1,108 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/Constants.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2008
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_HPP
-#define QPOASES_CONSTANTS_HPP
-
-#ifndef QPOASES_CUSTOM_INTERFACE
-#include "acado_qpoases_interface.hpp"
-#else
-  #define XSTR(x) #x
-  #define STR(x) XSTR(x)
-  #include STR(QPOASES_CUSTOM_INTERFACE)
-#endif
-
-/** Maximum number of variables within a QP formulation.
-	Note: this value has to be positive! */
-const int NVMAX = QPOASES_NVMAX;
-
-/** Maximum number of constraints within a QP formulation.
-	Note: this value has to be positive! */
-const int NCMAX = QPOASES_NCMAX;
-
-/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
-    and compiler errors. */
-const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
-
-/**< Maximum number of working set recalculations.
-	Note: this value has to be positive! */
-const int NWSRMAX = QPOASES_NWSRMAX;
-
-/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
- *  issued if this tolerance is not met.
- *	Note: this value has to be positive! */
-const real_t DESIREDACCURACY = (real_t) 1.0e-3;
-
-/** Critical KKT tolerance of QP solution; an error is issued if this
- *  tolerance is not met.
- *	Note: this value has to be positive! */
-const real_t CRITICALACCURACY = (real_t) 1.0e-2;
-
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
-	Note: this value has to be positive! */
-const real_t EPS = (real_t) QPOASES_EPS;
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *	Note: this value has to be positive! */
-const real_t ZERO = (real_t) 1.0e-50;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-const real_t INFTY = (real_t) 1.0e12;
-
-
-/** Lower/upper (constraints') bound tolerance (an inequality constraint
- *	whose lower and upper bound differ by less than BOUNDTOL is regarded
- *	to be an equality constraint).
- *	Note: this value has to be positive! */
-const real_t BOUNDTOL = (real_t) 1.0e-10;
-
-/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
- *	Note: this value has to be positive! */
-const real_t BOUNDRELAXATION = (real_t) 1.0e3;
-
-
-/** Factor that determines physical lengths of index lists.
- *	Note: this value has to be greater than 1! */
-const int INDEXLISTFACTOR = 5;
-
-
-#endif	/* QPOASES_CONSTANTS_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/Constants.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2008
+ *
+ *	Definition of all global constants.
+ */
+
+
+#ifndef QPOASES_CONSTANTS_HPP
+#define QPOASES_CONSTANTS_HPP
+
+#ifndef QPOASES_CUSTOM_INTERFACE
+#include "acado_qpoases_interface.hpp"
+#else
+  #define XSTR(x) #x
+  #define STR(x) XSTR(x)
+  #include STR(QPOASES_CUSTOM_INTERFACE)
+#endif
+
+/** Maximum number of variables within a QP formulation.
+	Note: this value has to be positive! */
+const int NVMAX = QPOASES_NVMAX;
+
+/** Maximum number of constraints within a QP formulation.
+	Note: this value has to be positive! */
+const int NCMAX = QPOASES_NCMAX;
+
+/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays
+    and compiler errors. */
+const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX;
+
+/**< Maximum number of working set recalculations.
+	Note: this value has to be positive! */
+const int NWSRMAX = QPOASES_NWSRMAX;
+
+/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is
+ *  issued if this tolerance is not met.
+ *	Note: this value has to be positive! */
+const real_t DESIREDACCURACY = (real_t) 1.0e-3;
+
+/** Critical KKT tolerance of QP solution; an error is issued if this
+ *  tolerance is not met.
+ *	Note: this value has to be positive! */
+const real_t CRITICALACCURACY = (real_t) 1.0e-2;
+
+
+
+/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
+	Note: this value has to be positive! */
+const real_t EPS = (real_t) QPOASES_EPS;
+
+/** Numerical value of zero (for situations in which it would be
+ *	unreasonable to compare with 0.0).
+ *	Note: this value has to be positive! */
+const real_t ZERO = (real_t) 1.0e-50;
+
+/** Numerical value of infinity (e.g. for non-existing bounds).
+ *	Note: this value has to be positive! */
+const real_t INFTY = (real_t) 1.0e12;
+
+
+/** Lower/upper (constraints') bound tolerance (an inequality constraint
+ *	whose lower and upper bound differ by less than BOUNDTOL is regarded
+ *	to be an equality constraint).
+ *	Note: this value has to be positive! */
+const real_t BOUNDTOL = (real_t) 1.0e-10;
+
+/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy.
+ *	Note: this value has to be positive! */
+const real_t BOUNDRELAXATION = (real_t) 1.0e3;
+
+
+/** Factor that determines physical lengths of index lists.
+ *	Note: this value has to be greater than 1! */
+const int INDEXLISTFACTOR = 5;
+
+
+#endif	/* QPOASES_CONSTANTS_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/Constraints.hpp

@@ -1,181 +1,181 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/Constraints.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#ifndef QPOASES_CONSTRAINTS_HPP
-#define QPOASES_CONSTRAINTS_HPP
-
-
-#include <SubjectTo.hpp>
-
-
-
-/** This class manages working sets of constraints by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class Constraints : public SubjectTo
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		Constraints( );
-
-		/** Copy constructor (deep copy). */
-		Constraints(	const Constraints& rhs	/**< Rhs object. */
-						);
-
-		/** Destructor. */
-		~Constraints( );
-
-		/** Assignment operator (deep copy). */
-		Constraints& operator=(	const Constraints& rhs	/**< Rhs object. */
-								);
-
-
-		/** Pseudo-constructor takes the number of constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int n	/**< Number of constraints. */
-							);
-
-
-		/** Initially adds number of a new (i.e. not yet in the list) constraint to
-		 *  a given index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_CONSTRAINT_FAILED \n
-					RET_INDEX_OUT_OF_BOUNDS \n
-					RET_INVALID_ARGUMENTS */
-		returnValue setupConstraint(	int _number,				/**< Number of new constraint. */
-										SubjectToStatus _status		/**< Status of new constraint. */
-										);
-
-		/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
-		 *  to the index set of inactive constraints; the order depends on the SujectToType
-		 *  of each index. Only disabled constraints are added to index set of disabled constraints!
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SETUP_CONSTRAINT_FAILED */
-		returnValue setupAllInactive( );
-
-
-		/** Moves index of a constraint from index list of active to that of inactive constraints.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_CONSTRAINT_FAILED */
-		returnValue moveActiveToInactive(	int _number				/**< Number of constraint to become inactive. */
-											);
-
-		/** Moves index of a constraint from index list of inactive to that of active constraints.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_MOVING_CONSTRAINT_FAILED */
-		returnValue moveInactiveToActive(	int _number,			/**< Number of constraint to become active. */
-											SubjectToStatus _status	/**< Status of constraint to become active. */
-											);
-
-
-		/** Returns the number of constraints.
-		 *	\return Number of constraints. */
-		inline int getNC( ) const;
-
-		/** Returns the number of implicit equality constraints.
-		 *	\return Number of implicit equality constraints. */
-		inline int getNEC( ) const;
-
-		/** Returns the number of "real" inequality constraints.
-		 *	\return Number of "real" inequality constraints. */
-		inline int getNIC( ) const;
-
-		/** Returns the number of unbounded constraints (i.e. without any bounds).
-		 *	\return Number of unbounded constraints (i.e. without any bounds). */
-		inline int getNUC( ) const;
-
-
-		/** Sets number of implicit equality constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNEC(	int n	/**< Number of implicit equality constraints. */
-							);
-
-		/** Sets number of "real" inequality constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNIC(	int n	/**< Number of "real" inequality constraints. */
-									);
-
-		/** Sets number of unbounded constraints (i.e. without any bounds).
-		 *	\return SUCCESSFUL_RETURN */
-		inline returnValue setNUC(	int n	/**< Number of unbounded constraints (i.e. without any bounds). */
-									);
-
-
-		/** Returns the number of active constraints.
-		 *	\return Number of constraints. */
-		inline int getNAC( );
-
-		/** Returns the number of inactive constraints.
-		 *	\return Number of constraints. */
-		inline int getNIAC( );
-
-
-		/** Returns a pointer to active constraints index list.
-		 *	\return Pointer to active constraints index list. */
-		inline Indexlist* getActive( );
-
-		/** Returns a pointer to inactive constraints index list.
-		 *	\return Pointer to inactive constraints index list. */
-		inline Indexlist* getInactive( );
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int nC;					/**< Number of constraints (nC = nEC + nIC + nUC). */
-		int nEC;				/**< Number of implicit equality constraints. */
-		int	nIC;				/**< Number of "real" inequality constraints. */
-		int nUC;				/**< Number of unbounded constraints (i.e. without any bounds). */
-
-		Indexlist active;		/**< Index list of active constraints. */
-		Indexlist inactive;		/**< Index list of inactive constraints. */
-};
-
-
-#include <Constraints.ipp>
-
-#endif	/* QPOASES_CONSTRAINTS_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/Constraints.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of the Constraints class designed to manage working sets of
+ *	constraints within a QProblem.
+ */
+
+
+#ifndef QPOASES_CONSTRAINTS_HPP
+#define QPOASES_CONSTRAINTS_HPP
+
+
+#include <SubjectTo.hpp>
+
+
+
+/** This class manages working sets of constraints by storing
+ *	index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ */
+class Constraints : public SubjectTo
+{
+	/*
+	 *	PUBLIC MEMBER FUNCTIONS
+	 */
+	public:
+		/** Default constructor. */
+		Constraints( );
+
+		/** Copy constructor (deep copy). */
+		Constraints(	const Constraints& rhs	/**< Rhs object. */
+						);
+
+		/** Destructor. */
+		~Constraints( );
+
+		/** Assignment operator (deep copy). */
+		Constraints& operator=(	const Constraints& rhs	/**< Rhs object. */
+								);
+
+
+		/** Pseudo-constructor takes the number of constraints.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue init(	int n	/**< Number of constraints. */
+							);
+
+
+		/** Initially adds number of a new (i.e. not yet in the list) constraint to
+		 *  a given index set.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_SETUP_CONSTRAINT_FAILED \n
+					RET_INDEX_OUT_OF_BOUNDS \n
+					RET_INVALID_ARGUMENTS */
+		returnValue setupConstraint(	int _number,				/**< Number of new constraint. */
+										SubjectToStatus _status		/**< Status of new constraint. */
+										);
+
+		/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+		 *  to the index set of inactive constraints; the order depends on the SujectToType
+		 *  of each index. Only disabled constraints are added to index set of disabled constraints!
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_SETUP_CONSTRAINT_FAILED */
+		returnValue setupAllInactive( );
+
+
+		/** Moves index of a constraint from index list of active to that of inactive constraints.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_MOVING_CONSTRAINT_FAILED */
+		returnValue moveActiveToInactive(	int _number				/**< Number of constraint to become inactive. */
+											);
+
+		/** Moves index of a constraint from index list of inactive to that of active constraints.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_MOVING_CONSTRAINT_FAILED */
+		returnValue moveInactiveToActive(	int _number,			/**< Number of constraint to become active. */
+											SubjectToStatus _status	/**< Status of constraint to become active. */
+											);
+
+
+		/** Returns the number of constraints.
+		 *	\return Number of constraints. */
+		inline int getNC( ) const;
+
+		/** Returns the number of implicit equality constraints.
+		 *	\return Number of implicit equality constraints. */
+		inline int getNEC( ) const;
+
+		/** Returns the number of "real" inequality constraints.
+		 *	\return Number of "real" inequality constraints. */
+		inline int getNIC( ) const;
+
+		/** Returns the number of unbounded constraints (i.e. without any bounds).
+		 *	\return Number of unbounded constraints (i.e. without any bounds). */
+		inline int getNUC( ) const;
+
+
+		/** Sets number of implicit equality constraints.
+		 *	\return SUCCESSFUL_RETURN */
+		inline returnValue setNEC(	int n	/**< Number of implicit equality constraints. */
+							);
+
+		/** Sets number of "real" inequality constraints.
+		 *	\return SUCCESSFUL_RETURN */
+		inline returnValue setNIC(	int n	/**< Number of "real" inequality constraints. */
+									);
+
+		/** Sets number of unbounded constraints (i.e. without any bounds).
+		 *	\return SUCCESSFUL_RETURN */
+		inline returnValue setNUC(	int n	/**< Number of unbounded constraints (i.e. without any bounds). */
+									);
+
+
+		/** Returns the number of active constraints.
+		 *	\return Number of constraints. */
+		inline int getNAC( );
+
+		/** Returns the number of inactive constraints.
+		 *	\return Number of constraints. */
+		inline int getNIAC( );
+
+
+		/** Returns a pointer to active constraints index list.
+		 *	\return Pointer to active constraints index list. */
+		inline Indexlist* getActive( );
+
+		/** Returns a pointer to inactive constraints index list.
+		 *	\return Pointer to inactive constraints index list. */
+		inline Indexlist* getInactive( );
+
+
+	/*
+	 *	PROTECTED MEMBER VARIABLES
+	 */
+	protected:
+		int nC;					/**< Number of constraints (nC = nEC + nIC + nUC). */
+		int nEC;				/**< Number of implicit equality constraints. */
+		int	nIC;				/**< Number of "real" inequality constraints. */
+		int nUC;				/**< Number of unbounded constraints (i.e. without any bounds). */
+
+		Indexlist active;		/**< Index list of active constraints. */
+		Indexlist inactive;		/**< Index list of inactive constraints. */
+};
+
+
+#include <Constraints.ipp>
+
+#endif	/* QPOASES_CONSTRAINTS_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/CyclingManager.hpp

@@ -1,126 +1,126 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/CyclingManager.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the CyclingManager class designed to detect
- *	and handle possible cycling during QP iterations.
- */
-
-
-#ifndef QPOASES_CYCLINGMANAGER_HPP
-#define QPOASES_CYCLINGMANAGER_HPP
-
-
-#include <Utils.hpp>
-
-
-
-/** This class is intended to detect and handle possible cycling during QP iterations.
- *	As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET!
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class CyclingManager
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		CyclingManager( );
-
-		/** Copy constructor (deep copy). */
-		CyclingManager(	const CyclingManager& rhs	/**< Rhs object. */
-						);
-
-		/** Destructor. */
-		~CyclingManager( );
-
-		/** Copy asingment operator (deep copy). */
-		CyclingManager& operator=(	const CyclingManager& rhs	/**< Rhs object. */
-									);
-
-
-		/** Pseudo-constructor which takes the number of bounds/constraints.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int _nV,	/**< Number of bounds to be managed. */
-							int _nC		/**< Number of constraints to be managed. */
-							);
-
-
-		/** Stores index of a bound/constraint that might cause cycling.
-		 *	\return SUCCESSFUL_RETURN \n
-					RET_INDEX_OUT_OF_BOUNDS */
-		returnValue setCyclingStatus(	int number,				/**< Number of bound/constraint. */
-										BooleanType isBound,	/**< Flag that indicates if given number corresponds to a
-																 *   bound (BT_TRUE) or a constraint (BT_FALSE). */
-										CyclingStatus _status	/**< Cycling status of bound/constraint. */
-										);
-
-		/** Returns if bound/constraint might cause cycling.
-		 *	\return BT_TRUE: bound/constraint might cause cycling \n
-		 			BT_FALSE: otherwise */
-		CyclingStatus getCyclingStatus(	int number,			/**< Number of bound/constraint. */
-										BooleanType isBound	/**< Flag that indicates if given number corresponds to
-															 *   a bound (BT_TRUE) or a constraint (BT_FALSE). */
-										) const;
-
-
-		/** Clears all previous cycling information.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue clearCyclingData( );
-
-
-		/** Returns if cycling was detected.
-		 *	\return BT_TRUE iff cycling was detected. */
-		inline BooleanType isCyclingDetected( ) const;
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int	nV;									/**< Number of managed bounds. */
-		int	nC;									/**< Number of managed constraints. */
-
-		CyclingStatus status[NVMAX+NCMAX];		/**< Array to store cycling status of all bounds/constraints. */
-
-		BooleanType cyclingDetected;			/**< Flag if cycling was detected. */
-};
-
-
-#include <CyclingManager.ipp>
-
-#endif	/* QPOASES_CYCLINGMANAGER_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/CyclingManager.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of the CyclingManager class designed to detect
+ *	and handle possible cycling during QP iterations.
+ */
+
+
+#ifndef QPOASES_CYCLINGMANAGER_HPP
+#define QPOASES_CYCLINGMANAGER_HPP
+
+
+#include <Utils.hpp>
+
+
+
+/** This class is intended to detect and handle possible cycling during QP iterations.
+ *	As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET!
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ */
+class CyclingManager
+{
+	/*
+	 *	PUBLIC MEMBER FUNCTIONS
+	 */
+	public:
+		/** Default constructor. */
+		CyclingManager( );
+
+		/** Copy constructor (deep copy). */
+		CyclingManager(	const CyclingManager& rhs	/**< Rhs object. */
+						);
+
+		/** Destructor. */
+		~CyclingManager( );
+
+		/** Copy asingment operator (deep copy). */
+		CyclingManager& operator=(	const CyclingManager& rhs	/**< Rhs object. */
+									);
+
+
+		/** Pseudo-constructor which takes the number of bounds/constraints.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue init(	int _nV,	/**< Number of bounds to be managed. */
+							int _nC		/**< Number of constraints to be managed. */
+							);
+
+
+		/** Stores index of a bound/constraint that might cause cycling.
+		 *	\return SUCCESSFUL_RETURN \n
+					RET_INDEX_OUT_OF_BOUNDS */
+		returnValue setCyclingStatus(	int number,				/**< Number of bound/constraint. */
+										BooleanType isBound,	/**< Flag that indicates if given number corresponds to a
+																 *   bound (BT_TRUE) or a constraint (BT_FALSE). */
+										CyclingStatus _status	/**< Cycling status of bound/constraint. */
+										);
+
+		/** Returns if bound/constraint might cause cycling.
+		 *	\return BT_TRUE: bound/constraint might cause cycling \n
+		 			BT_FALSE: otherwise */
+		CyclingStatus getCyclingStatus(	int number,			/**< Number of bound/constraint. */
+										BooleanType isBound	/**< Flag that indicates if given number corresponds to
+															 *   a bound (BT_TRUE) or a constraint (BT_FALSE). */
+										) const;
+
+
+		/** Clears all previous cycling information.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue clearCyclingData( );
+
+
+		/** Returns if cycling was detected.
+		 *	\return BT_TRUE iff cycling was detected. */
+		inline BooleanType isCyclingDetected( ) const;
+
+
+	/*
+	 *	PROTECTED MEMBER VARIABLES
+	 */
+	protected:
+		int	nV;									/**< Number of managed bounds. */
+		int	nC;									/**< Number of managed constraints. */
+
+		CyclingStatus status[NVMAX+NCMAX];		/**< Array to store cycling status of all bounds/constraints. */
+
+		BooleanType cyclingDetected;			/**< Flag if cycling was detected. */
+};
+
+
+#include <CyclingManager.ipp>
+
+#endif	/* QPOASES_CYCLINGMANAGER_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/Indexlist.hpp

@@ -1,154 +1,154 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/Indexlist.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_HPP
-#define QPOASES_INDEXLIST_HPP
-
-
-#include <Utils.hpp>
-
-
-/** This class manages index lists.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class Indexlist
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		Indexlist( );
-
-		/** Copy constructor (deep copy). */
-		Indexlist(	const Indexlist& rhs	/**< Rhs object. */
-					);
-
-		/** Destructor. */
-		~Indexlist( );
-
-		/** Assingment operator (deep copy). */
-		Indexlist& operator=(	const Indexlist& rhs	/**< Rhs object. */
-								);
-
-		/** Pseudo-constructor.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init( );
-
-
-		/** Creates an array of all numbers within the index set in correct order.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEXLIST_CORRUPTED */
-		returnValue	getNumberArray(	int* const numberarray	/**< Output: Array of numbers (NULL on error). */
-									) const;
-
-
-		/** Determines the index within the index list at with a given number is stored.
-		 *	\return >= 0: Index of given number. \n
-		 			-1: Number not found. */
-		int	getIndex(	int givennumber	/**< Number whose index shall be determined. */
-						) const;
-
-		/** Determines the physical index within the index list at with a given number is stored.
-		 *	\return >= 0: Index of given number. \n
-		 			-1: Number not found. */
-		int	getPhysicalIndex(	int givennumber	/**< Number whose physical index shall be determined. */
-								) const;
-
-		/** Returns the number stored at a given physical index.
-		 *	\return >= 0: Number stored at given physical index. \n
-		 			-RET_INDEXLIST_OUTOFBOUNDS */
-		int	getNumber(	int physicalindex	/**< Physical index of the number to be returned. */
-						) const;
-
-
-		/** Returns the current length of the index list.
-		 *	\return Current length of the index list. */
-		inline int getLength( );
-
-		/** Returns last number within the index list.
-		 *	\return Last number within the index list. */
-		inline int getLastNumber( ) const;
-
-
-		/** Adds number to index list.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEXLIST_MUST_BE_REORDERD \n
-		 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-		returnValue addNumber(	int addnumber	/**< Number to be added. */
-								);
-
-		/** Removes number from index list.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue removeNumber(	int removenumber	/**< Number to be removed. */
-									);
-
-		/** Swaps two numbers within index list.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue swapNumbers(	int number1,/**< First number for swapping. */
-									int number2	/**< Second number for swapping. */
-									);
-
-		/** Determines if a given number is contained in the index set.
-		 *	\return BT_TRUE iff number is contain in the index set */
-		inline BooleanType isMember(	int _number	/**< Number to be tested for membership. */
-										) const;
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		int number[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store numbers of constraints or bounds. */
-		int next[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store physical index of successor. */
-		int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)];	/**< Array to store physical index of predecossor. */
-		int	length;										/**< Length of index list. */
-		int	first;										/**< Physical index of first element. */
-		int	last;										/**< Physical index of last element. */
-		int	lastusedindex;								/**< Physical index of last entry in index list. */
-		int	physicallength;								/**< Physical length of index list. */
-};
-
-
-#include <Indexlist.ipp>
-
-#endif	/* QPOASES_INDEXLIST_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/Indexlist.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of the Indexlist class designed to manage index lists of
+ *	constraints and bounds within a SubjectTo object.
+ */
+
+
+#ifndef QPOASES_INDEXLIST_HPP
+#define QPOASES_INDEXLIST_HPP
+
+
+#include <Utils.hpp>
+
+
+/** This class manages index lists.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ */
+class Indexlist
+{
+	/*
+	 *	PUBLIC MEMBER FUNCTIONS
+	 */
+	public:
+		/** Default constructor. */
+		Indexlist( );
+
+		/** Copy constructor (deep copy). */
+		Indexlist(	const Indexlist& rhs	/**< Rhs object. */
+					);
+
+		/** Destructor. */
+		~Indexlist( );
+
+		/** Assingment operator (deep copy). */
+		Indexlist& operator=(	const Indexlist& rhs	/**< Rhs object. */
+								);
+
+		/** Pseudo-constructor.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue init( );
+
+
+		/** Creates an array of all numbers within the index set in correct order.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_INDEXLIST_CORRUPTED */
+		returnValue	getNumberArray(	int* const numberarray	/**< Output: Array of numbers (NULL on error). */
+									) const;
+
+
+		/** Determines the index within the index list at with a given number is stored.
+		 *	\return >= 0: Index of given number. \n
+		 			-1: Number not found. */
+		int	getIndex(	int givennumber	/**< Number whose index shall be determined. */
+						) const;
+
+		/** Determines the physical index within the index list at with a given number is stored.
+		 *	\return >= 0: Index of given number. \n
+		 			-1: Number not found. */
+		int	getPhysicalIndex(	int givennumber	/**< Number whose physical index shall be determined. */
+								) const;
+
+		/** Returns the number stored at a given physical index.
+		 *	\return >= 0: Number stored at given physical index. \n
+		 			-RET_INDEXLIST_OUTOFBOUNDS */
+		int	getNumber(	int physicalindex	/**< Physical index of the number to be returned. */
+						) const;
+
+
+		/** Returns the current length of the index list.
+		 *	\return Current length of the index list. */
+		inline int getLength( );
+
+		/** Returns last number within the index list.
+		 *	\return Last number within the index list. */
+		inline int getLastNumber( ) const;
+
+
+		/** Adds number to index list.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_INDEXLIST_MUST_BE_REORDERD \n
+		 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
+		returnValue addNumber(	int addnumber	/**< Number to be added. */
+								);
+
+		/** Removes number from index list.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue removeNumber(	int removenumber	/**< Number to be removed. */
+									);
+
+		/** Swaps two numbers within index list.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue swapNumbers(	int number1,/**< First number for swapping. */
+									int number2	/**< Second number for swapping. */
+									);
+
+		/** Determines if a given number is contained in the index set.
+		 *	\return BT_TRUE iff number is contain in the index set */
+		inline BooleanType isMember(	int _number	/**< Number to be tested for membership. */
+										) const;
+
+
+	/*
+	 *	PROTECTED MEMBER VARIABLES
+	 */
+	protected:
+		int number[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store numbers of constraints or bounds. */
+		int next[INDEXLISTFACTOR*(NVMAX+NCMAX)];		/**< Array to store physical index of successor. */
+		int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)];	/**< Array to store physical index of predecossor. */
+		int	length;										/**< Length of index list. */
+		int	first;										/**< Physical index of first element. */
+		int	last;										/**< Physical index of last element. */
+		int	lastusedindex;								/**< Physical index of last entry in index list. */
+		int	physicallength;								/**< Physical length of index list. */
+};
+
+
+#include <Indexlist.ipp>
+
+#endif	/* QPOASES_INDEXLIST_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/MessageHandling.hpp

