made Simulink interface compile on dSPACE, renamed functions xxxOQPyy…

…y -> xxxOqpYyyy, updated manual
Tadinu · Aug 25, 2015 · 6341699 · 6341699
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Showing 12 changed files with 49 additions and 45 deletions.
diff --git a/doc/manual.pdf b/doc/manual.pdf
diff --git a/examples/example3.cpp b/examples/example3.cpp
@@ -55,7 +55,7 @@ int main( )
 	real_t maxStationarity, maxFeasibility, maxComplementarity;
 
 	/* 2) Run benchmark. */
-	if ( runOQPbenchmark(	"./chain80w/",
+	if ( runOqpBenchmark(	"./chain80w/",
 							isSparse,
 							options,
 							nWSR,

diff --git a/examples/example3b.cpp b/examples/example3b.cpp
@@ -55,7 +55,7 @@ int main( )
 	real_t maxStationarity, maxFeasibility, maxComplementarity;
 
 	/* 2) Run benchmark. */
-	if ( runOQPbenchmark(	"./chain80/",
+	if ( runOqpBenchmark(	"./chain80/",
 							isSparse,
 							options,
 							nWSR,

diff --git a/interfaces/python/tests/test_testbench.py b/interfaces/python/tests/test_testbench.py
@@ -26,7 +26,7 @@
 import os
 import numpy as np
 from numpy.testing import *
-from qpoases import py_runOQPbenchmark as runOQPbenchmark
+from qpoases import py_runOqpBenchmark as runOqpBenchmark
 from qpoases import PyQProblem as QProblem
 from qpoases import PyBooleanType as BooleanType
 from qpoases import PyReturnValue as ReturnValue
@@ -150,7 +150,7 @@ def run_benchmarks(benchmarks, options, isSparse, useHotstarts,
         # Run QP benchmark
         returnvalue, maxNWSR, avgNWSR, maxCPUtime, avgCPUtime, \
         maxStationarity, maxFeasibility, maxComplementarity \
-        = runOQPbenchmark(path, isSparse, useHotstarts,
+        = runOqpBenchmark(path, isSparse, useHotstarts,
                           options, nWSR, cpu_time )
 
         if (returnvalue == ReturnValue.SUCCESSFUL_RETURN

diff --git a/interfaces/simulink/qpOASES_simulink_utils.cpp b/interfaces/simulink/qpOASES_simulink_utils.cpp
@@ -33,6 +33,10 @@
  *
  */
 
+#ifndef __SINGLE_OBJECT__
+#include <qpOASES.hpp>
+#endif
+
 
 USING_NAMESPACE_QPOASES
 
@@ -61,7 +65,7 @@ returnValue removeNaNs( real_t* const data, unsigned int dim )
 
 	for ( i=0; i<dim; ++i )
 		if ( isNaN(data[i]) == BT_TRUE )
-			data[i] = qpOASES::INFTY;
+			data[i] = INFTY;
 
 	return SUCCESSFUL_RETURN;
 }
@@ -79,11 +83,11 @@ returnValue removeInfs( real_t* const data, unsigned int dim )
 
 	for ( i=0; i<dim; ++i )
 	{
-		if ( data[i] < -qpOASES::INFTY )
-			data[i] = -qpOASES::INFTY;
+		if ( data[i] < -INFTY )
+			data[i] = -INFTY;
 
-		if ( data[i] > qpOASES::INFTY )
-			data[i] = qpOASES::INFTY;
+		if ( data[i] > INFTY )
+			data[i] = INFTY;
 	}
 
 	return SUCCESSFUL_RETURN;

diff --git a/src/OQPinterface.cpp b/src/OQPinterface.cpp
@@ -44,9 +44,9 @@ BEGIN_NAMESPACE_QPOASES
 
 
 /*
- *	r e a d O Q P d i m e n s i o n s
+ *	r e a d O q p D i m e n s i o n s
  */
-returnValue readOQPdimensions(	const char* path,
+returnValue readOqpDimensions(	const char* path,
 								int_t& nQP, int_t& nV, int_t& nC, int_t& nEC
 								)
 {
@@ -74,9 +74,9 @@ returnValue readOQPdimensions(	const char* path,
 
 
 /*
- *	r e a d O Q P d a t a
+ *	r e a d O q p D a t a
  */
-returnValue readOQPdata(	const char* path,
+returnValue readOqpData(	const char* path,
 							int_t& nQP, int_t& nV, int_t& nC, int_t& nEC,
 							real_t** H, real_t** g, real_t** A, real_t** lb, real_t** ub, real_t** lbA, real_t** ubA,
 							real_t** xOpt, real_t** yOpt, real_t** objOpt
@@ -90,7 +90,7 @@ returnValue readOQPdata(	const char* path,
 
