mirror of
https://github.com/dragonpilot/dragonpilot.git
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George Hotz
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/utils/acado_debugging.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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* \date 17.08.2008
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*
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* This file collects several macros for debugging.
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*/
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#ifndef ACADO_TOOLKIT_ACADO_DEBUGGING_HPP
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#define ACADO_TOOLKIT_ACADO_DEBUGGING_HPP
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#ifdef __MATLAB__
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#include <mex.h>
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#endif
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#if __DEBUG__
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#include "acado_message_handling.hpp"
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#define ASSERT(x) {if (!(x)) ACADOFATALTEXT(RET_ASSERTION, Assertion failure: #x);}
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#define ASSERT_RETURN(x) {if (!(x)) return ACADOFATALTEXT(RET_ASSERTION, Assertion failure: #x);}
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#else
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#define ASSERT( x )
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#define ASSERT_RETURN(x) if (0) returnValue()
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#endif
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#endif // ACADO_TOOLKIT_ACADO_DEBUGGING_HPP
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/*
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* end of file
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*/
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