@@ -1,415 +1,415 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/MessageHandling.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the MessageHandling class including global return values.
- */
-
-
-#ifndef QPOASES_MESSAGEHANDLING_HPP
-#define QPOASES_MESSAGEHANDLING_HPP
-
-// #define PC_DEBUG
-
-#ifdef PC_DEBUG
-  #include <stdio.h>
-
-  /** Defines an alias for  FILE  from stdio.h. */
-  #define myFILE FILE
-  /** Defines an alias for  stderr  from stdio.h. */
-  #define myStderr stderr
-  /** Defines an alias for  stdout  from stdio.h. */
-  #define myStdout stdout
-#else
-  /** Defines an alias for  FILE  from stdio.h. */
-  #define myFILE int
-  /** Defines an alias for  stderr  from stdio.h. */
-  #define myStderr 0
-  /** Defines an alias for  stdout  from stdio.h. */
-  #define myStdout 0
-#endif
-
-
-#include <Types.hpp>
-#include <Constants.hpp>
-
-
-/** Defines symbols for global return values. \n
- *  Important: All return values are assumed to be nonnegative! */
-enum returnValue
-{
-TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
-/* miscellaneous */
-SUCCESSFUL_RETURN = 0,							/**< Successful return. */
-RET_DIV_BY_ZERO,		   						/**< Division by zero. */
-RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
-RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
-RET_ERROR_UNDEFINED,							/**< Error number undefined. */
-RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
-RET_INFO_UNDEFINED,								/**< Info number undefined. */
-RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
-RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
-RET_UNKNOWN_BUG,								/**< The error occured is not yet known. */
-RET_PRINTLEVEL_CHANGED,							/**< 10 Print level changed. */
-RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
-/* Indexlist */
-RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
-RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
-RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
-RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
-RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
-RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
-/* SubjectTo / Bounds / Constraints */
-RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. */
-RET_ADDINDEX_FAILED,							/**< Cannot swap between different indexsets. */
-RET_SWAPINDEX_FAILED,							/**< 20 Adding index to index set failed. */
-RET_NOTHING_TO_DO,								/**< Nothing to do. */
-RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
-RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
-RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
-RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
-/* QProblem */
-RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. */
-RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
-RET_RESET_FAILED,								/**< Reset failed. */
-RET_INIT_FAILED,								/**< Initialisation failed. */
-RET_INIT_FAILED_TQ,								/**< 30 Initialisation failed due to TQ factorisation. */
-RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
-RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
-RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
-RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
-RET_INIT_SUCCESSFUL,							/**< Initialisation done. */
-RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
-RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
-RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
-RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
-RET_QP_UNBOUNDED,								/**< 40 QP is unbounded. */
-RET_QP_INFEASIBLE,								/**< QP is infeasible. */
-RET_QP_NOT_SOLVED,								/**< Problems occured while solving QP with standard solver. */
-RET_QP_SOLVED,									/**< QP successfully solved. */
-RET_UNABLE_TO_SOLVE_QP,							/**< Problems occured while solving QP. */
-RET_INITIALISATION_STARTED,						/**< Starting problem initialisation. */
-RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
-RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
-RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
-RET_ITERATION_STARTED,							/**< Iteration... */
-RET_SHIFT_DETERMINATION_FAILED,					/**< 50 Determination of shift of the QP data failed. */
-RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
-RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. */
-RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
-RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
-RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
-RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
-RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
-RET_INVALID_FACTORISATION_FLAG,					/**< 60 Invalid factorisation flag. */
-RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
-RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
-RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
-RET_CYCLING_DETECTED,							/**< Cycling detected. */
-RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
-RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
-RET_STEPSIZE,									/**< For displaying performed stepsize. */
-RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
-RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
-RET_ADDCONSTRAINT_FAILED,						/**< 70 Addition of constraint to working set failed. */
-RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
-RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
-RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
-RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. */
-RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
-RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
-RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
-RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
-RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
-RET_CONSTRAINT_ALREADY_ACTIVE,					/**< 80 Constraint is already active. */
-RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
-RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
-RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
-RET_LI_RESOLVED,								/**< Linear independence of active contraint matrix successfully resolved. */
-RET_ENSURELI_FAILED,							/**< Failed to ensure linear indepence of active contraint matrix. */
-RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
-RET_ENSURELI_FAILED_NOINDEX,					/**< No index found, QP probably infeasible. */
-RET_ENSURELI_FAILED_CYCLING,					/**< Cycling detected, QP probably infeasible. */
-RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
-RET_ALL_BOUNDS_ACTIVE,							/**< 90 All bounds are active, no further bound can be added. */
-RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
-RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
-RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
-RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
-RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
-RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
-RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
-/* Utils */
-RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
-RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
-RET_UNABLE_TO_READ_FILE,						/**< 100 Unable to read from file. */
-RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. */
-/* SolutionAnalysis */
-RET_NO_SOLUTION, 								/**< QP solution does not satisfy KKT optimality conditions. */
-RET_INACCURATE_SOLUTION							/**< KKT optimality conditions not satisfied to sufficient accuracy. */
-};
-
-
-
-/** This class handles all kinds of messages (errors, warnings, infos) initiated
- *  by qpOASES modules and stores the correspoding global preferences.
- *
- *	\author Hans Joachim Ferreau (special thanks to Leonard Wirsching)
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class MessageHandling
-{
-	/*
-	 *	INTERNAL DATA STRUCTURES
-	 */
-	public:
-		/** Data structure for entries in global message list. */
-		typedef struct {
-			returnValue key;							/**< Global return value. */
-			const char* data;							/**< Corresponding message. */
-			VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
-														* 	 If this value is set to VS_HIDDEN, no message is printed! */
-		} ReturnValueList;
-
-
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		MessageHandling( );
-
-		/** Constructor which takes the desired output file. */
-		MessageHandling(  myFILE* _outputFile					/**< Output file. */
-						  );
-
-		/** Constructor which takes the desired visibility states. */
-		MessageHandling(	VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-		/** Constructor which takes the desired output file and desired visibility states. */
-		MessageHandling(	myFILE* _outputFile,				/**< Output file. */
-							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-		/** Copy constructor (deep copy). */
-		MessageHandling(	const MessageHandling& rhs	/**< Rhs object. */
-							);
-
-		/** Destructor. */
-		~MessageHandling( );
-
-		/** Assignment operator (deep copy). */
-		MessageHandling& operator=(	const MessageHandling& rhs	/**< Rhs object. */
-									);
-
-
-		/** Prints an error message(a simplified macro THROWERROR is also provided). \n
-		 *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
-		 *  Errors of a sub function should be commented by the calling function by means of a warning message
-		 *  (if this error does not cause an error of the calling function, either)!
-		 *  \return Error number returned by sub function call
-		 */
-		returnValue throwError(
-			returnValue Enumber,					/**< Error number returned by sub function call. */
-			const char* additionaltext,				/**< Additional error text (0, if none). */
-			const char* functionname,				/**< Name of function which caused the error. */
-			const char* filename,					/**< Name of file which caused the error. */
-			const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
-			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to myStderr.
-			   									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-	   			 								 *   no message is printed, anyway! */
-		);
-
-		/** Prints a warning message (a simplified macro THROWWARNING is also provided).
-		 *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
-		 *  \return Warning number returned by sub function call
-		 */
-		returnValue throwWarning(
-			returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
-			const char* additionaltext,				/**< Additional warning text (0, if none). */
-			const char* functionname,				/**< Name of function which caused the warning. */
-			const char* filename,   				/**< Name of file which caused the warning. */
-			const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
-			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to myStderr.
-		   		  									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-					 								 *   no message is printed, anyway! */
-			);
-
-	   /** Prints a info message (a simplified macro THROWINFO is also provided).
-		 *  \return Info number returned by sub function call
-		 */
-		returnValue throwInfo(
-			returnValue Inumber,	 				/**< Info number returned by sub function call. */
-			const char* additionaltext,	 			/**< Additional warning text (0, if none). */
-			const char* functionname,				/**< Name of function which submitted the info. */
-			const char* filename,   				/**< Name of file which submitted the info. */
-			const unsigned long linenumber,			/**< Number of line which submitted the info. */
-			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to myStderr.
-				  									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-				   									 *   no message is printed, anyway! */
-			);
-
-
-		/** Resets all preferences to default values.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue reset( );
-
-
-		/** Prints a complete list of all messages to output file.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue listAllMessages( );
-
-
-		/** Returns visibility status for error messages.
-		 *	\return Visibility status for error messages. */
-		inline VisibilityStatus getErrorVisibilityStatus( ) const;
-
-		/** Returns visibility status for warning messages.
-		 *	\return Visibility status for warning messages. */
-		inline VisibilityStatus getWarningVisibilityStatus( ) const;
-
-		/** Returns visibility status for info messages.
-		 *	\return Visibility status for info messages. */
-		inline VisibilityStatus getInfoVisibilityStatus( ) const;
-
-		/** Returns pointer to output file.
-		 *	\return Pointer to output file. */
-		inline myFILE* getOutputFile( ) const;
-
-		/** Returns error count value.
-		 *	\return Error count value. */
-		inline int getErrorCount( ) const;
-
-
-		/** Changes visibility status for error messages. */
-		inline void setErrorVisibilityStatus(	VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
-												);
-
-		/** Changes visibility status for warning messages. */
-		inline void setWarningVisibilityStatus(	VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
-												);
-
-		/** Changes visibility status for info messages. */
-		inline void setInfoVisibilityStatus(	VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
-												);
-
-		/** Changes output file for messages. */
-		inline void setOutputFile(	myFILE* _outputFile	/**< New output file for messages. */
-									);
-
-		/** Changes error count.
-		 * \return SUCCESSFUL_RETURN \n
-		 *		   RET_INVALID_ARGUMENT */
-		inline returnValue setErrorCount(	int _errorCount	/**< New error count value. */
-											);
-
-		/** Return the error code string. */
-		static const char* getErrorString(int error);
-
-	/*
-	 *	PROTECTED MEMBER FUNCTIONS
-	 */
-	protected:
-		/** Prints a info message to myStderr (auxiliary function).
-		 *  \return Error/warning/info number returned by sub function call
-		 */
-		returnValue throwMessage(
-			returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
-			const char* additionaltext,				/**< Additional warning text (0, if none). */
-			const char* functionname,				/**< Name of function which caused the error/warning/info. */
-			const char* filename,   				/**< Name of file which caused the error/warning/info. */
-			const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
-			VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to myStderr.
-					  								 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-				   									 *   no message is printed, anyway! */
-			const char* RETstring					/**< Leading string of error/warning/info message. */
-			);
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		VisibilityStatus errorVisibility;		/**< Error messages visible? */
-		VisibilityStatus warningVisibility;		/**< Warning messages visible? */
-		VisibilityStatus infoVisibility;		/**< Info messages visible? */
-
-		myFILE* outputFile;						/**< Output file for messages. */
-
-		int errorCount; 						/**< Counts number of errors (for nicer output only). */
-};
-
-
-#ifndef __FUNCTION__
-  /** Ensures that __FUNCTION__ macro is defined. */
-  #define __FUNCTION__ 0
-#endif
-
-#ifndef __FILE__
-  /** Ensures that __FILE__ macro is defined. */
-  #define __FILE__ 0
-#endif
-
-#ifndef __LINE__
-  /** Ensures that __LINE__ macro is defined. */
-  #define __LINE__ 0
-#endif
-
-
-/** Short version of throwError with default values, only returnValue is needed */
-#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwWarning with default values, only returnValue is needed */
-#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwInfo with default values, only returnValue is needed */
-#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
-
-
-/** Returns a pointer to global message handler.
- *  \return Pointer to global message handler.
- */
-MessageHandling* getGlobalMessageHandler( );
-
-
-#include <MessageHandling.ipp>
-
-#endif /* QPOASES_MESSAGEHANDLING_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/MessageHandling.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of the MessageHandling class including global return values.
+ */
+
+
+#ifndef QPOASES_MESSAGEHANDLING_HPP
+#define QPOASES_MESSAGEHANDLING_HPP
+
+// #define PC_DEBUG
+
+#ifdef PC_DEBUG
+  #include <stdio.h>
+
+  /** Defines an alias for  FILE  from stdio.h. */
+  #define myFILE FILE
+  /** Defines an alias for  stderr  from stdio.h. */
+  #define myStderr stderr
+  /** Defines an alias for  stdout  from stdio.h. */
+  #define myStdout stdout
+#else
+  /** Defines an alias for  FILE  from stdio.h. */
+  #define myFILE int
+  /** Defines an alias for  stderr  from stdio.h. */
+  #define myStderr 0
+  /** Defines an alias for  stdout  from stdio.h. */
+  #define myStdout 0
+#endif
+
+
+#include <Types.hpp>
+#include <Constants.hpp>
+
+
+/** Defines symbols for global return values. \n
+ *  Important: All return values are assumed to be nonnegative! */
+enum returnValue
+{
+TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
+/* miscellaneous */
+SUCCESSFUL_RETURN = 0,							/**< Successful return. */
+RET_DIV_BY_ZERO,		   						/**< Division by zero. */
+RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
+RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
+RET_ERROR_UNDEFINED,							/**< Error number undefined. */
+RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
+RET_INFO_UNDEFINED,								/**< Info number undefined. */
+RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
+RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
+RET_UNKNOWN_BUG,								/**< The error occured is not yet known. */
+RET_PRINTLEVEL_CHANGED,							/**< 10 Print level changed. */
+RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
+/* Indexlist */
+RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
+RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
+RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
+RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
+RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
+RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
+/* SubjectTo / Bounds / Constraints */
+RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. */
+RET_ADDINDEX_FAILED,							/**< Cannot swap between different indexsets. */
+RET_SWAPINDEX_FAILED,							/**< 20 Adding index to index set failed. */
+RET_NOTHING_TO_DO,								/**< Nothing to do. */
+RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
+RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
+RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
+RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
+/* QProblem */
+RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. */
+RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
+RET_RESET_FAILED,								/**< Reset failed. */
+RET_INIT_FAILED,								/**< Initialisation failed. */
+RET_INIT_FAILED_TQ,								/**< 30 Initialisation failed due to TQ factorisation. */
+RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
+RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
+RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
+RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
+RET_INIT_SUCCESSFUL,							/**< Initialisation done. */
+RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
+RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
+RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
+RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
+RET_QP_UNBOUNDED,								/**< 40 QP is unbounded. */
+RET_QP_INFEASIBLE,								/**< QP is infeasible. */
+RET_QP_NOT_SOLVED,								/**< Problems occured while solving QP with standard solver. */
+RET_QP_SOLVED,									/**< QP successfully solved. */
+RET_UNABLE_TO_SOLVE_QP,							/**< Problems occured while solving QP. */
+RET_INITIALISATION_STARTED,						/**< Starting problem initialisation. */
+RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
+RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
+RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
+RET_ITERATION_STARTED,							/**< Iteration... */
+RET_SHIFT_DETERMINATION_FAILED,					/**< 50 Determination of shift of the QP data failed. */
+RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
+RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
+RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
+RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. */
+RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
+RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
+RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
+RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
+RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
+RET_INVALID_FACTORISATION_FLAG,					/**< 60 Invalid factorisation flag. */
+RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
+RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
+RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
+RET_CYCLING_DETECTED,							/**< Cycling detected. */
+RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
+RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
+RET_STEPSIZE,									/**< For displaying performed stepsize. */
+RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
+RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
+RET_ADDCONSTRAINT_FAILED,						/**< 70 Addition of constraint to working set failed. */
+RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
+RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
+RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
+RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. */
+RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
+RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
+RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
+RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
+RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
+RET_CONSTRAINT_ALREADY_ACTIVE,					/**< 80 Constraint is already active. */
+RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
+RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
+RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
+RET_LI_RESOLVED,								/**< Linear independence of active contraint matrix successfully resolved. */
+RET_ENSURELI_FAILED,							/**< Failed to ensure linear indepence of active contraint matrix. */
+RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
+RET_ENSURELI_FAILED_NOINDEX,					/**< No index found, QP probably infeasible. */
+RET_ENSURELI_FAILED_CYCLING,					/**< Cycling detected, QP probably infeasible. */
+RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
+RET_ALL_BOUNDS_ACTIVE,							/**< 90 All bounds are active, no further bound can be added. */
+RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
+RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
+RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
+RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
+RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
+RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
+RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
+/* Utils */
+RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
+RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
+RET_UNABLE_TO_READ_FILE,						/**< 100 Unable to read from file. */
+RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. */
+/* SolutionAnalysis */
+RET_NO_SOLUTION, 								/**< QP solution does not satisfy KKT optimality conditions. */
+RET_INACCURATE_SOLUTION							/**< KKT optimality conditions not satisfied to sufficient accuracy. */
+};
+
+
+
+/** This class handles all kinds of messages (errors, warnings, infos) initiated
+ *  by qpOASES modules and stores the correspoding global preferences.
+ *
+ *	\author Hans Joachim Ferreau (special thanks to Leonard Wirsching)
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ */
+class MessageHandling
+{
+	/*
+	 *	INTERNAL DATA STRUCTURES
+	 */
+	public:
+		/** Data structure for entries in global message list. */
+		typedef struct {
+			returnValue key;							/**< Global return value. */
+			const char* data;							/**< Corresponding message. */
+			VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
+														* 	 If this value is set to VS_HIDDEN, no message is printed! */
+		} ReturnValueList;
+
+
+	/*
+	 *	PUBLIC MEMBER FUNCTIONS
+	 */
+	public:
+		/** Default constructor. */
+		MessageHandling( );
+
+		/** Constructor which takes the desired output file. */
+		MessageHandling(  myFILE* _outputFile					/**< Output file. */
+						  );
+
+		/** Constructor which takes the desired visibility states. */
+		MessageHandling(	VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
+							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
+							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
+							);
+
+		/** Constructor which takes the desired output file and desired visibility states. */
+		MessageHandling(	myFILE* _outputFile,				/**< Output file. */
+							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
+							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
+							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
+							);
+
+		/** Copy constructor (deep copy). */
+		MessageHandling(	const MessageHandling& rhs	/**< Rhs object. */
+							);
+
+		/** Destructor. */
+		~MessageHandling( );
+
+		/** Assignment operator (deep copy). */
+		MessageHandling& operator=(	const MessageHandling& rhs	/**< Rhs object. */
+									);
+
+
+		/** Prints an error message(a simplified macro THROWERROR is also provided). \n
+		 *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
+		 *  Errors of a sub function should be commented by the calling function by means of a warning message
+		 *  (if this error does not cause an error of the calling function, either)!
+		 *  \return Error number returned by sub function call
+		 */
+		returnValue throwError(
+			returnValue Enumber,					/**< Error number returned by sub function call. */
+			const char* additionaltext,				/**< Additional error text (0, if none). */
+			const char* functionname,				/**< Name of function which caused the error. */
+			const char* filename,					/**< Name of file which caused the error. */
+			const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
+			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to myStderr.
+			   									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+	   			 								 *   no message is printed, anyway! */
+		);
+
+		/** Prints a warning message (a simplified macro THROWWARNING is also provided).
+		 *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
+		 *  \return Warning number returned by sub function call
+		 */
+		returnValue throwWarning(
+			returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
+			const char* additionaltext,				/**< Additional warning text (0, if none). */
+			const char* functionname,				/**< Name of function which caused the warning. */
+			const char* filename,   				/**< Name of file which caused the warning. */
+			const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
+			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to myStderr.
+		   		  									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+					 								 *   no message is printed, anyway! */
+			);
+
+	   /** Prints a info message (a simplified macro THROWINFO is also provided).
+		 *  \return Info number returned by sub function call
+		 */
+		returnValue throwInfo(
+			returnValue Inumber,	 				/**< Info number returned by sub function call. */
+			const char* additionaltext,	 			/**< Additional warning text (0, if none). */
+			const char* functionname,				/**< Name of function which submitted the info. */
+			const char* filename,   				/**< Name of file which submitted the info. */
+			const unsigned long linenumber,			/**< Number of line which submitted the info. */
+			VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to myStderr.
+				  									 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+				   									 *   no message is printed, anyway! */
+			);
+
+
+		/** Resets all preferences to default values.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue reset( );
+
+
+		/** Prints a complete list of all messages to output file.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue listAllMessages( );
+
+
+		/** Returns visibility status for error messages.
+		 *	\return Visibility status for error messages. */
+		inline VisibilityStatus getErrorVisibilityStatus( ) const;
+
+		/** Returns visibility status for warning messages.
+		 *	\return Visibility status for warning messages. */
+		inline VisibilityStatus getWarningVisibilityStatus( ) const;
+
+		/** Returns visibility status for info messages.
+		 *	\return Visibility status for info messages. */
+		inline VisibilityStatus getInfoVisibilityStatus( ) const;
+
+		/** Returns pointer to output file.
+		 *	\return Pointer to output file. */
+		inline myFILE* getOutputFile( ) const;
+
+		/** Returns error count value.
+		 *	\return Error count value. */
+		inline int getErrorCount( ) const;
+
+
+		/** Changes visibility status for error messages. */
+		inline void setErrorVisibilityStatus(	VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
+												);
+
+		/** Changes visibility status for warning messages. */
+		inline void setWarningVisibilityStatus(	VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
+												);
+
+		/** Changes visibility status for info messages. */
+		inline void setInfoVisibilityStatus(	VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
+												);
+
+		/** Changes output file for messages. */
+		inline void setOutputFile(	myFILE* _outputFile	/**< New output file for messages. */
+									);
+
+		/** Changes error count.
+		 * \return SUCCESSFUL_RETURN \n
+		 *		   RET_INVALID_ARGUMENT */
+		inline returnValue setErrorCount(	int _errorCount	/**< New error count value. */
+											);
+
+		/** Return the error code string. */
+		static const char* getErrorString(int error);
+
+	/*
+	 *	PROTECTED MEMBER FUNCTIONS
+	 */
+	protected:
+		/** Prints a info message to myStderr (auxiliary function).
+		 *  \return Error/warning/info number returned by sub function call
+		 */
+		returnValue throwMessage(
+			returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
+			const char* additionaltext,				/**< Additional warning text (0, if none). */
+			const char* functionname,				/**< Name of function which caused the error/warning/info. */
+			const char* filename,   				/**< Name of file which caused the error/warning/info. */
+			const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
+			VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to myStderr.
+					  								 *   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+				   									 *   no message is printed, anyway! */
+			const char* RETstring					/**< Leading string of error/warning/info message. */
+			);
+
+
+	/*
+	 *	PROTECTED MEMBER VARIABLES
+	 */
+	protected:
+		VisibilityStatus errorVisibility;		/**< Error messages visible? */
+		VisibilityStatus warningVisibility;		/**< Warning messages visible? */
+		VisibilityStatus infoVisibility;		/**< Info messages visible? */
+
+		myFILE* outputFile;						/**< Output file for messages. */
+
+		int errorCount; 						/**< Counts number of errors (for nicer output only). */
+};
+
+
+#ifndef __FUNCTION__
+  /** Ensures that __FUNCTION__ macro is defined. */
+  #define __FUNCTION__ 0
+#endif
+
+#ifndef __FILE__
+  /** Ensures that __FILE__ macro is defined. */
+  #define __FILE__ 0
+#endif
+
+#ifndef __LINE__
+  /** Ensures that __LINE__ macro is defined. */
+  #define __LINE__ 0
+#endif
+
+
+/** Short version of throwError with default values, only returnValue is needed */
+#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
+
+/** Short version of throwWarning with default values, only returnValue is needed */
+#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
+
+/** Short version of throwInfo with default values, only returnValue is needed */
+#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) )
+
+
+/** Returns a pointer to global message handler.
+ *  \return Pointer to global message handler.
+ */
+MessageHandling* getGlobalMessageHandler( );
+
+
+#include <MessageHandling.ipp>
+
+#endif /* QPOASES_MESSAGEHANDLING_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/SubjectTo.hpp