 
 	/* 1) Obtain OQP dimensions. */
-	if ( readOQPdimensions( path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
+	if ( readOqpDimensions( path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
 		return THROWERROR( RET_UNABLE_TO_READ_FILE );
 
 
@@ -225,9 +225,9 @@ returnValue readOQPdata(	const char* path,
 
 
 /*
- *	s o l v e O Q P b e n c h m a r k
+ *	s o l v e O q p B e n c h m a r k
  */
-returnValue solveOQPbenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
+returnValue solveOqpBenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
 								const real_t* const _H, const real_t* const g, const real_t* const _A,
 								const real_t* const lb, const real_t* const ub,
 								const real_t* const lbA, const real_t* const ubA,
@@ -240,7 +240,7 @@ returnValue solveOQPbenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
 	real_t avgNWSR = 0.0;
 	real_t avgCPUtime = 0.0;
 
-	returnValue returnvalue = solveOQPbenchmark(	nQP,nV,nC,nEC,
+	returnValue returnvalue = solveOqpBenchmark(	nQP,nV,nC,nEC,
 													_H,g,_A,lb,ub,lbA,ubA,
 													isSparse,BT_TRUE,
 													options,nWSR,
@@ -255,9 +255,9 @@ returnValue solveOQPbenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
 
 
 /*
- *	s o l v e O Q P b e n c h m a r k
+ *	s o l v e O q p B e n c h m a r k
  */
-returnValue solveOQPbenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
+returnValue solveOqpBenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
 								const real_t* const _H, const real_t* const g, const real_t* const _A,
 								const real_t* const lb, const real_t* const ub,
 								const real_t* const lbA, const real_t* const ubA,
@@ -402,9 +402,9 @@ returnValue solveOQPbenchmark(	int_t nQP, int_t nV, int_t nC, int_t nEC,
 
 
 /*
- *	s o l v e O Q P b e n c h m a r k
+ *	s o l v e O q p B e n c h m a r k
  */
-returnValue solveOQPbenchmark(	int_t nQP, int_t nV,
+returnValue solveOqpBenchmark(	int_t nQP, int_t nV,
 								const real_t* const _H, const real_t* const g,
 								const real_t* const lb, const real_t* const ub,
 								BooleanType isSparse, 
@@ -416,7 +416,7 @@ returnValue solveOQPbenchmark(	int_t nQP, int_t nV,
 	real_t avgNWSR = 0.0;
 	real_t avgCPUtime = 0.0;
 
-	returnValue returnvalue = solveOQPbenchmark(	nQP,nV,
+	returnValue returnvalue = solveOqpBenchmark(	nQP,nV,
 													_H,g,lb,ub,
 													isSparse,BT_TRUE,
 													options,nWSR,
@@ -430,9 +430,9 @@ returnValue solveOQPbenchmark(	int_t nQP, int_t nV,
 
 
 /*
- *	s o l v e O Q P b e n c h m a r k
+ *	s o l v e O q p B e n c h m a r k
  */
-returnValue solveOQPbenchmark(	int_t nQP, int_t nV,
+returnValue solveOqpBenchmark(	int_t nQP, int_t nV,
 								const real_t* const _H, const real_t* const g,
 								const real_t* const lb, const real_t* const ub,
 								BooleanType isSparse, BooleanType useHotstarts, 
@@ -564,9 +564,9 @@ returnValue solveOQPbenchmark(	int_t nQP, int_t nV,
 
 
 /*
- *	r u n O Q P b e n c h m a r k
+ *	r u n O q p B e n c h m a r k
  */
-returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, const Options& options,
+returnValue runOqpBenchmark(	const char* path, BooleanType isSparse, const Options& options,
 								int_t& nWSR, real_t& maxCPUtime,
 								real_t& maxStationarity, real_t& maxFeasibility, real_t& maxComplementarity
 								)
@@ -575,7 +575,7 @@ returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, const Optio
 	real_t avgNWSR = 0.0;
 	real_t avgCPUtime = 0.0;
 
-	returnValue returnvalue = runOQPbenchmark(	path,isSparse,BT_TRUE,
+	returnValue returnvalue = runOqpBenchmark(	path,isSparse,BT_TRUE,
 												options,nWSR,
 												maxNWSR,avgNWSR,maxCPUtime,avgCPUtime, 
 												maxStationarity,maxFeasibility,maxComplementarity
@@ -587,9 +587,9 @@ returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, const Optio
 