@@ -1,178 +1,178 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/SubjectTo.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of the SubjectTo class designed to manage working sets of
- *	constraints and bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_SUBJECTTO_HPP
-#define QPOASES_SUBJECTTO_HPP
-
-
-#include <Indexlist.hpp>
-
-
-
-/** This class manages working sets of constraints and bounds by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- */
-class SubjectTo
-{
-	/*
-	 *	PUBLIC MEMBER FUNCTIONS
-	 */
-	public:
-		/** Default constructor. */
-		SubjectTo( );
-
-		/** Copy constructor (deep copy). */
-		SubjectTo(	const SubjectTo& rhs	/**< Rhs object. */
-					);
-
-		/** Destructor. */
-		~SubjectTo( );
-
-		/** Assignment operator (deep copy). */
-		SubjectTo& operator=(	const SubjectTo& rhs	/**< Rhs object. */
-								);
-
-
-		/** Pseudo-constructor takes the number of constraints or bounds.
-		 *	\return SUCCESSFUL_RETURN */
-		returnValue init(	int n 	/**< Number of constraints or bounds. */
-							);
-
-
-		/** Returns type of (constraints') bound.
-		 *	\return Type of (constraints') bound \n
-		 			RET_INDEX_OUT_OF_BOUNDS */
-		inline SubjectToType getType(	int i		/**< Number of (constraints') bound. */
-										) const ;
-
-		/** Returns status of (constraints') bound.
-		 *	\return Status of (constraints') bound \n
-		 			ST_UNDEFINED */
-		inline SubjectToStatus getStatus(	int i		/**< Number of (constraints') bound. */
-											) const;
-
-
-		/** Sets type of (constraints') bound.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setType(	int i,				/**< Number of (constraints') bound. */
-									SubjectToType value	/**< Type of (constraints') bound. */
-									);
-
-		/** Sets status of (constraints') bound.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_INDEX_OUT_OF_BOUNDS */
-		inline returnValue setStatus(	int i,					/**< Number of (constraints') bound. */
-										SubjectToStatus value	/**< Status of (constraints') bound. */
-										);
-
-
-		/** Sets status of lower (constraints') bounds. */
-		inline void setNoLower(	BooleanType _status		/**< Status of lower (constraints') bounds. */
-								);
-
-		/** Sets status of upper (constraints') bounds. */
-		inline void setNoUpper(	BooleanType _status		/**< Status of upper (constraints') bounds. */
-								);
-
-
-		/** Returns status of lower (constraints') bounds.
-		 *	\return BT_TRUE if there is no lower (constraints') bound on any variable. */
-		inline BooleanType isNoLower( ) const;
-
-		/** Returns status of upper bounds.
-		 *	\return BT_TRUE if there is no upper (constraints') bound on any variable. */
-		inline BooleanType isNoUpper( ) const;
-
-
-	/*
-	 *	PROTECTED MEMBER FUNCTIONS
-	 */
-	protected:
-		/** Adds the index of a new constraint or bound to index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_ADDINDEX_FAILED */
-		returnValue addIndex(	Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-								int newnumber,				/**< Number of new constraint or bound. */
-								SubjectToStatus newstatus	/**< Status of new constraint or bound. */
-								);
-
-		/** Removes the index of a constraint or bound from index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_UNKNOWN_BUG */
-		returnValue removeIndex(	Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-									int removenumber			/**< Number of constraint or bound to be removed. */
-									);
-
-		/** Swaps the indices of two constraints or bounds within the index set.
-		 *	\return SUCCESSFUL_RETURN \n
-		 			RET_SWAPINDEX_FAILED */
-		returnValue swapIndex(	Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-								int number1,				/**< Number of first constraint or bound. */
-								int number2					/**< Number of second constraint or bound. */
-								);
-
-
-	/*
-	 *	PROTECTED MEMBER VARIABLES
-	 */
-	protected:
-		SubjectToType type[NVMAX+NCMAX]; 		/**< Type of constraints/bounds. */
-		SubjectToStatus status[NVMAX+NCMAX];	/**< Status of constraints/bounds. */
-
-		BooleanType noLower;				 	/**< This flag indicates if there is no lower bound on any variable. */
-		BooleanType noUpper;	 				/**< This flag indicates if there is no upper bound on any variable. */
-
-
-	/*
-	 *	PRIVATE MEMBER VARIABLES
-	 */
-	private:
-		int size;
-};
-
-
-
-#include <SubjectTo.ipp>
-
-#endif	/* QPOASES_SUBJECTTO_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/SubjectTo.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of the SubjectTo class designed to manage working sets of
+ *	constraints and bounds within a QProblem.
+ */
+
+
+#ifndef QPOASES_SUBJECTTO_HPP
+#define QPOASES_SUBJECTTO_HPP
+
+
+#include <Indexlist.hpp>
+
+
+
+/** This class manages working sets of constraints and bounds by storing
+ *	index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ */
+class SubjectTo
+{
+	/*
+	 *	PUBLIC MEMBER FUNCTIONS
+	 */
+	public:
+		/** Default constructor. */
+		SubjectTo( );
+
+		/** Copy constructor (deep copy). */
+		SubjectTo(	const SubjectTo& rhs	/**< Rhs object. */
+					);
+
+		/** Destructor. */
+		~SubjectTo( );
+
+		/** Assignment operator (deep copy). */
+		SubjectTo& operator=(	const SubjectTo& rhs	/**< Rhs object. */
+								);
+
+
+		/** Pseudo-constructor takes the number of constraints or bounds.
+		 *	\return SUCCESSFUL_RETURN */
+		returnValue init(	int n 	/**< Number of constraints or bounds. */
+							);
+
+
+		/** Returns type of (constraints') bound.
+		 *	\return Type of (constraints') bound \n
+		 			RET_INDEX_OUT_OF_BOUNDS */
+		inline SubjectToType getType(	int i		/**< Number of (constraints') bound. */
+										) const ;
+
+		/** Returns status of (constraints') bound.
+		 *	\return Status of (constraints') bound \n
+		 			ST_UNDEFINED */
+		inline SubjectToStatus getStatus(	int i		/**< Number of (constraints') bound. */
+											) const;
+
+
+		/** Sets type of (constraints') bound.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_INDEX_OUT_OF_BOUNDS */
+		inline returnValue setType(	int i,				/**< Number of (constraints') bound. */
+									SubjectToType value	/**< Type of (constraints') bound. */
+									);
+
+		/** Sets status of (constraints') bound.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_INDEX_OUT_OF_BOUNDS */
+		inline returnValue setStatus(	int i,					/**< Number of (constraints') bound. */
+										SubjectToStatus value	/**< Status of (constraints') bound. */
+										);
+
+
+		/** Sets status of lower (constraints') bounds. */
+		inline void setNoLower(	BooleanType _status		/**< Status of lower (constraints') bounds. */
+								);
+
+		/** Sets status of upper (constraints') bounds. */
+		inline void setNoUpper(	BooleanType _status		/**< Status of upper (constraints') bounds. */
+								);
+
+
+		/** Returns status of lower (constraints') bounds.
+		 *	\return BT_TRUE if there is no lower (constraints') bound on any variable. */
+		inline BooleanType isNoLower( ) const;
+
+		/** Returns status of upper bounds.
+		 *	\return BT_TRUE if there is no upper (constraints') bound on any variable. */
+		inline BooleanType isNoUpper( ) const;
+
+
+	/*
+	 *	PROTECTED MEMBER FUNCTIONS
+	 */
+	protected:
+		/** Adds the index of a new constraint or bound to index set.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_ADDINDEX_FAILED */
+		returnValue addIndex(	Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
+								int newnumber,				/**< Number of new constraint or bound. */
+								SubjectToStatus newstatus	/**< Status of new constraint or bound. */
+								);
+
+		/** Removes the index of a constraint or bound from index set.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_UNKNOWN_BUG */
+		returnValue removeIndex(	Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
+									int removenumber			/**< Number of constraint or bound to be removed. */
+									);
+
+		/** Swaps the indices of two constraints or bounds within the index set.
+		 *	\return SUCCESSFUL_RETURN \n
+		 			RET_SWAPINDEX_FAILED */
+		returnValue swapIndex(	Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
+								int number1,				/**< Number of first constraint or bound. */
+								int number2					/**< Number of second constraint or bound. */
+								);
+
+
+	/*
+	 *	PROTECTED MEMBER VARIABLES
+	 */
+	protected:
+		SubjectToType type[NVMAX+NCMAX]; 		/**< Type of constraints/bounds. */
+		SubjectToStatus status[NVMAX+NCMAX];	/**< Status of constraints/bounds. */
+
+		BooleanType noLower;				 	/**< This flag indicates if there is no lower bound on any variable. */
+		BooleanType noUpper;	 				/**< This flag indicates if there is no upper bound on any variable. */
+
+
+	/*
+	 *	PRIVATE MEMBER VARIABLES
+	 */
+	private:
+		int size;
+};
+
+
+
+#include <SubjectTo.ipp>
+
+#endif	/* QPOASES_SUBJECTTO_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/Types.hpp

@@ -1,131 +1,131 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/Types.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2008
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_HPP
-#define QPOASES_TYPES_HPP
-
-
-
-/** Define real_t for facilitating switching between double and float. */
-// typedef double real_t;
-
-
-/** Summarises all possible logical values. */
-enum BooleanType
-{
-	BT_FALSE,					/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-};
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-enum PrintLevel
-{
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-};
-
-
-/** Defines visibility status of a message. */
-enum VisibilityStatus
-{
-	VS_VISIBLE,					/**< Message visible. */
-	VS_HIDDEN					/**< Message not visible. */
-};
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-enum QProblemStatus
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-};
-
-
-/** Summarises all possible types of bounds and constraints. */
-enum SubjectToType
-{
-	ST_UNBOUNDED,				/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,					/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,				/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_UNKNOWN					/**< Type of bound/constraint unknown. */
-};
-
-
-/** Summarises all possible states of bounds and constraints. */
-enum SubjectToStatus
-{
-	ST_INACTIVE,				/**< Bound/constraint is inactive. */
-	ST_LOWER,					/**< Bound/constraint is at its lower bound. */
-	ST_UPPER,					/**< Bound/constraint is at its upper bound. */
-	ST_UNDEFINED				/**< Status of bound/constraint undefined. */
-};
-
-
-/** Summarises all possible cycling states of bounds and constraints. */
-enum CyclingStatus
-{
-	CYC_NOT_INVOLVED,			/**< Bound/constraint is not involved in current cycling. */
-	CYC_PREV_ADDED,				/**< Bound/constraint has previously been added during the current cycling. */
-	CYC_PREV_REMOVED			/**< Bound/constraint has previously been removed during the current cycling. */
-};
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-enum HessianType
-{
-	HST_SEMIDEF,				/**< Hessian is positive semi-definite. */
-	HST_POSDEF_NULLSPACE,		/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_POSDEF,					/**< Hessian is (strictly) positive definite. */
-	HST_IDENTITY				/**< Hessian is identity matrix. */
-};
-
-
-
-#endif	/* QPOASES_TYPES_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/Types.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2008
+ *
+ *	Declaration of all non-built-in types (except for classes).
+ */
+
+
+#ifndef QPOASES_TYPES_HPP
+#define QPOASES_TYPES_HPP
+
+
+
+/** Define real_t for facilitating switching between double and float. */
+// typedef double real_t;
+
+
+/** Summarises all possible logical values. */
+enum BooleanType
+{
+	BT_FALSE,					/**< Logical value for "false". */
+	BT_TRUE						/**< Logical value for "true". */
+};
+
+
+/** Summarises all possible print levels. Print levels are used to describe
+ *	the desired amount of output during runtime of qpOASES. */
+enum PrintLevel
+{
+	PL_NONE,					/**< No output. */
+	PL_LOW,						/**< Print error messages only. */
+	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
+	PL_HIGH						/**< Print all messages with full details. */
+};
+
+
+/** Defines visibility status of a message. */
+enum VisibilityStatus
+{
+	VS_VISIBLE,					/**< Message visible. */
+	VS_HIDDEN					/**< Message not visible. */
+};
+
+
+/** Summarises all possible states of the (S)QProblem(B) object during the
+solution process of a QP sequence. */
+enum QProblemStatus
+{
+	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
+	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
+								 *   set strategy is performed. */
+	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
+	QPS_SOLVED					/**< The solution of the actual QP was found. */
+};
+
+
+/** Summarises all possible types of bounds and constraints. */
+enum SubjectToType
+{
+	ST_UNBOUNDED,				/**< Bound/constraint is unbounded. */
+	ST_BOUNDED,					/**< Bound/constraint is bounded but not fixed. */
+	ST_EQUALITY,				/**< Bound/constraint is fixed (implicit equality bound/constraint). */
+	ST_UNKNOWN					/**< Type of bound/constraint unknown. */
+};
+
+
+/** Summarises all possible states of bounds and constraints. */
+enum SubjectToStatus
+{
+	ST_INACTIVE,				/**< Bound/constraint is inactive. */
+	ST_LOWER,					/**< Bound/constraint is at its lower bound. */
+	ST_UPPER,					/**< Bound/constraint is at its upper bound. */
+	ST_UNDEFINED				/**< Status of bound/constraint undefined. */
+};
+
+
+/** Summarises all possible cycling states of bounds and constraints. */
+enum CyclingStatus
+{
+	CYC_NOT_INVOLVED,			/**< Bound/constraint is not involved in current cycling. */
+	CYC_PREV_ADDED,				/**< Bound/constraint has previously been added during the current cycling. */
+	CYC_PREV_REMOVED			/**< Bound/constraint has previously been removed during the current cycling. */
+};
+
+
+/** Summarises all possible types of the QP's Hessian matrix. */
+enum HessianType
+{
+	HST_SEMIDEF,				/**< Hessian is positive semi-definite. */
+	HST_POSDEF_NULLSPACE,		/**< Hessian is positive definite on null space of active bounds/constraints. */
+	HST_POSDEF,					/**< Hessian is (strictly) positive definite. */
+	HST_IDENTITY				/**< Hessian is identity matrix. */
+};
+
+
+
+#endif	/* QPOASES_TYPES_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/INCLUDE/Utils.hpp

@@ -1,197 +1,197 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file INCLUDE/Utils.hpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of global utility functions for working with qpOASES.
- */
-
-
-#ifndef QPOASES_UTILS_HPP
-#define QPOASES_UTILS_HPP
-
-
-#include <MessageHandling.hpp>
-
-
-#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-
-/** Prints a vector.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const v,	/**< Vector to be printed. */
-					int n					/**< Length of vector. */
-					);
-
-/** Prints a permuted vector.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const v,		/**< Vector to be printed. */
-					int n,						/**< Length of vector. */
-					const int* const V_idx		/**< Pemutation vector. */
-					);
-
-/** Prints a named vector.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const v,	/**< Vector to be printed. */
-					int n,					/**< Length of vector. */
-					const char* name		/** Name of vector. */
-					);
-
-/** Prints a matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const M,	/**< Matrix to be printed. */
-					int nrow,				/**< Row number of matrix. */
-					int ncol				/**< Column number of matrix. */
-					);
-
-/** Prints a permuted matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const M,		/**< Matrix to be printed. */
-					int nrow,					/**< Row number of matrix. */
-					int ncol	,				/**< Column number of matrix. */
-					const int* const ROW_idx,	/**< Row pemutation vector. */
-					const int* const COL_idx	/**< Column pemutation vector. */
-					);
-
-/** Prints a named matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const real_t* const M,	/**< Matrix to be printed. */
-					int nrow,				/**< Row number of matrix. */
-					int ncol,				/**< Column number of matrix. */
-					const char* name		/** Name of matrix. */
-					);
-
-/** Prints an index array.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const int* const index,	/**< Index array to be printed. */
-					int n					/**< Length of index array. */
-					);
-
-/** Prints a named index array.
- * \return SUCCESSFUL_RETURN */
-returnValue print(	const int* const index,	/**< Index array to be printed. */
-					int n,					/**< Length of index array. */
-					const char* name		/**< Name of index array. */
-					);
-
-
-/** Prints a string to desired output target (useful also for MATLAB output!).
- * \return SUCCESSFUL_RETURN */
-returnValue myPrintf(	const char* s	/**< String to be written. */
-						);
-
-
-/** Prints qpOASES copyright notice.
- * \return SUCCESSFUL_RETURN */
-returnValue printCopyrightNotice( );
-
-
-/** Reads a real_t matrix from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue readFromFile(	real_t* data,				/**< Matrix to be read from file. */
-							int nrow,					/**< Row number of matrix. */
-							int ncol,					/**< Column number of matrix. */
-							const char* datafilename	/**< Data file name. */
-							);
-
-/** Reads a real_t vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue readFromFile(	real_t* data,				/**< Vector to be read from file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename	/**< Data file name. */
-							);
-
-/** Reads an integer (column) vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue readFromFile(	int* data,					/**< Vector to be read from file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename	/**< Data file name. */
-							);
-
-
-/** Writes a real_t matrix into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue writeIntoFile(	const real_t* const data,	/**< Matrix to be written into file. */
-							int nrow,					/**< Row number of matrix. */
-							int ncol,					/**< Column number of matrix. */
-							const char* datafilename,	/**< Data file name. */
-							BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-							);
-
-/** Writes a real_t vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue writeIntoFile(	const real_t* const data,	/**< Vector to be written into file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename,	/**< Data file name. */
-							BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-							);
-
-/** Writes an integer (column) vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE */
-returnValue writeIntoFile(	const int* const integer,	/**< Integer vector to be written into file. */
-							int n,						/**< Length of vector. */
-							const char* datafilename,	/**< Data file name. */
-							BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
-							);
-
-#endif  /* PC_DEBUG */
-
-
-/** Returns the current system time.
- * \return current system time */
-real_t getCPUtime( );
-
-
-/** Returns the Euclidean norm of a vector.
- * \return 0: successful */
-real_t getNorm(	const real_t* const v,	/**< Vector. */
-				int n					/**< Vector's dimension. */
-				);
-
-/** Returns the absolute value of a real_t.
- * \return Absolute value of a real_t */
-inline real_t getAbs(	real_t x		/**< Input argument. */
-						);
-
-
-
-#include <Utils.ipp>
-
-#endif	/* QPOASES_UTILS_HPP */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file INCLUDE/Utils.hpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of global utility functions for working with qpOASES.
+ */
+
+
+#ifndef QPOASES_UTILS_HPP
+#define QPOASES_UTILS_HPP
+
+
+#include <MessageHandling.hpp>
+
+
+#ifdef PC_DEBUG  /* Define print functions only for debugging! */
+
+/** Prints a vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const real_t* const v,	/**< Vector to be printed. */
+					int n					/**< Length of vector. */
+					);
+
+/** Prints a permuted vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const real_t* const v,		/**< Vector to be printed. */
+					int n,						/**< Length of vector. */
+					const int* const V_idx		/**< Pemutation vector. */
+					);
+
+/** Prints a named vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const real_t* const v,	/**< Vector to be printed. */
+					int n,					/**< Length of vector. */
+					const char* name		/** Name of vector. */
+					);
+
+/** Prints a matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const real_t* const M,	/**< Matrix to be printed. */
+					int nrow,				/**< Row number of matrix. */
+					int ncol				/**< Column number of matrix. */
+					);
+
+/** Prints a permuted matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const real_t* const M,		/**< Matrix to be printed. */
+					int nrow,					/**< Row number of matrix. */
+					int ncol	,				/**< Column number of matrix. */
+					const int* const ROW_idx,	/**< Row pemutation vector. */
+					const int* const COL_idx	/**< Column pemutation vector. */
+					);
+
+/** Prints a named matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const real_t* const M,	/**< Matrix to be printed. */
+					int nrow,				/**< Row number of matrix. */
+					int ncol,				/**< Column number of matrix. */
+					const char* name		/** Name of matrix. */
+					);
+
+/** Prints an index array.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const int* const index,	/**< Index array to be printed. */
+					int n					/**< Length of index array. */
+					);
+
+/** Prints a named index array.
+ * \return SUCCESSFUL_RETURN */
+returnValue print(	const int* const index,	/**< Index array to be printed. */
+					int n,					/**< Length of index array. */
+					const char* name		/**< Name of index array. */
+					);
+
+
+/** Prints a string to desired output target (useful also for MATLAB output!).
+ * \return SUCCESSFUL_RETURN */
+returnValue myPrintf(	const char* s	/**< String to be written. */
+						);
+
+
+/** Prints qpOASES copyright notice.
+ * \return SUCCESSFUL_RETURN */
+returnValue printCopyrightNotice( );
+
+
+/** Reads a real_t matrix from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue readFromFile(	real_t* data,				/**< Matrix to be read from file. */
+							int nrow,					/**< Row number of matrix. */
+							int ncol,					/**< Column number of matrix. */
+							const char* datafilename	/**< Data file name. */
+							);
+
+/** Reads a real_t vector from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue readFromFile(	real_t* data,				/**< Vector to be read from file. */
+							int n,						/**< Length of vector. */
+							const char* datafilename	/**< Data file name. */
+							);
+
+/** Reads an integer (column) vector from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue readFromFile(	int* data,					/**< Vector to be read from file. */
+							int n,						/**< Length of vector. */
+							const char* datafilename	/**< Data file name. */
+							);
+
+
+/** Writes a real_t matrix into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE  */
+returnValue writeIntoFile(	const real_t* const data,	/**< Matrix to be written into file. */
+							int nrow,					/**< Row number of matrix. */
+							int ncol,					/**< Column number of matrix. */
+							const char* datafilename,	/**< Data file name. */
+							BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
+							);
+
+/** Writes a real_t vector into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE  */
+returnValue writeIntoFile(	const real_t* const data,	/**< Vector to be written into file. */
+							int n,						/**< Length of vector. */
+							const char* datafilename,	/**< Data file name. */
+							BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
+							);
+
+/** Writes an integer (column) vector into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE */
+returnValue writeIntoFile(	const int* const integer,	/**< Integer vector to be written into file. */
+							int n,						/**< Length of vector. */
+							const char* datafilename,	/**< Data file name. */
+							BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
+							);
+
+#endif  /* PC_DEBUG */
+
+
+/** Returns the current system time.
+ * \return current system time */
+real_t getCPUtime( );
+
+
+/** Returns the Euclidean norm of a vector.
+ * \return 0: successful */
+real_t getNorm(	const real_t* const v,	/**< Vector. */
+				int n					/**< Vector's dimension. */
+				);
+
+/** Returns the absolute value of a real_t.
+ * \return Absolute value of a real_t */
+inline real_t getAbs(	real_t x		/**< Input argument. */
+						);
+
+
+
+#include <Utils.ipp>
+
+#endif	/* QPOASES_UTILS_HPP */
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/README.txt

@@ -1,92 +1,92 @@
-##
-##	qpOASES -- An Implementation of the Online Active Set Strategy.
-##	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
-##
-
-
-
-INTRODUCTION
-=============
-
-qpOASES is an open-source C++ implementation of the recently proposed 
-online active set strategy (see [1], [2]), which was inspired by important 
-observations from the field of parametric quadratic programming. It has 
-several theoretical features that make it particularly suited for model 
-predictive control (MPC) applications.
-
-The software package qpOASES implements these ideas and has already been 
-successfully used for closed-loop control of a real-world Diesel engine [3].
-
-
-References:
-
-[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of 
-Parametric Quadratic Programs with Applications to Predictive Engine Control. 
-Diplom thesis, University of Heidelberg, 2006.
-
-[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to 
-overcome the limitations of explicit MPC. International Journal of Robust 
-and Nonlinear Control, 18 (8), pp. 816-830, 2008.
-
-[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive 
-Control of a Real-World Diesel Engine using an Extended Online Active Set 
-Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007.
-
-
-
-GETTING STARTED
-================
-
-1. For installation, usage and additional information on this software package 
-   see the qpOASES User's Manual located at ./DOC/manual.pdf!
-
-
-2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public 
-   License. Please read it carefully before using qpOASES!
-
-
-3. The whole software package can be downloaded from 
-
-        http://homes.esat.kuleuven.be/~optec/software/qpOASES/ 
-
-   On this webpage you will also find a list of frequently asked questions.
-
-
-
-CONTACT THE AUTHORS
-====================
-
-If you have got questions, remarks or comments on qpOASES 
-please contact the main author:
-
-        Hans Joachim Ferreau
-        Katholieke Universiteit Leuven
-        Department of Electrical Engineering (ESAT)
-        Kasteelpark Arenberg 10, bus 2446
-        B-3001 Leuven-Heverlee, Belgium
-
-        Phone: +32 16 32 03 63
-        E-mail: joachim.ferreau@esat.kuleuven.be
-                qpOASES@esat.kuleuven.be
-
-Also bug reports and source code extensions are most welcome!
-
-
-
-##
-##	end of file
-##
+##
+##	qpOASES -- An Implementation of the Online Active Set Strategy.
+##	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+##
+
+
+
+INTRODUCTION
+=============
+
+qpOASES is an open-source C++ implementation of the recently proposed 
+online active set strategy (see [1], [2]), which was inspired by important 
+observations from the field of parametric quadratic programming. It has 
+several theoretical features that make it particularly suited for model 
+predictive control (MPC) applications.
+
+The software package qpOASES implements these ideas and has already been 
+successfully used for closed-loop control of a real-world Diesel engine [3].
+
+
+References:
+
+[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of 
+Parametric Quadratic Programs with Applications to Predictive Engine Control. 
+Diplom thesis, University of Heidelberg, 2006.
+
+[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to 
+overcome the limitations of explicit MPC. International Journal of Robust 
+and Nonlinear Control, 18 (8), pp. 816-830, 2008.
+
+[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive 
+Control of a Real-World Diesel Engine using an Extended Online Active Set 
+Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007.
+
+
+
+GETTING STARTED
+================
+
+1. For installation, usage and additional information on this software package 
+   see the qpOASES User's Manual located at ./DOC/manual.pdf!
+
+
+2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public 
+   License. Please read it carefully before using qpOASES!
+
+
+3. The whole software package can be downloaded from 
+
+        http://homes.esat.kuleuven.be/~optec/software/qpOASES/ 
+
+   On this webpage you will also find a list of frequently asked questions.
+
+
+
+CONTACT THE AUTHORS
+====================
+
+If you have got questions, remarks or comments on qpOASES 
+please contact the main author:
+
+        Hans Joachim Ferreau
+        Katholieke Universiteit Leuven
+        Department of Electrical Engineering (ESAT)
+        Kasteelpark Arenberg 10, bus 2446
+        B-3001 Leuven-Heverlee, Belgium
+
+        Phone: +32 16 32 03 63
+        E-mail: joachim.ferreau@esat.kuleuven.be
+                qpOASES@esat.kuleuven.be
+
+Also bug reports and source code extensions are most welcome!
+
+
+
+##
+##	end of file
+##

phonelibs/qpoases/SRC/Bounds.cpp

@@ -1,252 +1,252 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Bounds.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#include <Bounds.hpp>
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	B o u n d s
- */
-Bounds::Bounds( ) :	SubjectTo( ),
-					nV( 0 ),
-					nFV( 0 ),
-					nBV( 0 ),
-					nUV( 0 )
-{
-}
-
-
-/*
- *	B o u n d s
- */
-Bounds::Bounds( const Bounds& rhs ) :	SubjectTo( rhs ),
-										nV( rhs.nV ),
-										nFV( rhs.nFV ),
-										nBV( rhs.nBV ),
-										nUV( rhs.nUV )
-{
-	free  = rhs.free;
-	fixed = rhs.fixed;
-}
-
-
-/*
- *	~ B o u n d s
- */
-Bounds::~Bounds( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-Bounds& Bounds::operator=( const Bounds& rhs )
-{
-	if ( this != &rhs )
-	{
-		SubjectTo::operator=( rhs );
-
-		nV  = rhs.nV;
-		nFV = rhs.nFV;
-		nBV = rhs.nBV;
-		nUV = rhs.nUV;
-
-		free  = rhs.free;
-		fixed = rhs.fixed;
-	}
-
-	return *this;
-}
-
-
-/*
- *	i n i t
- */
-returnValue Bounds::init( int n )
-{
-	nV = n;
-	nFV = 0;
-	nBV = 0;
-	nUV = 0;
-
-	free.init( );
-	fixed.init( );
-
-	return SubjectTo::init( n );
-}
-
-
-/*
- *	s e t u p B o u n d
- */
-returnValue Bounds::setupBound(	int _number, SubjectToStatus _status
-								)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	
-	/* Add bound index to respective index list. */
-	switch ( _status )
-	{
-		case ST_INACTIVE:
-			if ( this->addIndex( this->getFree( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-			break;
-
-		case ST_LOWER:
-			if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-			break;
-
-		case ST_UPPER:
-			if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-			break;
-
-		default:
-			return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A l l F r e e
- */
-returnValue Bounds::setupAllFree( )
-{
-	int i;
-
-	/* 1) Place unbounded variables at the beginning of the index list of free variables. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( getType( i ) == ST_UNBOUNDED )
-		{
-			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-					return THROWERROR( RET_SETUP_BOUND_FAILED );
-		}
-	}
-
-	/* 2) Add remaining (i.e. bounded but possibly free) variables to the index list of free variables. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( getType( i ) == ST_BOUNDED )
-		{
-			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-		}
-	}
-
-	/* 3) Place implicitly fixed variables at the end of the index list of free variables. */
-	for( i=0; i<nV; ++i )
-	{
-		if ( getType( i ) == ST_EQUALITY )
-		{
-			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_BOUND_FAILED );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e F i x e d T o F r e e
- */
-returnValue Bounds::moveFixedToFree( int _number )
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of fixed variables to that of free ones. */
-	if ( this->removeIndex( this->getFixed( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getFree( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e F r e e T o F i x e d
- */
-returnValue Bounds::moveFreeToFixed(	int _number, SubjectToStatus _status
-										)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of free variables to that of fixed ones. */
-	if ( this->removeIndex( this->getFree( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s w a p F r e e
- */
-returnValue Bounds::swapFree(	int number1, int number2
-								)
-{
-	/* consistency check */
-	if ( ( number1 < 0 ) || ( number1 >= getNV( ) ) || ( number2 < 0 ) || ( number2 >= getNV( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Swap index within indexlist of free variables. */
-	return this->swapIndex( this->getFree( ),number1,number2 );
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Bounds.cpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of the Bounds class designed to manage working sets of
+ *	bounds within a QProblem.
+ */
+
+
+#include <Bounds.hpp>
+
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+
+/*
+ *	B o u n d s
+ */
+Bounds::Bounds( ) :	SubjectTo( ),
+					nV( 0 ),
+					nFV( 0 ),
+					nBV( 0 ),
+					nUV( 0 )
+{
+}
+
+
+/*
+ *	B o u n d s
+ */
+Bounds::Bounds( const Bounds& rhs ) :	SubjectTo( rhs ),
+										nV( rhs.nV ),
+										nFV( rhs.nFV ),
+										nBV( rhs.nBV ),
+										nUV( rhs.nUV )
+{
+	free  = rhs.free;
+	fixed = rhs.fixed;
+}
+
+
+/*
+ *	~ B o u n d s
+ */
+Bounds::~Bounds( )
+{
+}
+
+
+/*
+ *	o p e r a t o r =
+ */
+Bounds& Bounds::operator=( const Bounds& rhs )
+{
+	if ( this != &rhs )
+	{
+		SubjectTo::operator=( rhs );
+
+		nV  = rhs.nV;
+		nFV = rhs.nFV;
+		nBV = rhs.nBV;
+		nUV = rhs.nUV;
+
+		free  = rhs.free;
+		fixed = rhs.fixed;
+	}
+
+	return *this;
+}
+
+
+/*
+ *	i n i t
+ */
+returnValue Bounds::init( int n )
+{
+	nV = n;
+	nFV = 0;
+	nBV = 0;
+	nUV = 0;
+
+	free.init( );
+	fixed.init( );
+
+	return SubjectTo::init( n );
+}
+
+
+/*
+ *	s e t u p B o u n d
+ */
+returnValue Bounds::setupBound(	int _number, SubjectToStatus _status
+								)
+{
+	/* consistency check */
+	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	
+	/* Add bound index to respective index list. */
+	switch ( _status )
+	{
+		case ST_INACTIVE:
+			if ( this->addIndex( this->getFree( ),_number,_status ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_BOUND_FAILED );
+			break;
+
+		case ST_LOWER:
+			if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_BOUND_FAILED );
+			break;
+
+		case ST_UPPER:
+			if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_BOUND_FAILED );
+			break;
+
+		default:
+			return THROWERROR( RET_INVALID_ARGUMENTS );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t u p A l l F r e e
+ */
+returnValue Bounds::setupAllFree( )
+{
+	int i;
+
+	/* 1) Place unbounded variables at the beginning of the index list of free variables. */
+	for( i=0; i<nV; ++i )
+	{
+		if ( getType( i ) == ST_UNBOUNDED )
+		{
+			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+					return THROWERROR( RET_SETUP_BOUND_FAILED );
+		}
+	}
+
+	/* 2) Add remaining (i.e. bounded but possibly free) variables to the index list of free variables. */
+	for( i=0; i<nV; ++i )
+	{
+		if ( getType( i ) == ST_BOUNDED )
+		{
+			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_BOUND_FAILED );
+		}
+	}
+
+	/* 3) Place implicitly fixed variables at the end of the index list of free variables. */
+	for( i=0; i<nV; ++i )
+	{
+		if ( getType( i ) == ST_EQUALITY )
+		{
+			if ( setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_BOUND_FAILED );
+		}
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	m o v e F i x e d T o F r e e
+ */
+returnValue Bounds::moveFixedToFree( int _number )
+{
+	/* consistency check */
+	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+
+	/* Move index from indexlist of fixed variables to that of free ones. */
+	if ( this->removeIndex( this->getFixed( ),_number ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	if ( this->addIndex( this->getFree( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	m o v e F r e e T o F i x e d
+ */
+returnValue Bounds::moveFreeToFixed(	int _number, SubjectToStatus _status
+										)
+{
+	/* consistency check */
+	if ( ( _number < 0 ) || ( _number >= getNV( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+
+	/* Move index from indexlist of free variables to that of fixed ones. */
+	if ( this->removeIndex( this->getFree( ),_number ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s w a p F r e e
+ */
+returnValue Bounds::swapFree(	int number1, int number2
+								)
+{
+	/* consistency check */
+	if ( ( number1 < 0 ) || ( number1 >= getNV( ) ) || ( number2 < 0 ) || ( number2 >= getNV( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+
+	/* Swap index within indexlist of free variables. */
+	return this->swapIndex( this->getFree( ),number1,number2 );
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Bounds.ipp

@@ -1,144 +1,144 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Bounds.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the Bounds class designed 
- *	to manage working sets of bounds within a QProblem.
- */
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t N V
- */
-inline int Bounds::getNV( ) const
-{
- 	return nV;
-}
-
-
-/*
- *	g e t N F X
- */
-inline int Bounds::getNFV( ) const
-{
- 	return nFV;
-}
-
-
-/*
- *	g e t N B V
- */
-inline int Bounds::getNBV( ) const
-{
- 	return nBV;
-}
- 
-
-/*
- *	g e t N U V
- */
-inline int Bounds::getNUV( ) const
-{
-	return nUV;
-}
-
-
-
-/*
- *	s e t N F X
- */
-inline returnValue Bounds::setNFV( int n )
-{
- 	nFV = n;
-	return SUCCESSFUL_RETURN;	
-}
- 
- 
-/*
- *	s e t N B V
- */
-inline returnValue Bounds::setNBV( int n )
-{
- 	nBV = n;
-	return SUCCESSFUL_RETURN;
-}
- 
-
-/*
- *	s e t N U V
- */
-inline returnValue Bounds::setNUV( int n )
-{
-	nUV = n;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N F R
- */
-inline int Bounds::getNFR( )
-{
- 	return free.getLength( );
-}
-
-
-/*
- *	g e t N F X
- */
-inline int Bounds::getNFX( )
-{
- 	return fixed.getLength( );
-}
-
-
-/*
- *	g e t F r e e
- */
-inline Indexlist* Bounds::getFree( )
-{
-	return &free;
-}
-
-
-/*
- *	g e t F i x e d
- */
-inline Indexlist* Bounds::getFixed( )
-{
-	return &fixed;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Bounds.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of inlined member functions of the Bounds class designed 
+ *	to manage working sets of bounds within a QProblem.
+ */
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+/*
+ *	g e t N V
+ */
+inline int Bounds::getNV( ) const
+{
+ 	return nV;
+}
+
+
+/*
+ *	g e t N F X
+ */
+inline int Bounds::getNFV( ) const
+{
+ 	return nFV;
+}
+
+
+/*
+ *	g e t N B V
+ */
+inline int Bounds::getNBV( ) const
+{
+ 	return nBV;
+}
+ 
+
+/*
+ *	g e t N U V
+ */
+inline int Bounds::getNUV( ) const
+{
+	return nUV;
+}
+
+
+
+/*
+ *	s e t N F X
+ */
+inline returnValue Bounds::setNFV( int n )
+{
+ 	nFV = n;
+	return SUCCESSFUL_RETURN;	
+}
+ 
+ 
+/*
+ *	s e t N B V
+ */
+inline returnValue Bounds::setNBV( int n )
+{
+ 	nBV = n;
+	return SUCCESSFUL_RETURN;
+}
+ 
+
+/*
+ *	s e t N U V
+ */
+inline returnValue Bounds::setNUV( int n )
+{
+	nUV = n;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N F R
+ */
+inline int Bounds::getNFR( )
+{
+ 	return free.getLength( );
+}
+
+
+/*
+ *	g e t N F X
+ */
+inline int Bounds::getNFX( )
+{
+ 	return fixed.getLength( );
+}
+
+
+/*
+ *	g e t F r e e
+ */
+inline Indexlist* Bounds::getFree( )
+{
+	return &free;
+}
+
+
+/*
+ *	g e t F i x e d
+ */
+inline Indexlist* Bounds::getFixed( )
+{
+	return &fixed;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Constraints.cpp

@@ -1,248 +1,248 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Constraints.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#include <Constraints.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	C o n s t r a i n t s
- */
-Constraints::Constraints( ) :	SubjectTo( ),
-								nC( 0 ),
-								nEC( 0 ),
-								nIC( 0 ),
-								nUC( 0 )
-{
-}
-
-
-/*
- *	C o n s t r a i n t s
- */
-Constraints::Constraints( const Constraints& rhs ) :	SubjectTo( rhs ),
-														nC( rhs.nC ),
-														nEC( rhs.nEC ),
-														nIC( rhs.nIC ),
-														nUC( rhs.nUC )
-{
-	active =   rhs.active;
-	inactive = rhs.inactive;
-}
-
-
-/*
- *	~ C o n s t r a i n t s
- */
-Constraints::~Constraints( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-Constraints& Constraints::operator=( const Constraints& rhs )
-{
-	if ( this != &rhs )
-	{
-		SubjectTo::operator=( rhs );
-
-		nC  = rhs.nC;
-		nEC = rhs.nEC;
-		nIC = rhs.nIC;
-		nUC = rhs.nUC;
-
-		active =   rhs.active;
-		inactive = rhs.inactive;
-	}
-
-	return *this;
-}
-
-
-/*
- *	i n i t
- */
-returnValue Constraints::init( int n )
-{
-	nC = n;
-	nEC = 0;
-	nIC = 0;
-	nUC = 0;
-
-	active.init( );
-	inactive.init( );
-
-	return SubjectTo::init( n );
-}
-
-
-/*
- *	s e t u p C o n s t r a i n t
- */
-returnValue Constraints::setupConstraint(	int _number, SubjectToStatus _status
-											)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	
-	/* Add constraint index to respective index list. */
-	switch ( _status )
-	{
-		case ST_INACTIVE:
-			if ( this->addIndex( this->getInactive( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-			break;
-
-		case ST_LOWER:
-			if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-			break;
-
-		case ST_UPPER:
-			if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-			break;
-
-		default:
-			return THROWERROR( RET_INVALID_ARGUMENTS );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t u p A l l I n a c t i v e
- */
-returnValue Constraints::setupAllInactive( )
-{
-	int i;
-
-
-	/* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_UNBOUNDED )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	/* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_BOUNDED )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	/* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_EQUALITY )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	/* 4) Moreover, add all constraints of unknown type. */
-	for( i=0; i<nC; ++i )
-	{
-		if ( getType( i ) == ST_UNKNOWN )
-		{
-			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e A c t i v e T o I n a c t i v e
- */
-returnValue Constraints::moveActiveToInactive( int _number )
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of active constraints to that of inactive ones. */
-	if ( this->removeIndex( this->getActive( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getInactive( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	m o v e I n a c t i v e T o A c t i v e
- */
-returnValue Constraints::moveInactiveToActive(	int _number, SubjectToStatus _status
-												)
-{
-	/* consistency check */
-	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-
-	/* Move index from indexlist of inactive constraints to that of active ones. */
-	if ( this->removeIndex( this->getInactive( ),_number ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_MOVING_BOUND_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Constraints.cpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of the Constraints class designed to manage working sets of
+ *	constraints within a QProblem.
+ */
+
+
+#include <Constraints.hpp>
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+
+/*
+ *	C o n s t r a i n t s
+ */
+Constraints::Constraints( ) :	SubjectTo( ),
+								nC( 0 ),
+								nEC( 0 ),
+								nIC( 0 ),
+								nUC( 0 )
+{
+}
+
+
+/*
+ *	C o n s t r a i n t s
+ */
+Constraints::Constraints( const Constraints& rhs ) :	SubjectTo( rhs ),
+														nC( rhs.nC ),
+														nEC( rhs.nEC ),
+														nIC( rhs.nIC ),
+														nUC( rhs.nUC )
+{
+	active =   rhs.active;
+	inactive = rhs.inactive;
+}
+
+
+/*
+ *	~ C o n s t r a i n t s
+ */
+Constraints::~Constraints( )
+{
+}
+
+
+/*
+ *	o p e r a t o r =
+ */
+Constraints& Constraints::operator=( const Constraints& rhs )
+{
+	if ( this != &rhs )
+	{
+		SubjectTo::operator=( rhs );
+
+		nC  = rhs.nC;
+		nEC = rhs.nEC;
+		nIC = rhs.nIC;
+		nUC = rhs.nUC;
+
+		active =   rhs.active;
+		inactive = rhs.inactive;
+	}
+
+	return *this;
+}
+
+
+/*
+ *	i n i t
+ */
+returnValue Constraints::init( int n )
+{
+	nC = n;
+	nEC = 0;
+	nIC = 0;
+	nUC = 0;
+
+	active.init( );
+	inactive.init( );
+
+	return SubjectTo::init( n );
+}
+
+
+/*
+ *	s e t u p C o n s t r a i n t
+ */
+returnValue Constraints::setupConstraint(	int _number, SubjectToStatus _status
+											)
+{
+	/* consistency check */
+	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	
+	/* Add constraint index to respective index list. */
+	switch ( _status )
+	{
+		case ST_INACTIVE:
+			if ( this->addIndex( this->getInactive( ),_number,_status ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+			break;
+
+		case ST_LOWER:
+			if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+			break;
+
+		case ST_UPPER:
+			if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+			break;
+
+		default:
+			return THROWERROR( RET_INVALID_ARGUMENTS );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t u p A l l I n a c t i v e
+ */
+returnValue Constraints::setupAllInactive( )
+{
+	int i;
+
+
+	/* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */
+	for( i=0; i<nC; ++i )
+	{
+		if ( getType( i ) == ST_UNBOUNDED )
+		{
+			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+		}
+	}
+
+	/* 2) Add remaining (i.e. "real" inequality) constraints to the index list of inactive constraints. */
+	for( i=0; i<nC; ++i )
+	{
+		if ( getType( i ) == ST_BOUNDED )
+		{
+			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+		}
+	}
+
+	/* 3) Place implicit equality constraints at the end of the index list of inactive constraints. */
+	for( i=0; i<nC; ++i )
+	{
+		if ( getType( i ) == ST_EQUALITY )
+		{
+			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+		}
+	}
+
+	/* 4) Moreover, add all constraints of unknown type. */
+	for( i=0; i<nC; ++i )
+	{
+		if ( getType( i ) == ST_UNKNOWN )
+		{
+			if ( setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+				return THROWERROR( RET_SETUP_CONSTRAINT_FAILED );
+		}
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	m o v e A c t i v e T o I n a c t i v e
+ */
+returnValue Constraints::moveActiveToInactive( int _number )
+{
+	/* consistency check */
+	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+
+	/* Move index from indexlist of active constraints to that of inactive ones. */
+	if ( this->removeIndex( this->getActive( ),_number ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	if ( this->addIndex( this->getInactive( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	m o v e I n a c t i v e T o A c t i v e
+ */
+returnValue Constraints::moveInactiveToActive(	int _number, SubjectToStatus _status
+												)
+{
+	/* consistency check */
+	if ( ( _number < 0 ) || ( _number >= getNC( ) ) )
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+
+	/* Move index from indexlist of inactive constraints to that of active ones. */
+	if ( this->removeIndex( this->getInactive( ),_number ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_MOVING_BOUND_FAILED );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Constraints.ipp

@@ -1,144 +1,144 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Constraints.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Declaration of inlined member functions of the Constraints class designed 
- *	to manage working sets of constraints within a QProblem.
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t N C
- */
-inline int Constraints::getNC( ) const
-{
- 	return nC;
-}
- 
-
-/*
- *	g e t N E C
- */
-inline int Constraints::getNEC( ) const
-{
- 	return nEC;
-}
- 
-
-/*
- *	g e t N I C
- */
-inline int Constraints::getNIC( ) const
-{
- 	return nIC;
-}
- 
-
-/*
- *	g e t N U C
- */
-inline int Constraints::getNUC( ) const
-{
- 	return nUC;
-}
-
-
-/*
- *	s e t N E C
- */
-inline returnValue Constraints::setNEC( int n )
-{
- 	nEC = n;
-	return SUCCESSFUL_RETURN;
-}
- 
-
-/*
- *	s e t N I C
- */
-inline returnValue Constraints::setNIC( int n )
-{
- 	nIC = n;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t N U C
- */
-inline returnValue Constraints::setNUC( int n )
-{
- 	nUC = n;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N A C
- */
-inline int Constraints::getNAC( )
-{
- 	return active.getLength( );
-}
-
-
-/*
- *	g e t N I A C
- */
-inline int Constraints::getNIAC( )
-{
- 	return inactive.getLength( );
-}
-
-
-/*
- *	g e t A c t i v e
- */
-inline Indexlist* Constraints::getActive( )
-{
-	return &active;
-}
-
-
-/*
- *	g e t I n a c t i v e
- */
-inline Indexlist* Constraints::getInactive( )
-{
-	return &inactive;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Constraints.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Declaration of inlined member functions of the Constraints class designed 
+ *	to manage working sets of constraints within a QProblem.
+ */
+
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+/*
+ *	g e t N C
+ */
+inline int Constraints::getNC( ) const
+{
+ 	return nC;
+}
+ 
+
+/*
+ *	g e t N E C
+ */
+inline int Constraints::getNEC( ) const
+{
+ 	return nEC;
+}
+ 
+
+/*
+ *	g e t N I C
+ */
+inline int Constraints::getNIC( ) const
+{
+ 	return nIC;
+}
+ 
+
+/*
+ *	g e t N U C
+ */
+inline int Constraints::getNUC( ) const
+{
+ 	return nUC;
+}
+
+
+/*
+ *	s e t N E C
+ */
+inline returnValue Constraints::setNEC( int n )
+{
+ 	nEC = n;
+	return SUCCESSFUL_RETURN;
+}
+ 
+
+/*
+ *	s e t N I C
+ */
+inline returnValue Constraints::setNIC( int n )
+{
+ 	nIC = n;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t N U C
+ */
+inline returnValue Constraints::setNUC( int n )
+{
+ 	nUC = n;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N A C
+ */
+inline int Constraints::getNAC( )
+{
+ 	return active.getLength( );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+inline int Constraints::getNIAC( )
+{
+ 	return inactive.getLength( );
+}
+
+
+/*
+ *	g e t A c t i v e
+ */
+inline Indexlist* Constraints::getActive( )
+{
+	return &active;
+}
+
+
+/*
+ *	g e t I n a c t i v e
+ */
+inline Indexlist* Constraints::getInactive( )
+{
+	return &inactive;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/CyclingManager.cpp

@@ -1,188 +1,188 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/CyclingManager.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the CyclingManager class designed to detect
- *	and handle possible cycling during QP iterations.
- *
- */
-
-
-#include <CyclingManager.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	C y c l i n g M a n a g e r
- */
-CyclingManager::CyclingManager( ) :	nV( 0 ),
-									nC( 0 )
-{
-	cyclingDetected = BT_FALSE;
-}
-
-
-/*
- *	C y c l i n g M a n a g e r
- */
-CyclingManager::CyclingManager( const CyclingManager& rhs ) :	nV( rhs.nV ),
-																nC( rhs.nC ),
-																cyclingDetected( rhs.cyclingDetected )
-{
-	int i;
-
-	for( i=0; i<nV+nC; ++i )
-		status[i] = rhs.status[i];
-}
-
-
-/*
- *	~ C y c l i n g M a n a g e r
- */
-CyclingManager::~CyclingManager( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
-{
-	int i;
-
-	if ( this != &rhs )
-	{
-		nV = rhs.nV;
-		nC = rhs.nC;
-
-		for( i=0; i<nV+nC; ++i )
-			status[i] = rhs.status[i];
-
-		cyclingDetected = rhs.cyclingDetected;
-	}
-
-	return *this;
-}
-
-
-
-/*
- *	i n i t
- */
-returnValue CyclingManager::init( int _nV, int _nC )
-{
-	nV = _nV;
-	nC = _nC;
-
-	cyclingDetected = BT_FALSE;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	s e t C y c l i n g S t a t u s
- */
-returnValue CyclingManager::setCyclingStatus(	int number,
-												BooleanType isBound, CyclingStatus _status
-												)
-{
-	if ( isBound == BT_TRUE )
-	{
-		/* Set cycling status of a bound. */
-		if ( ( number >= 0 ) && ( number < nV ) )
-		{
-			status[number] = _status;
-			return SUCCESSFUL_RETURN;
-		}
-		else
-			return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-	else
-	{
-		/* Set cycling status of a constraint. */
-		if ( ( number >= 0 ) && ( number < nC ) )
-		{
-			status[nV+number] = _status;
-			return SUCCESSFUL_RETURN;
-		}
-		else
-			return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	g e t C y c l i n g S t a t u s
- */
-CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
-{
-	if ( isBound == BT_TRUE )
-	{
-		/* Return cycling status of a bound. */
-		if ( ( number >= 0 ) && ( number < nV ) )
-			return status[number];
-	}
-	else
-	{
-		/* Return cycling status of a constraint. */
-		if ( ( number >= 0 ) && ( number < nC ) )
-			return status[nV+number];
-	}
-
-	return CYC_NOT_INVOLVED;
-}
-
-
-/*
- *	c l e a r C y c l i n g D a t a
- */
-returnValue CyclingManager::clearCyclingData( )
-{
-	int i;
-
-	/* Reset all status values ... */
-	for( i=0; i<nV+nC; ++i )
-		status[i] = CYC_NOT_INVOLVED;
-
-	/* ... and the main cycling flag. */
-	cyclingDetected = BT_FALSE;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/CyclingManager.cpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of the CyclingManager class designed to detect
+ *	and handle possible cycling during QP iterations.
+ *
+ */
+
+
+#include <CyclingManager.hpp>
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+
+/*
+ *	C y c l i n g M a n a g e r
+ */
+CyclingManager::CyclingManager( ) :	nV( 0 ),
+									nC( 0 )
+{
+	cyclingDetected = BT_FALSE;
+}
+
+
+/*
+ *	C y c l i n g M a n a g e r
+ */
+CyclingManager::CyclingManager( const CyclingManager& rhs ) :	nV( rhs.nV ),
+																nC( rhs.nC ),
+																cyclingDetected( rhs.cyclingDetected )
+{
+	int i;
+
+	for( i=0; i<nV+nC; ++i )
+		status[i] = rhs.status[i];
+}
+
+
+/*
+ *	~ C y c l i n g M a n a g e r
+ */
+CyclingManager::~CyclingManager( )
+{
+}
+
+
+/*
+ *	o p e r a t o r =
+ */
+CyclingManager& CyclingManager::operator=( const CyclingManager& rhs )
+{
+	int i;
+
+	if ( this != &rhs )
+	{
+		nV = rhs.nV;
+		nC = rhs.nC;
+
+		for( i=0; i<nV+nC; ++i )
+			status[i] = rhs.status[i];
+
+		cyclingDetected = rhs.cyclingDetected;
+	}
+
+	return *this;
+}
+
+
+
+/*
+ *	i n i t
+ */
+returnValue CyclingManager::init( int _nV, int _nC )
+{
+	nV = _nV;
+	nC = _nC;
+
+	cyclingDetected = BT_FALSE;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*
+ *	s e t C y c l i n g S t a t u s
+ */
+returnValue CyclingManager::setCyclingStatus(	int number,
+												BooleanType isBound, CyclingStatus _status
+												)
+{
+	if ( isBound == BT_TRUE )
+	{
+		/* Set cycling status of a bound. */
+		if ( ( number >= 0 ) && ( number < nV ) )
+		{
+			status[number] = _status;
+			return SUCCESSFUL_RETURN;
+		}
+		else
+			return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+	else
+	{
+		/* Set cycling status of a constraint. */
+		if ( ( number >= 0 ) && ( number < nC ) )
+		{
+			status[nV+number] = _status;
+			return SUCCESSFUL_RETURN;
+		}
+		else
+			return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	g e t C y c l i n g S t a t u s
+ */
+CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const
+{
+	if ( isBound == BT_TRUE )
+	{
+		/* Return cycling status of a bound. */
+		if ( ( number >= 0 ) && ( number < nV ) )
+			return status[number];
+	}
+	else
+	{
+		/* Return cycling status of a constraint. */
+		if ( ( number >= 0 ) && ( number < nC ) )
+			return status[nV+number];
+	}
+
+	return CYC_NOT_INVOLVED;
+}
+
+
+/*
+ *	c l e a r C y c l i n g D a t a
+ */
+returnValue CyclingManager::clearCyclingData( )
+{
+	int i;
+
+	/* Reset all status values ... */
+	for( i=0; i<nV+nC; ++i )
+		status[i] = CYC_NOT_INVOLVED;
+
+	/* ... and the main cycling flag. */
+	cyclingDetected = BT_FALSE;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/CyclingManager.ipp

@@ -1,51 +1,51 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/CyclingManager.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the CyclingManager class 
- *	designed to detect and handle possible cycling during QP iterations.
- *	
- */
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	i s C y c l i n g D e t e c t e d
- */
-inline BooleanType CyclingManager::isCyclingDetected( ) const
-{
-	return cyclingDetected;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/CyclingManager.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of inlined member functions of the CyclingManager class 
+ *	designed to detect and handle possible cycling during QP iterations.
+ *	
+ */
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+/*
+ *	i s C y c l i n g D e t e c t e d
+ */
+inline BooleanType CyclingManager::isCyclingDetected( ) const
+{
+	return cyclingDetected;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Indexlist.cpp

@@ -1,342 +1,342 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Indexlist.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a QProblem_SubjectTo.
- */
-
-
-#include <Indexlist.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	I n d e x l i s t
- */
-Indexlist::Indexlist( ) :	length( 0 ),
-							first( -1 ),
-							last( -1 ),
-							lastusedindex( -1 ),
-							physicallength( INDEXLISTFACTOR*(NVMAX+NCMAX) )
-{
-	int i;
-
-	for( i=0; i<physicallength; ++i )
-	{
-		number[i] = -1;
-		next[i] = -1;
-		previous[i] = -1;
-	}
-}
-
-
-/*
- *	I n d e x l i s t
- */
-Indexlist::Indexlist( const Indexlist& rhs ) :	length( rhs.length ),
-												first( rhs.first ),
-												last( rhs.last ),
-												lastusedindex( rhs.lastusedindex ),
-												physicallength( rhs.physicallength )
-{
-	int i;
-
-	for( i=0; i<physicallength; ++i )
-	{
-		number[i] = rhs.number[i];
-		next[i] = rhs.next[i];
-		previous[i] = rhs.previous[i];
-	}
-}
-
-
-/*
- *	~ I n d e x l i s t
- */
-Indexlist::~Indexlist( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-Indexlist& Indexlist::operator=( const Indexlist& rhs )
-{
-	int i;
-
-	if ( this != &rhs )
-	{
-		length = rhs.length;
-		first = rhs.first;
-		last = rhs.last;
-		lastusedindex = rhs.lastusedindex;
-		physicallength = rhs.physicallength;
-
-		for( i=0; i<physicallength; ++i )
-		{
-			number[i] = rhs.number[i];
-			next[i] = rhs.next[i];
-			previous[i] = rhs.previous[i];
-		}
-	}
-
-	return *this;
-}
-
-
-/*
- *	i n i t
- */
-returnValue Indexlist::init( )
-{
-	int i;
-
-	length = 0;
-	first = -1;
-	last = -1;
-	lastusedindex = -1;
-	physicallength = INDEXLISTFACTOR*(NVMAX+NCMAX);
-
-	for( i=0; i<physicallength; ++i )
-	{
-		number[i] = -1;
-		next[i] = -1;
-		previous[i] = -1;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N u m b e r A r r a y
- */
-returnValue Indexlist::getNumberArray( int* const numberarray ) const
-{
-	int i;
-	int n = first;
-
-	/* Run trough indexlist and store numbers in numberarray. */
-	for( i=0; i<length; ++i )
-	{
-		if ( ( n >= 0 ) && ( number[n] >= 0 ) )
-			numberarray[i] = number[n];
-		else
-			return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-		n = next[n];
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t I n d e x
- */
-int Indexlist::getIndex( int givennumber ) const
-{
-	int i;
-	int n = first;
-	int index = -1;	/* return -1 by default */
-
-	/* Run trough indexlist until number is found, if so return it index. */
-	for ( i=0; i<length; ++i )
-	{
-		if ( number[n] == givennumber )
-		{
-			index = i;
-			break;
-		}
-
-		n = next[n];
-	}
-
-	return index;
-}
-
-
-/*
- *	g e t P h y s i c a l I n d e x
- */
-int Indexlist::getPhysicalIndex( int givennumber ) const
-{
-	int i;
-	int n = first;
-	int index = -1;	/* return -1 by default */
-
-	/* Run trough indexlist until number is found, if so return it physicalindex. */
-	for ( i=0; i<length; ++i )
-	{
-		if ( number[n] == givennumber )
-		{
-			index = n;
-			break;
-		}
-
-		n = next[n];
-	}
-
-	return index;
-}
-
-
-/*
- *	a d d N u m b e r
- */
-returnValue Indexlist::addNumber( int addnumber )
-{
-	int i;
-
-	if ( lastusedindex+1 < physicallength )
-	{
-		/* If there is enough storage, add number to indexlist. */
-		++lastusedindex;
-		number[lastusedindex] = addnumber;
-		next[lastusedindex] = 0;
-
-		if ( length == 0 )
-		{
-			first = lastusedindex;
-			previous[lastusedindex] = 0;
-		}
-		else
-		{
-			next[last] = lastusedindex;
-			previous[lastusedindex] = last;
-		}
-
-		last = lastusedindex;
-		++length;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		/* Rearrangement of index list necessary! */
-		if ( length == physicallength )
-			return THROWERROR( RET_INDEXLIST_EXCEEDS_MAX_LENGTH );
-		else
-		{
-			int numberArray[NVMAX+NCMAX];
-			getNumberArray( numberArray );
-
-			/* copy existing elements */
-			for ( i=0; i<length; ++i )
-			{
-				number[i] = numberArray[i];
-				next[i] = i+1;
-				previous[i] = i-1;
-			}
-
-			/* add new number at end of list */
-			number[length] = addnumber;
-			next[length] = -1;
-			previous[length] = length-1;
-
-			/* and set remaining entries to empty */
-			for ( i=length+1; i<physicallength; ++i )
-			{
-				number[i] = -1;
-				next[i] = -1;
-				previous[i] = -1;
-			}
-
-			first = 0;
-			last = length;
-			lastusedindex = length;
-			++length;
-
-			return THROWWARNING( RET_INDEXLIST_MUST_BE_REORDERD );
-		}
-	}
-}
-
-
-/*
- *	r e m o v e N u m b e r
- */
-returnValue Indexlist::removeNumber( int removenumber )
-{
-	int i = getPhysicalIndex( removenumber );
-
-	/* nothing to be done if number is not contained in index set */
-	if ( i < 0 )
-		return SUCCESSFUL_RETURN;
-
-	int p = previous[i];
-	int n = next[i];
-
-	if ( i == last )
-		last = p;
-	else
-		previous[n] = p;
-
-	if ( i == first )
-		first = n;
-	else
-		next[p] = n;
-
-	number[i] = -1;
-	next[i] = -1;
-	previous[i] = -1;
-	--length;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s w a p N u m b e r s
- */
-returnValue Indexlist::swapNumbers( int number1, int number2 )
-{
-	int index1 = getPhysicalIndex( number1 );
-	int index2 = getPhysicalIndex( number2 );
-
-	/* consistency check */
-	if ( ( index1 < 0 ) || ( index2 < 0 ) )
-		return THROWERROR( RET_INDEXLIST_CORRUPTED );
-
-	int tmp = number[index1];
-	number[index1] = number[index2];
-	number[index2] = tmp;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Indexlist.cpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of the Indexlist class designed to manage index lists of
+ *	constraints and bounds within a QProblem_SubjectTo.
+ */
+
+
+#include <Indexlist.hpp>
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+
+/*
+ *	I n d e x l i s t
+ */
+Indexlist::Indexlist( ) :	length( 0 ),
+							first( -1 ),
+							last( -1 ),
+							lastusedindex( -1 ),
+							physicallength( INDEXLISTFACTOR*(NVMAX+NCMAX) )
+{
+	int i;
+
+	for( i=0; i<physicallength; ++i )
+	{
+		number[i] = -1;
+		next[i] = -1;
+		previous[i] = -1;
+	}
+}
+
+
+/*
+ *	I n d e x l i s t
+ */
+Indexlist::Indexlist( const Indexlist& rhs ) :	length( rhs.length ),
+												first( rhs.first ),
+												last( rhs.last ),
+												lastusedindex( rhs.lastusedindex ),
+												physicallength( rhs.physicallength )
+{
+	int i;
+
+	for( i=0; i<physicallength; ++i )
+	{
+		number[i] = rhs.number[i];
+		next[i] = rhs.next[i];
+		previous[i] = rhs.previous[i];
+	}
+}
+
+
+/*
+ *	~ I n d e x l i s t
+ */
+Indexlist::~Indexlist( )
+{
+}
+
+
+/*
+ *	o p e r a t o r =
+ */
+Indexlist& Indexlist::operator=( const Indexlist& rhs )
+{
+	int i;
+
+	if ( this != &rhs )
+	{
+		length = rhs.length;
+		first = rhs.first;
+		last = rhs.last;
+		lastusedindex = rhs.lastusedindex;
+		physicallength = rhs.physicallength;
+
+		for( i=0; i<physicallength; ++i )
+		{
+			number[i] = rhs.number[i];
+			next[i] = rhs.next[i];
+			previous[i] = rhs.previous[i];
+		}
+	}
+
+	return *this;
+}
+
+
+/*
+ *	i n i t
+ */
+returnValue Indexlist::init( )
+{
+	int i;
+
+	length = 0;
+	first = -1;
+	last = -1;
+	lastusedindex = -1;
+	physicallength = INDEXLISTFACTOR*(NVMAX+NCMAX);
+
+	for( i=0; i<physicallength; ++i )
+	{
+		number[i] = -1;
+		next[i] = -1;
+		previous[i] = -1;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N u m b e r A r r a y
+ */
+returnValue Indexlist::getNumberArray( int* const numberarray ) const
+{
+	int i;
+	int n = first;
+
+	/* Run trough indexlist and store numbers in numberarray. */
+	for( i=0; i<length; ++i )
+	{
+		if ( ( n >= 0 ) && ( number[n] >= 0 ) )
+			numberarray[i] = number[n];
+		else
+			return THROWERROR( RET_INDEXLIST_CORRUPTED );
+
+		n = next[n];
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t I n d e x
+ */
+int Indexlist::getIndex( int givennumber ) const
+{
+	int i;
+	int n = first;
+	int index = -1;	/* return -1 by default */
+
+	/* Run trough indexlist until number is found, if so return it index. */
+	for ( i=0; i<length; ++i )
+	{
+		if ( number[n] == givennumber )
+		{
+			index = i;
+			break;
+		}
+
+		n = next[n];
+	}
+
+	return index;
+}
+
+
+/*
+ *	g e t P h y s i c a l I n d e x
+ */
+int Indexlist::getPhysicalIndex( int givennumber ) const
+{
+	int i;
+	int n = first;
+	int index = -1;	/* return -1 by default */
+
+	/* Run trough indexlist until number is found, if so return it physicalindex. */
+	for ( i=0; i<length; ++i )
+	{
+		if ( number[n] == givennumber )
+		{
+			index = n;
+			break;
+		}
+
+		n = next[n];
+	}
+
+	return index;
+}
+
+
+/*
+ *	a d d N u m b e r
+ */
+returnValue Indexlist::addNumber( int addnumber )
+{
+	int i;
+
+	if ( lastusedindex+1 < physicallength )
+	{
+		/* If there is enough storage, add number to indexlist. */
+		++lastusedindex;
+		number[lastusedindex] = addnumber;
+		next[lastusedindex] = 0;
+
+		if ( length == 0 )
+		{
+			first = lastusedindex;
+			previous[lastusedindex] = 0;
+		}
+		else
+		{
+			next[last] = lastusedindex;
+			previous[lastusedindex] = last;
+		}
+
+		last = lastusedindex;
+		++length;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		/* Rearrangement of index list necessary! */
+		if ( length == physicallength )
+			return THROWERROR( RET_INDEXLIST_EXCEEDS_MAX_LENGTH );
+		else
+		{
+			int numberArray[NVMAX+NCMAX];
+			getNumberArray( numberArray );
+
+			/* copy existing elements */
+			for ( i=0; i<length; ++i )
+			{
+				number[i] = numberArray[i];
+				next[i] = i+1;
+				previous[i] = i-1;
+			}
+
+			/* add new number at end of list */
+			number[length] = addnumber;
+			next[length] = -1;
+			previous[length] = length-1;
+
+			/* and set remaining entries to empty */
+			for ( i=length+1; i<physicallength; ++i )
+			{
+				number[i] = -1;
+				next[i] = -1;
+				previous[i] = -1;
+			}
+
+			first = 0;
+			last = length;
+			lastusedindex = length;
+			++length;
+
+			return THROWWARNING( RET_INDEXLIST_MUST_BE_REORDERD );
+		}
+	}
+}
+
+
+/*
+ *	r e m o v e N u m b e r
+ */
+returnValue Indexlist::removeNumber( int removenumber )
+{
+	int i = getPhysicalIndex( removenumber );
+
+	/* nothing to be done if number is not contained in index set */
+	if ( i < 0 )
+		return SUCCESSFUL_RETURN;
+
+	int p = previous[i];
+	int n = next[i];
+
+	if ( i == last )
+		last = p;
+	else
+		previous[n] = p;
+
+	if ( i == first )
+		first = n;
+	else
+		next[p] = n;
+
+	number[i] = -1;
+	next[i] = -1;
+	previous[i] = -1;
+	--length;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s w a p N u m b e r s
+ */
+returnValue Indexlist::swapNumbers( int number1, int number2 )
+{
+	int index1 = getPhysicalIndex( number1 );
+	int index2 = getPhysicalIndex( number2 );
+
+	/* consistency check */
+	if ( ( index1 < 0 ) || ( index2 < 0 ) )
+		return THROWERROR( RET_INDEXLIST_CORRUPTED );
+
+	int tmp = number[index1];
+	number[index1] = number[index2];
+	number[index2] = tmp;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Indexlist.ipp

@@ -1,85 +1,85 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Indexlist.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the Indexlist class designed 
- *	to manage index lists of constraints and bounds within a QProblem_SubjectTo.
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t N u m b e r
- */
-inline int Indexlist::getNumber( int physicalindex ) const
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-inline int Indexlist::getLength( )
-{
-	return length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-inline int Indexlist::getLastNumber( ) const
-{
-	return number[last];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-inline BooleanType Indexlist::isMember( int _number ) const
-{
-	if ( getIndex( _number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Indexlist.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of inlined member functions of the Indexlist class designed 
+ *	to manage index lists of constraints and bounds within a QProblem_SubjectTo.
+ */
+
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+/*
+ *	g e t N u m b e r
+ */
+inline int Indexlist::getNumber( int physicalindex ) const
+{
+	/* consistency check */
+	if ( ( physicalindex < 0 ) || ( physicalindex > length ) )
+		return -RET_INDEXLIST_OUTOFBOUNDS;
+
+	return number[physicalindex];
+}
+
+
+/*
+ *	g e t L e n g t h
+ */
+inline int Indexlist::getLength( )
+{
+	return length;
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+inline int Indexlist::getLastNumber( ) const
+{
+	return number[last];
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+inline BooleanType Indexlist::isMember( int _number ) const
+{
+	if ( getIndex( _number ) >= 0 )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/MessageHandling.ipp

@@ -1,137 +1,137 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/MessageHandling.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the MessageHandling class. 
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
- 
-/*
- *	g e t E r r o r V i s i b i l i t y S t a t u s
- */
-inline VisibilityStatus MessageHandling::getErrorVisibilityStatus( ) const
-{
- 	return errorVisibility;
-}
-
-
-/*
- *	g e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-inline VisibilityStatus MessageHandling::getWarningVisibilityStatus( ) const
-{
- 	return warningVisibility;
-}
-
-
-/*
- *	g e t I n f o V i s i b i l i t y S t a t u s
- */
-inline VisibilityStatus MessageHandling::getInfoVisibilityStatus( ) const
-{
- 	return infoVisibility;
-}
-
-
-/*
- *	g e t O u t p u t F i l e
- */
-inline myFILE* MessageHandling::getOutputFile( ) const
-{
- 	return outputFile;
-}
-
-
-/*
- *	g e t E r r o r C o u n t
- */
-inline int MessageHandling::getErrorCount( ) const
-{
- 	return errorCount;
-}
-
-
-/*
- *	s e t E r r o r V i s i b i l i t y S t a t u s
- */
-inline void MessageHandling::setErrorVisibilityStatus( VisibilityStatus _errorVisibility ) 
-{
- 	errorVisibility = _errorVisibility;
-}
-
-
-/*
- *	s e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-inline void MessageHandling::setWarningVisibilityStatus( VisibilityStatus _warningVisibility ) 
-{
- 	warningVisibility = _warningVisibility;
-}
-
-
-/*
- *	s e t I n f o V i s i b i l i t y S t a t u s
- */
-inline void MessageHandling::setInfoVisibilityStatus( VisibilityStatus _infoVisibility ) 
-{
- 	infoVisibility = _infoVisibility;
-}
-
-
-/*
- *	s e t O u t p u t F i l e
- */
-inline void MessageHandling::setOutputFile( myFILE* _outputFile ) 
-{
- 	outputFile = _outputFile;
-}
-
-
-/*
- *	s e t E r r o r C o u n t
- */
-inline returnValue MessageHandling::setErrorCount( int _errorCount )
-{
-	if ( _errorCount >= 0 ) 	
-	{
-		errorCount = _errorCount;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return RET_INVALID_ARGUMENTS;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/MessageHandling.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of inlined member functions of the MessageHandling class. 
+ */
+
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+ 
+/*
+ *	g e t E r r o r V i s i b i l i t y S t a t u s
+ */
+inline VisibilityStatus MessageHandling::getErrorVisibilityStatus( ) const
+{
+ 	return errorVisibility;
+}
+
+
+/*
+ *	g e t W a r n i n g V i s i b i l i t y S t a t u s
+ */
+inline VisibilityStatus MessageHandling::getWarningVisibilityStatus( ) const
+{
+ 	return warningVisibility;
+}
+
+
+/*
+ *	g e t I n f o V i s i b i l i t y S t a t u s
+ */
+inline VisibilityStatus MessageHandling::getInfoVisibilityStatus( ) const
+{
+ 	return infoVisibility;
+}
+
+
+/*
+ *	g e t O u t p u t F i l e
+ */
+inline myFILE* MessageHandling::getOutputFile( ) const
+{
+ 	return outputFile;
+}
+
+
+/*
+ *	g e t E r r o r C o u n t
+ */
+inline int MessageHandling::getErrorCount( ) const
+{
+ 	return errorCount;
+}
+
+
+/*
+ *	s e t E r r o r V i s i b i l i t y S t a t u s
+ */
+inline void MessageHandling::setErrorVisibilityStatus( VisibilityStatus _errorVisibility ) 
+{
+ 	errorVisibility = _errorVisibility;
+}
+
+
+/*
+ *	s e t W a r n i n g V i s i b i l i t y S t a t u s
+ */
+inline void MessageHandling::setWarningVisibilityStatus( VisibilityStatus _warningVisibility ) 
+{
+ 	warningVisibility = _warningVisibility;
+}
+
+
+/*
+ *	s e t I n f o V i s i b i l i t y S t a t u s
+ */
+inline void MessageHandling::setInfoVisibilityStatus( VisibilityStatus _infoVisibility ) 
+{
+ 	infoVisibility = _infoVisibility;
+}
+
+
+/*
+ *	s e t O u t p u t F i l e
+ */
+inline void MessageHandling::setOutputFile( myFILE* _outputFile ) 
+{
+ 	outputFile = _outputFile;
+}
+
+
+/*
+ *	s e t E r r o r C o u n t
+ */
+inline returnValue MessageHandling::setErrorCount( int _errorCount )
+{
+	if ( _errorCount >= 0 ) 	
+	{
+		errorCount = _errorCount;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return RET_INVALID_ARGUMENTS;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/QProblem.ipp

@@ -1,299 +1,299 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/QProblem.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the QProblem class which 
- *	is able to use the newly developed online active set strategy for 
- *	parametric quadratic programming.
- */
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t A
- */
-inline returnValue QProblem::getA( real_t* const _A ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( )*getNC( ); ++i )
-		_A[i] = A[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t A
- */
-inline returnValue QProblem::getA( int number, real_t* const row ) const
-{
-	int nV = getNV( );
-		
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		for ( int i=0; i<nV; ++i )
-			row[i] = A[number*NVMAX + i];
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	g e t L B A
- */
-inline returnValue QProblem::getLBA( real_t* const _lbA ) const
-{
-	int i;
-
-	for ( i=0; i<getNC( ); ++i )
-		_lbA[i] = lbA[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t L B A
- */
-inline returnValue QProblem::getLBA( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		value = lbA[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	g e t U B A
- */
-inline returnValue QProblem::getUBA( real_t* const _ubA ) const
-{
-	int i;
-
-	for ( i=0; i<getNC( ); ++i )
-		_ubA[i] = ubA[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t U B A
- */
-inline returnValue QProblem::getUBA( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		value = ubA[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-inline returnValue QProblem::getConstraints( Constraints* const _constraints ) const
-{
-	*_constraints = constraints;
-	
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-inline int QProblem::getNC( ) const
-{
-	return constraints.getNC( );
-}
-
-
-/*
- *	g e t N E C
- */
-inline int QProblem::getNEC( ) const
-{
-	return constraints.getNEC( );
-}
-
-
-/*
- *	g e t N A C
- */
-inline int QProblem::getNAC( )
-{
-	return constraints.getNAC( );
-}
-
-
-/*
- *	g e t N I A C
- */
-inline int QProblem::getNIAC( )
-{
-	return constraints.getNIAC( );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
- 
-
-/*
- *	s e t A
- */
-inline returnValue QProblem::setA( const real_t* const A_new )
-{
-	int i, j;
-	int nV = getNV( );
-	int nC = getNC( );
-
-	/* Set constraint matrix AND update member AX. */
-	for( j=0; j<nC; ++j )
-	{
-		Ax[j] = 0.0;
-
-		for( i=0; i<nV; ++i )
-		{	
-			A[j*NVMAX + i] = A_new[j*nV + i];
-			Ax[j] += A[j*NVMAX + i] * x[i];
-		}
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t A
- */
-inline returnValue QProblem::setA( int number, const real_t* const row )
-{
-	int i;
-	int nV = getNV( );
-
-	/* Set constraint matrix AND update member AX. */
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		Ax[number] = 0.0;
-
-		for( i=0; i<nV; ++i )
-		{
-			A[number*NVMAX + i] = row[i];
-			Ax[number] += A[number*NVMAX + i] * x[i];
-		}
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t L B A
- */
-inline returnValue QProblem::setLBA( const real_t* const lbA_new )
-{
-	int i;
-	int nC = getNC();
-
-	for( i=0; i<nC; ++i )
-		lbA[i] = lbA_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-inline returnValue QProblem::setLBA( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-inline returnValue QProblem::setUBA( const real_t* const ubA_new )
-{
-	int i;
-	int nC = getNC();
-
-	for( i=0; i<nC; ++i )
-		ubA[i] = ubA_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-inline returnValue QProblem::setUBA( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNC( ) ) )
-	{
-		ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/QProblem.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of inlined member functions of the QProblem class which 
+ *	is able to use the newly developed online active set strategy for 
+ *	parametric quadratic programming.
+ */
+
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+/*
+ *	g e t A
+ */
+inline returnValue QProblem::getA( real_t* const _A ) const
+{
+	int i;
+
+	for ( i=0; i<getNV( )*getNC( ); ++i )
+		_A[i] = A[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t A
+ */
+inline returnValue QProblem::getA( int number, real_t* const row ) const
+{
+	int nV = getNV( );
+		
+	if ( ( number >= 0 ) && ( number < getNC( ) ) )
+	{
+		for ( int i=0; i<nV; ++i )
+			row[i] = A[number*NVMAX + i];
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	g e t L B A
+ */
+inline returnValue QProblem::getLBA( real_t* const _lbA ) const
+{
+	int i;
+
+	for ( i=0; i<getNC( ); ++i )
+		_lbA[i] = lbA[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t L B A
+ */
+inline returnValue QProblem::getLBA( int number, real_t& value ) const
+{
+	if ( ( number >= 0 ) && ( number < getNC( ) ) )
+	{
+		value = lbA[number];
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	g e t U B A
+ */
+inline returnValue QProblem::getUBA( real_t* const _ubA ) const
+{
+	int i;
+
+	for ( i=0; i<getNC( ); ++i )
+		_ubA[i] = ubA[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t U B A
+ */
+inline returnValue QProblem::getUBA( int number, real_t& value ) const
+{
+	if ( ( number >= 0 ) && ( number < getNC( ) ) )
+	{
+		value = ubA[number];
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	g e t C o n s t r a i n t s
+ */
+inline returnValue QProblem::getConstraints( Constraints* const _constraints ) const
+{
+	*_constraints = constraints;
+	
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*
+ *	g e t N C
+ */
+inline int QProblem::getNC( ) const
+{
+	return constraints.getNC( );
+}
+
+
+/*
+ *	g e t N E C
+ */
+inline int QProblem::getNEC( ) const
+{
+	return constraints.getNEC( );
+}
+
+
+/*
+ *	g e t N A C
+ */
+inline int QProblem::getNAC( )
+{
+	return constraints.getNAC( );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+inline int QProblem::getNIAC( )
+{
+	return constraints.getNIAC( );
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+ 
+
+/*
+ *	s e t A
+ */
+inline returnValue QProblem::setA( const real_t* const A_new )
+{
+	int i, j;
+	int nV = getNV( );
+	int nC = getNC( );
+
+	/* Set constraint matrix AND update member AX. */
+	for( j=0; j<nC; ++j )
+	{
+		Ax[j] = 0.0;
+
+		for( i=0; i<nV; ++i )
+		{	
+			A[j*NVMAX + i] = A_new[j*nV + i];
+			Ax[j] += A[j*NVMAX + i] * x[i];
+		}
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t A
+ */
+inline returnValue QProblem::setA( int number, const real_t* const row )
+{
+	int i;
+	int nV = getNV( );
+
+	/* Set constraint matrix AND update member AX. */
+	if ( ( number >= 0 ) && ( number < getNC( ) ) )
+	{
+		Ax[number] = 0.0;
+
+		for( i=0; i<nV; ++i )
+		{
+			A[number*NVMAX + i] = row[i];
+			Ax[number] += A[number*NVMAX + i] * x[i];
+		}
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t L B A
+ */
+inline returnValue QProblem::setLBA( const real_t* const lbA_new )
+{
+	int i;
+	int nC = getNC();
+
+	for( i=0; i<nC; ++i )
+		lbA[i] = lbA_new[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+inline returnValue QProblem::setLBA( int number, real_t value )
+{
+	if ( ( number >= 0 ) && ( number < getNC( ) ) )
+	{
+		lbA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t U B A
+ */
+inline returnValue QProblem::setUBA( const real_t* const ubA_new )
+{
+	int i;
+	int nC = getNC();
+
+	for( i=0; i<nC; ++i )
+		ubA[i] = ubA_new[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B A
+ */
+inline returnValue QProblem::setUBA( int number, real_t value )
+{
+	if ( ( number >= 0 ) && ( number < getNC( ) ) )
+	{
+		ubA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/QProblemB.ipp

@@ -1,425 +1,425 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/QProblemB.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of inlined member functions of the QProblemB class which 
- *	is able to use the newly developed online active set strategy for 
- *	parametric quadratic programming.
- */
-
-
-
-#include <math.h>
-
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-/*
- *	g e t H
- */
-inline returnValue QProblemB::getH( real_t* const _H ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( )*getNV( ); ++i )
-		_H[i] = H[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t G
- */
-inline returnValue QProblemB::getG( real_t* const _g ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( ); ++i )
-		_g[i] = g[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t L B
- */
-inline returnValue QProblemB::getLB( real_t* const _lb ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( ); ++i )
-		_lb[i] = lb[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t L B
- */
-inline returnValue QProblemB::getLB( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		value = lb[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	g e t U B
- */
-inline returnValue QProblemB::getUB( real_t* const _ub ) const
-{
-	int i;
-
-	for ( i=0; i<getNV( ); ++i )
-		_ub[i] = ub[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t U B
- */
-inline returnValue QProblemB::getUB( int number, real_t& value ) const
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		value = ub[number];
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	g e t B o u n d s
- */
-inline returnValue QProblemB::getBounds( Bounds* const _bounds ) const
-{
-	*_bounds = bounds;
-	
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-inline int QProblemB::getNV( ) const
-{
-	return bounds.getNV( );
-}
-
-
-/*
- *	g e t N F R
- */
-inline int QProblemB::getNFR( )
-{
-	return bounds.getNFR( );
-}
-
-
-/*
- *	g e t N F X
- */
-inline int QProblemB::getNFX( )
-{
-	return bounds.getNFX( );
-}
-
-
-/*
- *	g e t N F V
- */
-inline int QProblemB::getNFV( ) const
-{
-	return bounds.getNFV( );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-inline QProblemStatus QProblemB::getStatus( ) const
-{
-	return status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-inline BooleanType QProblemB::isInitialised( ) const
-{
-	if ( status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-inline BooleanType QProblemB::isSolved( ) const
-{
-	if ( status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-inline BooleanType QProblemB::isInfeasible( ) const
-{
-	return infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-inline BooleanType QProblemB::isUnbounded( ) const
-{
-	return unbounded;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-inline PrintLevel QProblemB::getPrintLevel( ) const
-{
-	return printlevel;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-inline HessianType QProblemB::getHessianType( ) const
-{
-	return hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-inline returnValue QProblemB::setHessianType( HessianType _hessianType )
-{
-	hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-/*
- *	s e t H
- */
-inline returnValue QProblemB::setH( const real_t* const H_new )
-{
-	int i, j;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		for( j=0; j<nV; ++j )
-			H[i*NVMAX + j] = H_new[i*nV + j];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-inline returnValue QProblemB::setG( const real_t* const g_new )
-{
-	int i;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		g[i] = g_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-inline returnValue QProblemB::setLB( const real_t* const lb_new )
-{
-	int i;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		lb[i] = lb_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-inline returnValue QProblemB::setLB( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-inline returnValue QProblemB::setUB( const real_t* const ub_new )
-{
-	int i;
-
-	int nV = getNV();
-
-	for( i=0; i<nV; ++i )
-		ub[i] = ub_new[i];
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-inline returnValue QProblemB::setUB( int number, real_t value )
-{
-	if ( ( number >= 0 ) && ( number < getNV( ) ) )
-	{
-		ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	c o m p u t e G i v e n s
- */
-inline void QProblemB::computeGivens(	real_t xold, real_t yold, real_t& xnew, real_t& ynew,
-										real_t& c, real_t& s 
-										) const
-{
-    if ( getAbs( yold ) <= ZERO )
-	{
-        c = 1.0;
-        s = 0.0;
-		
-		xnew = xold;
-		ynew = yold;
-	}
-    else
-	{
-		real_t t, mu;
-
-        mu = getAbs( xold );
-		if ( getAbs( yold ) > mu )
-			mu = getAbs( yold );
-		
-        t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
-		
-		if ( xold < 0.0 )
-            t = -t;
-		
-        c = xold/t;
-        s = yold/t;
-        xnew = t;
-        ynew = 0.0;
-	}
-	
-	return;
-}
-
-		
-/*
- *	a p p l y G i v e n s
- */
-inline void QProblemB::applyGivens(	real_t c, real_t s, real_t xold, real_t yold,
-									real_t& xnew, real_t& ynew 
-									) const
-{
-	/* Usual Givens plane rotation requiring four multiplications. */
-	xnew =  c*xold + s*yold;
-	ynew = -s*xold + c*yold;
-// 	double nu = s/(1.0+c);
-// 
-// 	xnew = xold*c + yold*s;
-// 	ynew = (xnew+xold)*nu - yold;
-	
-	return;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/QProblemB.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of inlined member functions of the QProblemB class which 
+ *	is able to use the newly developed online active set strategy for 
+ *	parametric quadratic programming.
+ */
+
+
+
+#include <math.h>
+
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+/*
+ *	g e t H
+ */
+inline returnValue QProblemB::getH( real_t* const _H ) const
+{
+	int i;
+
+	for ( i=0; i<getNV( )*getNV( ); ++i )
+		_H[i] = H[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t G
+ */
+inline returnValue QProblemB::getG( real_t* const _g ) const
+{
+	int i;
+
+	for ( i=0; i<getNV( ); ++i )
+		_g[i] = g[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t L B
+ */
+inline returnValue QProblemB::getLB( real_t* const _lb ) const
+{
+	int i;
+
+	for ( i=0; i<getNV( ); ++i )
+		_lb[i] = lb[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t L B
+ */
+inline returnValue QProblemB::getLB( int number, real_t& value ) const
+{
+	if ( ( number >= 0 ) && ( number < getNV( ) ) )
+	{
+		value = lb[number];
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	g e t U B
+ */
+inline returnValue QProblemB::getUB( real_t* const _ub ) const
+{
+	int i;
+
+	for ( i=0; i<getNV( ); ++i )
+		_ub[i] = ub[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t U B
+ */
+inline returnValue QProblemB::getUB( int number, real_t& value ) const
+{
+	if ( ( number >= 0 ) && ( number < getNV( ) ) )
+	{
+		value = ub[number];
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	g e t B o u n d s
+ */
+inline returnValue QProblemB::getBounds( Bounds* const _bounds ) const
+{
+	*_bounds = bounds;
+	
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N V
+ */
+inline int QProblemB::getNV( ) const
+{
+	return bounds.getNV( );
+}
+
+
+/*
+ *	g e t N F R
+ */
+inline int QProblemB::getNFR( )
+{
+	return bounds.getNFR( );
+}
+
+
+/*
+ *	g e t N F X
+ */
+inline int QProblemB::getNFX( )
+{
+	return bounds.getNFX( );
+}
+
+
+/*
+ *	g e t N F V
+ */
+inline int QProblemB::getNFV( ) const
+{
+	return bounds.getNFV( );
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+inline QProblemStatus QProblemB::getStatus( ) const
+{
+	return status;
+}
+
+
+/*
+ *	i s I n i t i a l i s e d
+ */
+inline BooleanType QProblemB::isInitialised( ) const
+{
+	if ( status == QPS_NOTINITIALISED )
+		return BT_FALSE;
+	else
+		return BT_TRUE;
+}
+
+
+/*
+ *	i s S o l v e d
+ */
+inline BooleanType QProblemB::isSolved( ) const
+{
+	if ( status == QPS_SOLVED )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	i s I n f e a s i b l e
+ */
+inline BooleanType QProblemB::isInfeasible( ) const
+{
+	return infeasible;
+}
+
+
+/*
+ *	i s U n b o u n d e d
+ */
+inline BooleanType QProblemB::isUnbounded( ) const
+{
+	return unbounded;
+}
+
+
+/*
+ *	g e t P r i n t L e v e l
+ */
+inline PrintLevel QProblemB::getPrintLevel( ) const
+{
+	return printlevel;
+}
+
+
+/*
+ *	g e t H e s s i a n T y p e
+ */
+inline HessianType QProblemB::getHessianType( ) const
+{
+	return hessianType;
+}
+
+
+/*
+ *	s e t H e s s i a n T y p e
+ */
+inline returnValue QProblemB::setHessianType( HessianType _hessianType )
+{
+	hessianType = _hessianType;
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+/*
+ *	s e t H
+ */
+inline returnValue QProblemB::setH( const real_t* const H_new )
+{
+	int i, j;
+
+	int nV = getNV();
+
+	for( i=0; i<nV; ++i )
+		for( j=0; j<nV; ++j )
+			H[i*NVMAX + j] = H_new[i*nV + j];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t G
+ */
+inline returnValue QProblemB::setG( const real_t* const g_new )
+{
+	int i;
+
+	int nV = getNV();
+
+	for( i=0; i<nV; ++i )
+		g[i] = g_new[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+inline returnValue QProblemB::setLB( const real_t* const lb_new )
+{
+	int i;
+
+	int nV = getNV();
+
+	for( i=0; i<nV; ++i )
+		lb[i] = lb_new[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+inline returnValue QProblemB::setLB( int number, real_t value )
+{
+	if ( ( number >= 0 ) && ( number < getNV( ) ) )
+	{
+		lb[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	s e t U B
+ */
+inline returnValue QProblemB::setUB( const real_t* const ub_new )
+{
+	int i;
+
+	int nV = getNV();
+
+	for( i=0; i<nV; ++i )
+		ub[i] = ub_new[i];
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B
+ */
+inline returnValue QProblemB::setUB( int number, real_t value )
+{
+	if ( ( number >= 0 ) && ( number < getNV( ) ) )
+	{
+		ub[number] = value;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	c o m p u t e G i v e n s
+ */
+inline void QProblemB::computeGivens(	real_t xold, real_t yold, real_t& xnew, real_t& ynew,
+										real_t& c, real_t& s 
+										) const
+{
+    if ( getAbs( yold ) <= ZERO )
+	{
+        c = 1.0;
+        s = 0.0;
+		
+		xnew = xold;
+		ynew = yold;
+	}
+    else
+	{
+		real_t t, mu;
+
+        mu = getAbs( xold );
+		if ( getAbs( yold ) > mu )
+			mu = getAbs( yold );
+		
+        t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
+		
+		if ( xold < 0.0 )
+            t = -t;
+		
+        c = xold/t;
+        s = yold/t;
+        xnew = t;
+        ynew = 0.0;
+	}
+	
+	return;
+}
+
+		
+/*
+ *	a p p l y G i v e n s
+ */
+inline void QProblemB::applyGivens(	real_t c, real_t s, real_t xold, real_t yold,
+									real_t& xnew, real_t& ynew 
+									) const
+{
+	/* Usual Givens plane rotation requiring four multiplications. */
+	xnew =  c*xold + s*yold;
+	ynew = -s*xold + c*yold;
+// 	double nu = s/(1.0+c);
+// 
+// 	xnew = xold*c + yold*s;
+// 	ynew = (xnew+xold)*nu - yold;
+	
+	return;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/SubjectTo.cpp

@@ -1,200 +1,200 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/SubjectTo.cpp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the SubjectTo class designed to manage working sets of
- *	constraints and bounds within a QProblem.
- */
-
-
-#include <SubjectTo.hpp>
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
-
-
-/*
- *	S u b j e c t T o
- */
-SubjectTo::SubjectTo( ) :	noLower( BT_TRUE ),
-							noUpper( BT_TRUE ),
-							size( 0 )
-{
-	int i;
-
-	for( i=0; i<size; ++i )
-	{
-		type[i] = ST_UNKNOWN;
-		status[i] = ST_UNDEFINED;
-	}
-}
-
-
-/*
- *	S u b j e c t T o
- */
-SubjectTo::SubjectTo( const SubjectTo& rhs ) :	noLower( rhs.noLower ),
-												noUpper( rhs.noUpper ),
-												size( rhs.size )
-{
-	int i;
-
-	for( i=0; i<size; ++i )
-	{
-		type[i] = rhs.type[i];
-		status[i] = rhs.status[i];
-	}
-}
-
-
-/*
- *	~ S u b j e c t T o
- */
-SubjectTo::~SubjectTo( )
-{
-}
-
-
-/*
- *	o p e r a t o r =
- */
-SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
-{
-	int i;
-
-	if ( this != &rhs )
-	{
-		size = rhs.size;
-
-		for( i=0; i<size; ++i )
-		{
-			type[i] = rhs.type[i];
-			status[i] = rhs.status[i];
-		}
-
-		noLower = rhs.noLower;
-		noUpper = rhs.noUpper;
-	}
-
-	return *this;
-}
-
-
-
-/*
- *	i n i t
- */
-returnValue SubjectTo::init( int n )
-{
-	int i;
-
-	size = n;
-
-	noLower = BT_TRUE;
-	noUpper = BT_TRUE;
-
-	for( i=0; i<size; ++i )
-	{
-		type[i] = ST_UNKNOWN;
-		status[i] = ST_UNDEFINED;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-/*
- *	a d d I n d e x
- */
-returnValue SubjectTo::addIndex(	Indexlist* const indexlist,
-									int newnumber, SubjectToStatus newstatus
-									)
-{
-	/* consistency check */
-	if ( status[newnumber] == newstatus )
-		return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );
-
-	status[newnumber] = newstatus;
-
-	if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
-		return THROWERROR( RET_ADDINDEX_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	r e m o v e I n d e x
- */
-returnValue SubjectTo::removeIndex(	Indexlist* const indexlist, 
-									int removenumber
-									)
-{
-	status[removenumber] = ST_UNDEFINED;
-
-	if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_UNKNOWN_BUG );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s w a p I n d e x
- */
-returnValue SubjectTo::swapIndex(	Indexlist* const indexlist,
-									int number1, int number2
-									)
-{
-	/* consistency checks */
-	if ( status[number1] != status[number2] )
-		return THROWERROR( RET_SWAPINDEX_FAILED );
-
-	if ( number1 == number2 )
-	{
-		THROWWARNING( RET_NOTHING_TO_DO );
-		return SUCCESSFUL_RETURN;
-	}
-
-	if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
-		return THROWERROR( RET_SWAPINDEX_FAILED );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/SubjectTo.cpp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of the SubjectTo class designed to manage working sets of
+ *	constraints and bounds within a QProblem.
+ */
+
+
+#include <SubjectTo.hpp>
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+
+
+/*
+ *	S u b j e c t T o
+ */
+SubjectTo::SubjectTo( ) :	noLower( BT_TRUE ),
+							noUpper( BT_TRUE ),
+							size( 0 )
+{
+	int i;
+
+	for( i=0; i<size; ++i )
+	{
+		type[i] = ST_UNKNOWN;
+		status[i] = ST_UNDEFINED;
+	}
+}
+
+
+/*
+ *	S u b j e c t T o
+ */
+SubjectTo::SubjectTo( const SubjectTo& rhs ) :	noLower( rhs.noLower ),
+												noUpper( rhs.noUpper ),
+												size( rhs.size )
+{
+	int i;
+
+	for( i=0; i<size; ++i )
+	{
+		type[i] = rhs.type[i];
+		status[i] = rhs.status[i];
+	}
+}
+
+
+/*
+ *	~ S u b j e c t T o
+ */
+SubjectTo::~SubjectTo( )
+{
+}
+
+
+/*
+ *	o p e r a t o r =
+ */
+SubjectTo& SubjectTo::operator=( const SubjectTo& rhs )
+{
+	int i;
+
+	if ( this != &rhs )
+	{
+		size = rhs.size;
+
+		for( i=0; i<size; ++i )
+		{
+			type[i] = rhs.type[i];
+			status[i] = rhs.status[i];
+		}
+
+		noLower = rhs.noLower;
+		noUpper = rhs.noUpper;
+	}
+
+	return *this;
+}
+
+
+
+/*
+ *	i n i t
+ */
+returnValue SubjectTo::init( int n )
+{
+	int i;
+
+	size = n;
+
+	noLower = BT_TRUE;
+	noUpper = BT_TRUE;
+
+	for( i=0; i<size; ++i )
+	{
+		type[i] = ST_UNKNOWN;
+		status[i] = ST_UNDEFINED;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+/*
+ *	a d d I n d e x
+ */
+returnValue SubjectTo::addIndex(	Indexlist* const indexlist,
+									int newnumber, SubjectToStatus newstatus
+									)
+{
+	/* consistency check */
+	if ( status[newnumber] == newstatus )
+		return THROWERROR( RET_INDEX_ALREADY_OF_DESIRED_STATUS );
+
+	status[newnumber] = newstatus;
+
+	if ( indexlist->addNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH )
+		return THROWERROR( RET_ADDINDEX_FAILED );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	r e m o v e I n d e x
+ */
+returnValue SubjectTo::removeIndex(	Indexlist* const indexlist, 
+									int removenumber
+									)
+{
+	status[removenumber] = ST_UNDEFINED;
+
+	if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_UNKNOWN_BUG );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s w a p I n d e x
+ */
+returnValue SubjectTo::swapIndex(	Indexlist* const indexlist,
+									int number1, int number2
+									)
+{
+	/* consistency checks */
+	if ( status[number1] != status[number2] )
+		return THROWERROR( RET_SWAPINDEX_FAILED );
+
+	if ( number1 == number2 )
+	{
+		THROWWARNING( RET_NOTHING_TO_DO );
+		return SUCCESSFUL_RETURN;
+	}
+
+	if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN )
+		return THROWERROR( RET_SWAPINDEX_FAILED );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/SubjectTo.ipp

@@ -1,132 +1,132 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/SubjectTo.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of the inlined member functions of the SubjectTo class 
- *	designed to manage working sets of constraints and bounds within a QProblem.
- */
-
-
-/*****************************************************************************
- *  P U B L I C                                                              *
- *****************************************************************************/
- 
-
-/*
- *	g e t T y p e
- */
-inline SubjectToType SubjectTo::getType( int i ) const
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-		return type[i];
-	else
-		return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-inline SubjectToStatus SubjectTo::getStatus( int i ) const
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-		return status[i];
-	else
-		return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-inline returnValue SubjectTo::setType( int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-	{
-		type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-inline returnValue SubjectTo::setStatus( int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < size ) )
-	{
-		status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-inline void SubjectTo::setNoLower( BooleanType _status )
-{
-	noLower = _status;
-}
- 
-
-/*
- *	s e t N o U p p e r
- */
-inline void SubjectTo::setNoUpper( BooleanType _status )
-{
-	noUpper = _status;
-}
-
-
-/*
- *	i s N o L o w e r
- */
-inline BooleanType SubjectTo::isNoLower( ) const
-{
-	return noLower;
-}
-
- 
-/*
- *	i s N o L o w e r
- */
-inline BooleanType SubjectTo::isNoUpper( ) const
-{
-	return noUpper;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/SubjectTo.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of the inlined member functions of the SubjectTo class 
+ *	designed to manage working sets of constraints and bounds within a QProblem.
+ */
+
+
+/*****************************************************************************
+ *  P U B L I C                                                              *
+ *****************************************************************************/
+ 
+
+/*
+ *	g e t T y p e
+ */
+inline SubjectToType SubjectTo::getType( int i ) const
+{
+	if ( ( i >= 0 ) && ( i < size ) )
+		return type[i];
+	else
+		return ST_UNKNOWN;
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+inline SubjectToStatus SubjectTo::getStatus( int i ) const
+{
+	if ( ( i >= 0 ) && ( i < size ) )
+		return status[i];
+	else
+		return ST_UNDEFINED;
+}
+
+
+/*
+ *	s e t T y p e
+ */
+inline returnValue SubjectTo::setType( int i, SubjectToType value )
+{
+	if ( ( i >= 0 ) && ( i < size ) )
+	{
+		type[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t S t a t u s
+ */
+inline returnValue SubjectTo::setStatus( int i, SubjectToStatus value )
+{
+	if ( ( i >= 0 ) && ( i < size ) )
+	{
+		status[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t N o L o w e r
+ */
+inline void SubjectTo::setNoLower( BooleanType _status )
+{
+	noLower = _status;
+}
+ 
+
+/*
+ *	s e t N o U p p e r
+ */
+inline void SubjectTo::setNoUpper( BooleanType _status )
+{
+	noUpper = _status;
+}
+
+
+/*
+ *	i s N o L o w e r
+ */
+inline BooleanType SubjectTo::isNoLower( ) const
+{
+	return noLower;
+}
+
+ 
+/*
+ *	i s N o L o w e r
+ */
+inline BooleanType SubjectTo::isNoUpper( ) const
+{
+	return noUpper;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Utils.cpp

@@ -1,471 +1,471 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-/**
- *	\file SRC/Utils.cpp
- *	\author Hans Joachim Ferreau, Eckhard Arnold
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of some inlined utilities for working with the different QProblem
- *  classes.
- */
-
-
-#include <math.h>
-
-#if defined(__WIN32__) || defined(WIN32)
-  #include <windows.h>
-#elif defined(LINUX)
-  #include <sys/stat.h>
-  #include <sys/time.h>
-#endif
-
-#ifdef __MATLAB__
-  #include <mex.h>
-#endif
-
-
-#include <Utils.hpp>
-
-
-
-#ifdef PC_DEBUG  /* Define print functions only for debugging! */
-/*
- *	p r i n t
- */
-returnValue print( const real_t* const v, int n )
-{
-	int i;
-	char myPrintfString[160];
-
-	/* Print a vector. */
-	myPrintf( "[\t" );
-	for( i=0; i<n; ++i )
-	{
-		sprintf( myPrintfString," %.16e\t", v[i] );
-		myPrintf( myPrintfString );
-	}
-	myPrintf( "]\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const v, int n,
-					const int* const V_idx
-					)
-{
-	int i;
-	char myPrintfString[160];
-
-	/* Print a permuted vector. */
-	myPrintf( "[\t" );
-	for( i=0; i<n; ++i )
-	{
-		sprintf( myPrintfString," %.16e\t", v[ V_idx[i] ] );
-		myPrintf( myPrintfString );
-	}
-	myPrintf( "]\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const v, int n,
-					const char* name
-					)
-{
-	char myPrintfString[160];
-
-	/* Print vector name ... */
-	sprintf( myPrintfString,"%s = ", name );
-	myPrintf( myPrintfString );
-
-	/* ... and the vector itself. */
-	return print( v, n );
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print( const real_t* const M, int nrow, int ncol )
-{
-	int i;
-
-	/* Print a matrix as a collection of row vectors. */
-	for( i=0; i<nrow; ++i )
-		print( &(M[i*ncol]), ncol );
-	myPrintf( "\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const M, int nrow, int ncol,
-					const int* const ROW_idx, const int* const COL_idx
-					)
-{
-	int i;
-
-	/* Print a permuted matrix as a collection of permuted row vectors. */
-	for( i=0; i<nrow; ++i )
-		print( &( M[ ROW_idx[i]*ncol ] ), ncol, COL_idx );
-	myPrintf( "\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const real_t* const M, int nrow, int ncol,
-					const char* name
-					)
-{
-	char myPrintfString[160];
-
-	/* Print matrix name ... */
-	sprintf( myPrintfString,"%s = ", name );
-	myPrintf( myPrintfString );
-
-	/* ... and the matrix itself. */
-	return print( M, nrow, ncol );
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print( const int* const index, int n )
-{
-	int i;
-	char myPrintfString[160];
-
-	/* Print a indexlist. */
-	myPrintf( "[\t" );
-	for( i=0; i<n; ++i )
-	{
-		sprintf( myPrintfString," %d\t", index[i] );
-		myPrintf( myPrintfString );
-	}
-	myPrintf( "]\n" );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t
- */
-returnValue print(	const int* const index, int n,
-					const char* name
-					)
-{
-	char myPrintfString[160];
-
-	/* Print indexlist name ... */
-	sprintf( myPrintfString,"%s = ", name );
-	myPrintf( myPrintfString );
-
-	/* ... and the indexlist itself. */
-	return print( index, n );
-}
-
-
-/*
- *	m y P r i n t f
- */
-returnValue myPrintf( const char* s )
-{
-	#ifdef __MATLAB__
-	mexPrintf( s );
-	#else
-	myFILE* outputfile = getGlobalMessageHandler( )->getOutputFile( );
-	if ( outputfile == 0 )
-		return THROWERROR( RET_NO_GLOBAL_MESSAGE_OUTPUTFILE );
-
-	fprintf( outputfile, "%s", s );
-	#endif
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	p r i n t C o p y r i g h t N o t i c e
- */
-returnValue printCopyrightNotice( )
-{
-	return myPrintf( "\nqpOASES -- An Implementation of the Online Active Set Strategy.\nCopyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.\n\nqpOASES is distributed under the terms of the \nGNU Lesser General Public License 2.1 in the hope that it will be \nuseful, but WITHOUT ANY WARRANTY; without even the implied warranty \nof MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \nSee the GNU Lesser General Public License for more details.\n\n" );
-}
-
-
-/*
- *	r e a d F r o m F i l e
- */
-returnValue readFromFile(	real_t* data, int nrow, int ncol,
-							const char* datafilename
-							)
-{
-	int i, j;
-	float float_data;
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
-	{
-		char errstr[80];
-		sprintf( errstr,"(%s)",datafilename );
-		return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-	}
-
-	/* 2) Read data from file. */
-	for( i=0; i<nrow; ++i )
-	{
-		for( j=0; j<ncol; ++j )
-		{
-			if ( fscanf( datafile, "%f ", &float_data ) == 0 )
-			{
-				fclose( datafile );
-				char errstr[80];
-				sprintf( errstr,"(%s)",datafilename );
-				return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-			}
-			data[i*ncol + j] = ( (real_t) float_data );
-		}
-	}
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	r e a d F r o m F i l e
- */
-returnValue readFromFile(	real_t* data, int n,
-							const char* datafilename
-							)
-{
-	return readFromFile( data, n, 1, datafilename );
-}
-
-
-
-/*
- *	r e a d F r o m F i l e
- */
-returnValue readFromFile(	int* data, int n,
-							const char* datafilename
-							)
-{
-	int i;
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
-	{
-		char errstr[80];
-		sprintf( errstr,"(%s)",datafilename );
-		return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-	}
-
-	/* 2) Read data from file. */
-	for( i=0; i<n; ++i )
-	{
-		if ( fscanf( datafile, "%d\n", &(data[i]) ) == 0 )
-		{
-			fclose( datafile );
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	w r i t e I n t o F i l e
- */
-returnValue writeIntoFile(	const real_t* const data, int nrow, int ncol,
-							const char* datafilename, BooleanType append
-							)
-{
-	int i, j;
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( append == BT_TRUE )
-	{
-		/* append data */
-		if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-	else
-	{
-		/* do not append data */
-		if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-
-	/* 2) Write data into file. */
-	for( i=0; i<nrow; ++i )
-	{
-		for( j=0; j<ncol; ++j )
-		 	fprintf( datafile, "%.16e ", data[i*ncol+j] );
-
-		fprintf( datafile, "\n" );
-	}
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	w r i t e I n t o F i l e
- */
-returnValue writeIntoFile(	const real_t* const data, int n,
-							const char* datafilename, BooleanType append
-							)
-{
-	return writeIntoFile( data,1,n,datafilename,append );
-}
-
-
-/*
- *	w r i t e I n t o F i l e
- */
-returnValue writeIntoFile(	const int* const data, int n,
-							const char* datafilename, BooleanType append
-							)
-{
-	int i;
-
-	myFILE* datafile;
-
-	/* 1) Open file. */
-	if ( append == BT_TRUE )
-	{
-		/* append data */
-		if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-	else
-	{
-		/* do not append data */
-		if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
-		{
-			char errstr[80];
-			sprintf( errstr,"(%s)",datafilename );
-			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
-		}
-	}
-
-	/* 2) Write data into file. */
-	for( i=0; i<n; ++i )
-		fprintf( datafile, "%d\n", data[i] );
-
-	/* 3) Close file. */
-	fclose( datafile );
-
-	return SUCCESSFUL_RETURN;
-}
-#endif  /* PC_DEBUG */
-
-
-/*
- *	g e t C P U t i m e
- */
-real_t getCPUtime( )
-{
-	real_t current_time = -1.0;
-
-	#if defined(__WIN32__) || defined(WIN32)
-	LARGE_INTEGER counter, frequency;
-	QueryPerformanceFrequency(&frequency);
-	QueryPerformanceCounter(&counter);
-	current_time = ((real_t) counter.QuadPart) / ((real_t) frequency.QuadPart);
-	#elif defined(LINUX)
-	struct timeval theclock;
-	gettimeofday( &theclock,0 );
-	current_time = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;
-	#endif
-
-	return current_time;
-}
-
-
-/*
- *	g e t N o r m
- */
-real_t getNorm( const real_t* const v, int n )
-{
-	int i;
-
-	real_t norm = 0.0;
-
-	for( i=0; i<n; ++i )
-		norm += v[i]*v[i];
-
-	return sqrt( norm );
-}
-
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+/**
+ *	\file SRC/Utils.cpp
+ *	\author Hans Joachim Ferreau, Eckhard Arnold
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of some inlined utilities for working with the different QProblem
+ *  classes.
+ */
+
+
+#include <math.h>
+
+#if defined(__WIN32__) || defined(WIN32)
+  #include <windows.h>
+#elif defined(LINUX)
+  #include <sys/stat.h>
+  #include <sys/time.h>
+#endif
+
+#ifdef __MATLAB__
+  #include <mex.h>
+#endif
+
+
+#include <Utils.hpp>
+
+
+
+#ifdef PC_DEBUG  /* Define print functions only for debugging! */
+/*
+ *	p r i n t
+ */
+returnValue print( const real_t* const v, int n )
+{
+	int i;
+	char myPrintfString[160];
+
+	/* Print a vector. */
+	myPrintf( "[\t" );
+	for( i=0; i<n; ++i )
+	{
+		sprintf( myPrintfString," %.16e\t", v[i] );
+		myPrintf( myPrintfString );
+	}
+	myPrintf( "]\n" );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print(	const real_t* const v, int n,
+					const int* const V_idx
+					)
+{
+	int i;
+	char myPrintfString[160];
+
+	/* Print a permuted vector. */
+	myPrintf( "[\t" );
+	for( i=0; i<n; ++i )
+	{
+		sprintf( myPrintfString," %.16e\t", v[ V_idx[i] ] );
+		myPrintf( myPrintfString );
+	}
+	myPrintf( "]\n" );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print(	const real_t* const v, int n,
+					const char* name
+					)
+{
+	char myPrintfString[160];
+
+	/* Print vector name ... */
+	sprintf( myPrintfString,"%s = ", name );
+	myPrintf( myPrintfString );
+
+	/* ... and the vector itself. */
+	return print( v, n );
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print( const real_t* const M, int nrow, int ncol )
+{
+	int i;
+
+	/* Print a matrix as a collection of row vectors. */
+	for( i=0; i<nrow; ++i )
+		print( &(M[i*ncol]), ncol );
+	myPrintf( "\n" );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print(	const real_t* const M, int nrow, int ncol,
+					const int* const ROW_idx, const int* const COL_idx
+					)
+{
+	int i;
+
+	/* Print a permuted matrix as a collection of permuted row vectors. */
+	for( i=0; i<nrow; ++i )
+		print( &( M[ ROW_idx[i]*ncol ] ), ncol, COL_idx );
+	myPrintf( "\n" );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print(	const real_t* const M, int nrow, int ncol,
+					const char* name
+					)
+{
+	char myPrintfString[160];
+
+	/* Print matrix name ... */
+	sprintf( myPrintfString,"%s = ", name );
+	myPrintf( myPrintfString );
+
+	/* ... and the matrix itself. */
+	return print( M, nrow, ncol );
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print( const int* const index, int n )
+{
+	int i;
+	char myPrintfString[160];
+
+	/* Print a indexlist. */
+	myPrintf( "[\t" );
+	for( i=0; i<n; ++i )
+	{
+		sprintf( myPrintfString," %d\t", index[i] );
+		myPrintf( myPrintfString );
+	}
+	myPrintf( "]\n" );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	p r i n t
+ */
+returnValue print(	const int* const index, int n,
+					const char* name
+					)
+{
+	char myPrintfString[160];
+
+	/* Print indexlist name ... */
+	sprintf( myPrintfString,"%s = ", name );
+	myPrintf( myPrintfString );
+
+	/* ... and the indexlist itself. */
+	return print( index, n );
+}
+
+
+/*
+ *	m y P r i n t f
+ */
+returnValue myPrintf( const char* s )
+{
+	#ifdef __MATLAB__
+	mexPrintf( s );
+	#else
+	myFILE* outputfile = getGlobalMessageHandler( )->getOutputFile( );
+	if ( outputfile == 0 )
+		return THROWERROR( RET_NO_GLOBAL_MESSAGE_OUTPUTFILE );
+
+	fprintf( outputfile, "%s", s );
+	#endif
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	p r i n t C o p y r i g h t N o t i c e
+ */
+returnValue printCopyrightNotice( )
+{
+	return myPrintf( "\nqpOASES -- An Implementation of the Online Active Set Strategy.\nCopyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved.\n\nqpOASES is distributed under the terms of the \nGNU Lesser General Public License 2.1 in the hope that it will be \nuseful, but WITHOUT ANY WARRANTY; without even the implied warranty \nof MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \nSee the GNU Lesser General Public License for more details.\n\n" );
+}
+
+
+/*
+ *	r e a d F r o m F i l e
+ */
+returnValue readFromFile(	real_t* data, int nrow, int ncol,
+							const char* datafilename
+							)
+{
+	int i, j;
+	float float_data;
+	myFILE* datafile;
+
+	/* 1) Open file. */
+	if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
+	{
+		char errstr[80];
+		sprintf( errstr,"(%s)",datafilename );
+		return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+	}
+
+	/* 2) Read data from file. */
+	for( i=0; i<nrow; ++i )
+	{
+		for( j=0; j<ncol; ++j )
+		{
+			if ( fscanf( datafile, "%f ", &float_data ) == 0 )
+			{
+				fclose( datafile );
+				char errstr[80];
+				sprintf( errstr,"(%s)",datafilename );
+				return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+			}
+			data[i*ncol + j] = ( (real_t) float_data );
+		}
+	}
+
+	/* 3) Close file. */
+	fclose( datafile );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	r e a d F r o m F i l e
+ */
+returnValue readFromFile(	real_t* data, int n,
+							const char* datafilename
+							)
+{
+	return readFromFile( data, n, 1, datafilename );
+}
+
+
+
+/*
+ *	r e a d F r o m F i l e
+ */
+returnValue readFromFile(	int* data, int n,
+							const char* datafilename
+							)
+{
+	int i;
+	myFILE* datafile;
+
+	/* 1) Open file. */
+	if ( ( datafile = fopen( datafilename, "r" ) ) == 0 )
+	{
+		char errstr[80];
+		sprintf( errstr,"(%s)",datafilename );
+		return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+	}
+
+	/* 2) Read data from file. */
+	for( i=0; i<n; ++i )
+	{
+		if ( fscanf( datafile, "%d\n", &(data[i]) ) == 0 )
+		{
+			fclose( datafile );
+			char errstr[80];
+			sprintf( errstr,"(%s)",datafilename );
+			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+		}
+	}
+
+	/* 3) Close file. */
+	fclose( datafile );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	w r i t e I n t o F i l e
+ */
+returnValue writeIntoFile(	const real_t* const data, int nrow, int ncol,
+							const char* datafilename, BooleanType append
+							)
+{
+	int i, j;
+	myFILE* datafile;
+
+	/* 1) Open file. */
+	if ( append == BT_TRUE )
+	{
+		/* append data */
+		if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
+		{
+			char errstr[80];
+			sprintf( errstr,"(%s)",datafilename );
+			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+		}
+	}
+	else
+	{
+		/* do not append data */
+		if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
+		{
+			char errstr[80];
+			sprintf( errstr,"(%s)",datafilename );
+			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+		}
+	}
+
+	/* 2) Write data into file. */
+	for( i=0; i<nrow; ++i )
+	{
+		for( j=0; j<ncol; ++j )
+		 	fprintf( datafile, "%.16e ", data[i*ncol+j] );
+
+		fprintf( datafile, "\n" );
+	}
+
+	/* 3) Close file. */
+	fclose( datafile );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	w r i t e I n t o F i l e
+ */
+returnValue writeIntoFile(	const real_t* const data, int n,
+							const char* datafilename, BooleanType append
+							)
+{
+	return writeIntoFile( data,1,n,datafilename,append );
+}
+
+
+/*
+ *	w r i t e I n t o F i l e
+ */
+returnValue writeIntoFile(	const int* const data, int n,
+							const char* datafilename, BooleanType append
+							)
+{
+	int i;
+
+	myFILE* datafile;
+
+	/* 1) Open file. */
+	if ( append == BT_TRUE )
+	{
+		/* append data */
+		if ( ( datafile = fopen( datafilename, "a" ) ) == 0 )
+		{
+			char errstr[80];
+			sprintf( errstr,"(%s)",datafilename );
+			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+		}
+	}
+	else
+	{
+		/* do not append data */
+		if ( ( datafile = fopen( datafilename, "w" ) ) == 0 )
+		{
+			char errstr[80];
+			sprintf( errstr,"(%s)",datafilename );
+			return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE );
+		}
+	}
+
+	/* 2) Write data into file. */
+	for( i=0; i<n; ++i )
+		fprintf( datafile, "%d\n", data[i] );
+
+	/* 3) Close file. */
+	fclose( datafile );
+
+	return SUCCESSFUL_RETURN;
+}
+#endif  /* PC_DEBUG */
+
+
+/*
+ *	g e t C P U t i m e
+ */
+real_t getCPUtime( )
+{
+	real_t current_time = -1.0;
+
+	#if defined(__WIN32__) || defined(WIN32)
+	LARGE_INTEGER counter, frequency;
+	QueryPerformanceFrequency(&frequency);
+	QueryPerformanceCounter(&counter);
+	current_time = ((real_t) counter.QuadPart) / ((real_t) frequency.QuadPart);
+	#elif defined(LINUX)
+	struct timeval theclock;
+	gettimeofday( &theclock,0 );
+	current_time = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;
+	#endif
+
+	return current_time;
+}
+
+
+/*
+ *	g e t N o r m
+ */
+real_t getNorm( const real_t* const v, int n )
+{
+	int i;
+
+	real_t norm = 0.0;
+
+	for( i=0; i<n; ++i )
+		norm += v[i]*v[i];
+
+	return sqrt( norm );
+}
+
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/SRC/Utils.ipp

@@ -1,51 +1,51 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
- *
- */
-
-
-
-/**
- *	\file SRC/Utils.ipp
- *	\author Hans Joachim Ferreau
- *	\version 1.3embedded
- *	\date 2007-2008
- *
- *	Implementation of some inlined utilities for working with the different QProblem 
- *  classes.
- */
-
-
-
-/*
- *	g e t A b s
- */
-inline real_t getAbs( real_t x )
-{
-	if ( x < 0.0 )
-		return -x;
-	else
-		return x;
-}
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+ *
+ */
+
+
+
+/**
+ *	\file SRC/Utils.ipp
+ *	\author Hans Joachim Ferreau
+ *	\version 1.3embedded
+ *	\date 2007-2008
+ *
+ *	Implementation of some inlined utilities for working with the different QProblem 
+ *  classes.
+ */
+
+
+
+/*
+ *	g e t A b s
+ */
+inline real_t getAbs( real_t x )
+{
+	if ( x < 0.0 )
+		return -x;
+	else
+		return x;
+}
+
+
+/*
+ *	end of file
+ */

phonelibs/qpoases/VERSIONS.txt

@@ -1,87 +1,87 @@
-##
-##	qpOASES -- An Implementation of the Online Active Set Strategy.
-##	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
-##
-
-
-
-VERSION HISTORY
-===============
-
-1.3embedded (last updated on 30th April 2009):
------------------------------------------------------------------------
-
-+ Re-programming of internal memory management to avoid dynamic memory allocations 
-+ Most #ifdef directives removed
-+ Almost all type definitions gathered within INCLUDE/Types.hpp
-+ Irrelevant functionality removed (like the SQProblem class, functionality 
-  for loading data from files or the SCILAB interface)
-+ Replacement of all doubles by real_t
-+ Introduction of define "PC_DEBUG" for switching off all print functions
-+ stdio.h was made optional, string.h is no longer needed
-+ relative paths removed from #include directives
-+ made auxiliary objects locally static within solveInitialQP()
-+ Matlab interface fixed for single precision
-+ New return value -2 from Legacy wrapper added to Matlab/Simulink interfaces
-+ KKT optimality check moved into QProblem(B) class, SolutionAnalysis class removed
-
-
-1.3 (released on 2nd June 2008, last updated on 19th June 2008):
------------------------------------------------------------------------
-
-+ Implementation of "initialised homotopy" concept
-+ Addition of the SolutionAnalysis class
-+ Utility functions for solving test problems in OQP format added
-+ Flexibility of Matlab(R) interface enhanced
-+ Major source code cleanup
-  (Attention: a few class names and calling interfaces have changed!)
-
-
-
-1.2 (released on 9th October 2007):
------------------------------------------------------------------------
-
-+ Special treatment of diagonal Hessians
-+ Improved infeasibility detection
-+ Further improved Matlab(R) interface
-+ Extended Simulink(R) interface
-+ scilab interface added
-+ Code cleanup and several bugfixes
-
-
-
-1.1 (released on 8th July 2007):
---------------------------------
-
-+ Implementation of the QProblemB class
-+ Basic implementation of the SQProblem class
-+ Improved Matlab(R) interface
-+ Enabling/Disabling of constraints introduced
-+ Several bugfixes
-
-
-
-1.0 (released on 17th April 2007):
-----------------------------------
-
-Initial release.
-
-
-
-##
-##	end of file
-##
+##
+##	qpOASES -- An Implementation of the Online Active Set Strategy.
+##	Copyright (C) 2007-2008 by Hans Joachim Ferreau 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
+##
+
+
+
+VERSION HISTORY
+===============
+
+1.3embedded (last updated on 30th April 2009):
+-----------------------------------------------------------------------
+
++ Re-programming of internal memory management to avoid dynamic memory allocations 
++ Most #ifdef directives removed
++ Almost all type definitions gathered within INCLUDE/Types.hpp
++ Irrelevant functionality removed (like the SQProblem class, functionality 
+  for loading data from files or the SCILAB interface)
++ Replacement of all doubles by real_t
++ Introduction of define "PC_DEBUG" for switching off all print functions
++ stdio.h was made optional, string.h is no longer needed
++ relative paths removed from #include directives
++ made auxiliary objects locally static within solveInitialQP()
++ Matlab interface fixed for single precision
++ New return value -2 from Legacy wrapper added to Matlab/Simulink interfaces
++ KKT optimality check moved into QProblem(B) class, SolutionAnalysis class removed
+
+
+1.3 (released on 2nd June 2008, last updated on 19th June 2008):
+-----------------------------------------------------------------------
+
++ Implementation of "initialised homotopy" concept
++ Addition of the SolutionAnalysis class
++ Utility functions for solving test problems in OQP format added
++ Flexibility of Matlab(R) interface enhanced
++ Major source code cleanup
+  (Attention: a few class names and calling interfaces have changed!)
+
+
+
+1.2 (released on 9th October 2007):
+-----------------------------------------------------------------------
+
++ Special treatment of diagonal Hessians
++ Improved infeasibility detection
++ Further improved Matlab(R) interface
++ Extended Simulink(R) interface
++ scilab interface added
++ Code cleanup and several bugfixes
+
+
+
+1.1 (released on 8th July 2007):
+--------------------------------
+
++ Implementation of the QProblemB class
++ Basic implementation of the SQProblem class
++ Improved Matlab(R) interface
++ Enabling/Disabling of constraints introduced
++ Several bugfixes
+
+
+
+1.0 (released on 17th April 2007):
+----------------------------------
+
+Initial release.
+
+
+
+##
+##	end of file
+##

phonelibs/yaml-cpp/LICENSE

@@ -1,19 +0,0 @@
-Copyright (c) 2008-2015 Jesse Beder.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.

phonelibs/yaml-cpp/include/yaml-cpp/anchor.h

@@ -1,17 +0,0 @@
-#ifndef ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-#include <cstddef>
-
-namespace YAML {
-typedef std::size_t anchor_t;
-const anchor_t NullAnchor = 0;
-}
-
-#endif  // ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

phonelibs/yaml-cpp/include/yaml-cpp/binary.h

@@ -1,67 +0,0 @@
-#ifndef BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-#include <string>
-#include <vector>
-
-#include "yaml-cpp/dll.h"
-
-namespace YAML {
-YAML_CPP_API std::string EncodeBase64(const unsigned char *data,
-                                      std::size_t size);
-YAML_CPP_API std::vector<unsigned char> DecodeBase64(const std::string &input);
-
-class YAML_CPP_API Binary {
- public:
-  Binary() : m_unownedData(0), m_unownedSize(0) {}
-  Binary(const unsigned char *data_, std::size_t size_)
-      : m_unownedData(data_), m_unownedSize(size_) {}
-
-  bool owned() const { return !m_unownedData; }
-  std::size_t size() const { return owned() ? m_data.size() : m_unownedSize; }
-  const unsigned char *data() const {
-    return owned() ? &m_data[0] : m_unownedData;
-  }
-
-  void swap(std::vector<unsigned char> &rhs) {
-    if (m_unownedData) {
-      m_data.swap(rhs);
-      rhs.clear();
-      rhs.resize(m_unownedSize);
-      std::copy(m_unownedData, m_unownedData + m_unownedSize, rhs.begin());
-      m_unownedData = 0;
-      m_unownedSize = 0;
-    } else {
-      m_data.swap(rhs);
-    }
-  }
-
-  bool operator==(const Binary &rhs) const {
-    const std::size_t s = size();
-    if (s != rhs.size())
-      return false;
-    const unsigned char *d1 = data();
-    const unsigned char *d2 = rhs.data();
-    for (std::size_t i = 0; i < s; i++) {
-      if (*d1++ != *d2++)
-        return false;
-    }
-    return true;
-  }
-
-  bool operator!=(const Binary &rhs) const { return !(*this == rhs); }
-
- private:
-  std::vector<unsigned char> m_data;
-  const unsigned char *m_unownedData;
-  std::size_t m_unownedSize;
-};
-}
-
-#endif  // BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66

phonelibs/yaml-cpp/include/yaml-cpp/contrib/anchordict.h

@@ -1,39 +0,0 @@
-#ifndef ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-#include <vector>
-
-#include "../anchor.h"
-
-namespace YAML {
-/**
- * An object that stores and retrieves values correlating to {@link anchor_t}
- * values.
- *
- * <p>Efficient implementation that can make assumptions about how
- * {@code anchor_t} values are assigned by the {@link Parser} class.
- */
-template <class T>
-class AnchorDict {
- public:
-  void Register(anchor_t anchor, T value) {
-    if (anchor > m_data.size()) {
-      m_data.resize(anchor);
-    }
-    m_data[anchor - 1] = value;
-  }
-
-  T Get(anchor_t anchor) const { return m_data[anchor - 1]; }
-
- private:
-  std::vector<T> m_data;
-};
-}
-
-#endif  // ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

phonelibs/yaml-cpp/include/yaml-cpp/contrib/graphbuilder.h

@@ -1,147 +0,0 @@
-#ifndef GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-#include "yaml-cpp/mark.h"
-#include <string>
-
-namespace YAML {
-class Parser;
-
-// GraphBuilderInterface
-// . Abstraction of node creation
-// . pParentNode is always NULL or the return value of one of the NewXXX()
-//   functions.
-class GraphBuilderInterface {
- public:
-  // Create and return a new node with a null value.
-  virtual void *NewNull(const Mark &mark, void *pParentNode) = 0;
-
-  // Create and return a new node with the given tag and value.
-  virtual void *NewScalar(const Mark &mark, const std::string &tag,
-                          void *pParentNode, const std::string &value) = 0;
-
-  // Create and return a new sequence node
-  virtual void *NewSequence(const Mark &mark, const std::string &tag,
-                            void *pParentNode) = 0;
-
-  // Add pNode to pSequence.  pNode was created with one of the NewXxx()
-  // functions and pSequence with NewSequence().
-  virtual void AppendToSequence(void *pSequence, void *pNode) = 0;
-
-  // Note that no moew entries will be added to pSequence
-  virtual void SequenceComplete(void *pSequence) { (void)pSequence; }
-
-  // Create and return a new map node
-  virtual void *NewMap(const Mark &mark, const std::string &tag,
-                       void *pParentNode) = 0;
-
-  // Add the pKeyNode => pValueNode mapping to pMap.  pKeyNode and pValueNode
-  // were created with one of the NewXxx() methods and pMap with NewMap().
-  virtual void AssignInMap(void *pMap, void *pKeyNode, void *pValueNode) = 0;
-
-  // Note that no more assignments will be made in pMap
-  virtual void MapComplete(void *pMap) { (void)pMap; }
-
-  // Return the node that should be used in place of an alias referencing
-  // pNode (pNode by default)
-  virtual void *AnchorReference(const Mark &mark, void *pNode) {
-    (void)mark;
-    return pNode;
-  }
-};
-
-// Typesafe wrapper for GraphBuilderInterface.  Assumes that Impl defines
-// Node, Sequence, and Map types.  Sequence and Map must derive from Node
-// (unless Node is defined as void).  Impl must also implement function with
-// all of the same names as the virtual functions in GraphBuilderInterface
-// -- including the ones with default implementations -- but with the
-// prototypes changed to accept an explicit Node*, Sequence*, or Map* where
-// appropriate.
-template <class Impl>
-class GraphBuilder : public GraphBuilderInterface {
- public:
-  typedef typename Impl::Node Node;
-  typedef typename Impl::Sequence Sequence;
-  typedef typename Impl::Map Map;
-
-  GraphBuilder(Impl &impl) : m_impl(impl) {
-    Map *pMap = NULL;
-    Sequence *pSeq = NULL;
-    Node *pNode = NULL;
-
-    // Type consistency checks
-    pNode = pMap;
-    pNode = pSeq;
-  }
-
-  GraphBuilderInterface &AsBuilderInterface() { return *this; }
-
-  virtual void *NewNull(const Mark &mark, void *pParentNode) {
-    return CheckType<Node>(m_impl.NewNull(mark, AsNode(pParentNode)));
-  }
-
-  virtual void *NewScalar(const Mark &mark, const std::string &tag,
-                          void *pParentNode, const std::string &value) {
-    return CheckType<Node>(
-        m_impl.NewScalar(mark, tag, AsNode(pParentNode), value));
-  }
-
-  virtual void *NewSequence(const Mark &mark, const std::string &tag,
-                            void *pParentNode) {
-    return CheckType<Sequence>(
-        m_impl.NewSequence(mark, tag, AsNode(pParentNode)));
-  }
-  virtual void AppendToSequence(void *pSequence, void *pNode) {
-    m_impl.AppendToSequence(AsSequence(pSequence), AsNode(pNode));
-  }
-  virtual void SequenceComplete(void *pSequence) {
-    m_impl.SequenceComplete(AsSequence(pSequence));
-  }
-
-  virtual void *NewMap(const Mark &mark, const std::string &tag,
-                       void *pParentNode) {
-    return CheckType<Map>(m_impl.NewMap(mark, tag, AsNode(pParentNode)));
-  }
-  virtual void AssignInMap(void *pMap, void *pKeyNode, void *pValueNode) {
-    m_impl.AssignInMap(AsMap(pMap), AsNode(pKeyNode), AsNode(pValueNode));
-  }
-  virtual void MapComplete(void *pMap) { m_impl.MapComplete(AsMap(pMap)); }
-
-  virtual void *AnchorReference(const Mark &mark, void *pNode) {
-    return CheckType<Node>(m_impl.AnchorReference(mark, AsNode(pNode)));
-  }
-
- private:
-  Impl &m_impl;
-
-  // Static check for pointer to T
-  template <class T, class U>
-  static T *CheckType(U *p) {
-    return p;
-  }
-
-  static Node *AsNode(void *pNode) { return static_cast<Node *>(pNode); }
-  static Sequence *AsSequence(void *pSeq) {
-    return static_cast<Sequence *>(pSeq);
-  }
-  static Map *AsMap(void *pMap) { return static_cast<Map *>(pMap); }
-};
-
-void *BuildGraphOfNextDocument(Parser &parser,
-                               GraphBuilderInterface &graphBuilder);
-
-template <class Impl>
-typename Impl::Node *BuildGraphOfNextDocument(Parser &parser, Impl &impl) {
-  GraphBuilder<Impl> graphBuilder(impl);
-  return static_cast<typename Impl::Node *>(
-      BuildGraphOfNextDocument(parser, graphBuilder));
-}
-}
-
-#endif  // GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

phonelibs/yaml-cpp/include/yaml-cpp/dll.h

@@ -1,33 +0,0 @@
-#ifndef DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-// The following ifdef block is the standard way of creating macros which make
-// exporting from a DLL simpler. All files within this DLL are compiled with the
-// yaml_cpp_EXPORTS symbol defined on the command line. This symbol should not
-// be defined on any project that uses this DLL. This way any other project
-// whose source files include this file see YAML_CPP_API functions as being
-// imported from a DLL, whereas this DLL sees symbols defined with this macro as
-// being exported.
-#undef YAML_CPP_API
-
-#ifdef YAML_CPP_DLL      // Using or Building YAML-CPP DLL (definition defined
-                         // manually)
-#ifdef yaml_cpp_EXPORTS  // Building YAML-CPP DLL (definition created by CMake
-                         // or defined manually)
-//	#pragma message( "Defining YAML_CPP_API for DLL export" )
-#define YAML_CPP_API __declspec(dllexport)
-#else  // yaml_cpp_EXPORTS
-//	#pragma message( "Defining YAML_CPP_API for DLL import" )
-#define YAML_CPP_API __declspec(dllimport)
-#endif  // yaml_cpp_EXPORTS
-#else   // YAML_CPP_DLL
-#define YAML_CPP_API
-#endif  // YAML_CPP_DLL
-
-#endif  // DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

phonelibs/yaml-cpp/include/yaml-cpp/emitfromevents.h

@@ -1,57 +0,0 @@
-#ifndef EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-#include <stack>
-
-#include "yaml-cpp/anchor.h"
-#include "yaml-cpp/emitterstyle.h"
-#include "yaml-cpp/eventhandler.h"
-
-namespace YAML {
-struct Mark;
-}  // namespace YAML
-
-namespace YAML {
-class Emitter;
-
-class EmitFromEvents : public EventHandler {
- public:
-  EmitFromEvents(Emitter& emitter);
-
-  virtual void OnDocumentStart(const Mark& mark);
-  virtual void OnDocumentEnd();
-
-  virtual void OnNull(const Mark& mark, anchor_t anchor);
-  virtual void OnAlias(const Mark& mark, anchor_t anchor);
-  virtual void OnScalar(const Mark& mark, const std::string& tag,
-                        anchor_t anchor, const std::string& value);
-
-  virtual void OnSequenceStart(const Mark& mark, const std::string& tag,
-                               anchor_t anchor, EmitterStyle::value style);
-  virtual void OnSequenceEnd();
-
-  virtual void OnMapStart(const Mark& mark, const std::string& tag,
-                          anchor_t anchor, EmitterStyle::value style);
-  virtual void OnMapEnd();
-
- private:
-  void BeginNode();
-  void EmitProps(const std::string& tag, anchor_t anchor);
-
- private:
-  Emitter& m_emitter;
-
-  struct State {
-    enum value { WaitingForSequenceEntry, WaitingForKey, WaitingForValue };
-  };
-  std::stack<State::value> m_stateStack;
-};
-}
-
-#endif  // EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

phonelibs/yaml-cpp/include/yaml-cpp/emitter.h

@@ -1,254 +0,0 @@
-#ifndef EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-#define EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
-
-#if defined(_MSC_VER) ||                                            \
-    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
-     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
-#pragma once
-#endif
-
-#include <cstddef>
-#include <memory>
-#include <sstream>
-#include <string>
-
-#include "yaml-cpp/binary.h"
-#include "yaml-cpp/dll.h"
-#include "yaml-cpp/emitterdef.h"
-#include "yaml-cpp/emittermanip.h"
-#include "yaml-cpp/noncopyable.h"
-#include "yaml-cpp/null.h"
-#include "yaml-cpp/ostream_wrapper.h"
-
-namespace YAML {
-class Binary;
-struct _Null;
-}  // namespace YAML
-
-namespace YAML {
-class EmitterState;
-
-class YAML_CPP_API Emitter : private noncopyable {
- public:
-  Emitter();
-  explicit Emitter(std::ostream& stream);
-  ~Emitter();
-
-  // output
-  const char* c_str() const;
-  std::size_t size() const;
-
-  // state checking
-  bool good() const;
-  const std::string GetLastError() const;
-
-  // global setters
-  bool SetOutputCharset(EMITTER_MANIP value);
-  bool SetStringFormat(EMITTER_MANIP value);
-  bool SetBoolFormat(EMITTER_MANIP value);
-  bool SetIntBase(EMITTER_MANIP value);
-  bool SetSeqFormat(EMITTER_MANIP value);
-  bool SetMapFormat(EMITTER_MANIP value);
-  bool SetIndent(std::size_t n);
-  bool SetPreCommentIndent(std::size_t n);
-  bool SetPostCommentIndent(std::size_t n);
-  bool SetFloatPrecision(std::size_t n);
-  bool SetDoublePrecision(std::size_t n);
-
-  // local setters
-  Emitter& SetLocalValue(EMITTER_MANIP value);
-  Emitter& SetLocalIndent(const _Indent& indent);
-  Emitter& SetLocalPrecision(const _Precision& precision);
-
-  // overloads of write
-  Emitter& Write(const std::string& str);
-  Emitter& Write(bool b);
-  Emitter& Write(char ch);
-  Emitter& Write(const _Alias& alias);
-  Emitter& Write(const _Anchor& anchor);
-  Emitter& Write(const _Tag& tag);
-  Emitter& Write(const _Comment& comment);
-  Emitter& Write(const _Null& n);
-  Emitter& Write(const Binary& binary);
-
-  template <typename T>
-  Emitter& WriteIntegralType(T value);
-
-  template <typename T>
-  Emitter& WriteStreamable(T value);
-
- private:
-  template <typename T>
-  void SetStreamablePrecision(std::stringstream&) {}
-  std::size_t GetFloatPrecision() const;
-  std::size_t GetDoublePrecision() const;
-
-  void PrepareIntegralStream(std::stringstream& stream) const;
-  void StartedScalar();
-
- private:
-  void EmitBeginDoc();
-  void EmitEndDoc();
-  void EmitBeginSeq();
-  void EmitEndSeq();
-  void EmitBeginMap();
-  void EmitEndMap();
-  void EmitNewline();
-  void EmitKindTag();
-  void EmitTag(bool verbatim, const _Tag& tag);
-
-  void PrepareNode(EmitterNodeType::value child);
-  void PrepareTopNode(EmitterNodeType::value child);
-  void FlowSeqPrepareNode(EmitterNodeType::value child);
-  void BlockSeqPrepareNode(EmitterNodeType::value child);
-
-  void FlowMapPrepareNode(EmitterNodeType::value child);
-
-  void FlowMapPrepareLongKey(EmitterNodeType::value child);
-  void FlowMapPrepareLongKeyValue(EmitterNodeType::value child);
-  void FlowMapPrepareSimpleKey(EmitterNodeType::value child);
-  void FlowMapPrepareSimpleKeyValue(EmitterNodeType::value child);
-
-  void BlockMapPrepareNode(EmitterNodeType::value child);
-
-  void BlockMapPrepareLongKey(EmitterNodeType::value child);
-  void BlockMapPrepareLongKeyValue(EmitterNodeType::value child);
-  void BlockMapPrepareSimpleKey(EmitterNodeType::value child);
-  void BlockMapPrepareSimpleKeyValue(EmitterNodeType::value child);
-
-  void SpaceOrIndentTo(bool requireSpace, std::size_t indent);
-
-  const char* ComputeFullBoolName(bool b) const;
-  bool CanEmitNewline() const;
-
- private:
-  std::unique_ptr<EmitterState> m_pState;
-  ostream_wrapper m_stream;
-};
-
-template <typename T>
-inline Emitter& Emitter::WriteIntegralType(T value) {
-  if (!good())
-    return *this;
-
-  PrepareNode(EmitterNodeType::Scalar);
-
-  std::stringstream stream;
-  PrepareIntegralStream(stream);
-  stream << value;
-  m_stream << stream.str();
-
-  StartedScalar();
-
-  return *this;
-}
-
-template <typename T>
-inline Emitter& Emitter::WriteStreamable(T value) {
-  if (!good())
-    return *this;
-
-  PrepareNode(EmitterNodeType::Scalar);
-
-  std::stringstream stream;
-  SetStreamablePrecision<T>(stream);
-  stream << value;
-  m_stream << stream.str();
-
-  StartedScalar();
-
-  return *this;
-}
-
-template <>
-inline void Emitter::SetStreamablePrecision<float>(std::stringstream& stream) {
-  stream.precision(static_cast<std::streamsize>(GetFloatPrecision()));
-}
-
-template <>
-inline void Emitter::SetStreamablePrecision<double>(std::stringstream& stream) {
-  stream.precision(static_cast<std::streamsize>(GetDoublePrecision()));
-}
-
-// overloads of insertion
-inline Emitter& operator<<(Emitter& emitter, const std::string& v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, bool v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, char v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, unsigned char v) {
-  return emitter.Write(static_cast<char>(v));
-}
-inline Emitter& operator<<(Emitter& emitter, const _Alias& v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, const _Anchor& v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, const _Tag& v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, const _Comment& v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, const _Null& v) {
-  return emitter.Write(v);
-}
-inline Emitter& operator<<(Emitter& emitter, const Binary& b) {
-  return emitter.Write(b);
-}
-
-inline Emitter& operator<<(Emitter& emitter, const char* v) {
-  return emitter.Write(std::string(v));
-}
-
-inline Emitter& operator<<(Emitter& emitter, int v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, unsigned int v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, short v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, unsigned short v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, long v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, unsigned long v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, long long v) {
-  return emitter.WriteIntegralType(v);
-}
-inline Emitter& operator<<(Emitter& emitter, unsigned long long v) {
-  return emitter.WriteIntegralType(v);
-}
-
-inline Emitter& operator<<(Emitter& emitter, float v) {
-  return emitter.WriteStreamable(v);
-}
-inline Emitter& operator<<(Emitter& emitter, double v) {
-  return emitter.WriteStreamable(v);
-}
-
-inline Emitter& operator<<(Emitter& emitter, EMITTER_MANIP value) {
-  return emitter.SetLocalValue(value);
-}
-
-inline Emitter& operator<<(Emitter& emitter, _Indent indent) {
-  return emitter.SetLocalIndent(indent);
-}
-
-inline Emitter& operator<<(Emitter& emitter, _Precision precision) {
-  return emitter.SetLocalPrecision(precision);
-}
-}
-
-#endif  // EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66