 
 /*
- *	r u n O Q P b e n c h m a r k
+ *	r u n O q p B e n c h m a r k
  */
-returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, BooleanType useHotstarts, 
+returnValue runOqpBenchmark(	const char* path, BooleanType isSparse, BooleanType useHotstarts, 
 								const Options& options, int_t maxAllowedNWSR,
 								real_t& maxNWSR, real_t& avgNWSR, real_t& maxCPUtime, real_t& avgCPUtime,
 								real_t& maxStationarity, real_t& maxFeasibility, real_t& maxComplementarity
@@ -604,11 +604,11 @@ returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, BooleanType
 
 	/* I) SETUP BENCHMARK: */
 	/* 1) Obtain QP sequence dimensions. */
-	if ( readOQPdimensions( path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
+	if ( readOqpDimensions( path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
 		return THROWERROR( RET_BENCHMARK_ABORTED );
 
 	/* 2) Read OQP benchmark data. */
-	if ( readOQPdata(	path,
+	if ( readOqpData(	path,
 						nQP,nV,nC,nEC,
 						&H,&g,&A,&lb,&ub,&lbA,&ubA,
 						0,0,0
@@ -622,7 +622,7 @@ returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, BooleanType
 	/* II) SOLVE BENCHMARK */
 	if ( nC > 0 )
 	{
-		returnvalue = solveOQPbenchmark(	nQP,nV,nC,nEC,
+		returnvalue = solveOqpBenchmark(	nQP,nV,nC,nEC,
 											H,g,A,lb,ub,lbA,ubA,
 											isSparse,useHotstarts,
 											options,maxAllowedNWSR,
@@ -644,7 +644,7 @@ returnValue runOQPbenchmark(	const char* path, BooleanType isSparse, BooleanType
 	}
 	else
 	{
-		returnvalue = solveOQPbenchmark(	nQP,nV,
+		returnvalue = solveOqpBenchmark(	nQP,nV,
 											H,g,lb,ub,
 											isSparse,useHotstarts,
 											options,maxAllowedNWSR,

diff --git a/testing/cpp/test_bench.cpp b/testing/cpp/test_bench.cpp
@@ -90,7 +90,7 @@ int main( int argc, char *argv[] )
 	int_t nfail = 0, npass = 0;
 	int_t nproblems, i;
 	struct dirent **namelist;
-	char resstr[MAX_STRING_LENGTH], OQPproblem[MAX_STRING_LENGTH];
+	char resstr[MAX_STRING_LENGTH], oqpProblem[MAX_STRING_LENGTH];
 	char *problem;
 	returnValue returnvalue;
 
@@ -240,11 +240,11 @@ int main( int argc, char *argv[] )
 		fprintf(stdFile, "%-10s ", problem);
 		fflush(stdFile);
 
-		snprintf(OQPproblem, MAX_STRING_LENGTH, "../testing/cpp/data/problems/%s/", problem);
+		snprintf(oqpProblem, MAX_STRING_LENGTH, "../testing/cpp/data/problems/%s/", problem);
 		maxCPUtime = 300.0;
 		nWSR = 2500;
 
-		returnvalue = runOQPbenchmark(	OQPproblem, isSparse, options,
+		returnvalue = runOqpBenchmark(	oqpProblem, isSparse, options,
 										nWSR, maxCPUtime, maxStationarity, maxFeasibility, maxComplementarity 
 										);
 		if (returnvalue	== SUCCESSFUL_RETURN

diff --git a/testing/cpp/test_constraintProduct1.cpp b/testing/cpp/test_constraintProduct1.cpp
@@ -144,10 +144,10 @@ int main( )
 	int_t k = 10; //th problem
 
 
-	if ( readOQPdimensions(	path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
+	if ( readOqpDimensions(	path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
 		return TEST_DATA_NOT_FOUND;
 
-	readOQPdata(	path, nQP,nV,nC,nEC,
+	readOqpData(	path, nQP,nV,nC,nEC,
 					&H,&g,&A,&lb,&ub,&lbA,&ubA,
 					0,0,0
 					);

diff --git a/testing/cpp/test_constraintProduct2.cpp b/testing/cpp/test_constraintProduct2.cpp
@@ -141,10 +141,10 @@ int main( )
 	int_t k = 200; //th problem
 
 
-	if ( readOQPdimensions(	path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
+	if ( readOqpDimensions(	path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
 		return TEST_DATA_NOT_FOUND;
 
-	readOQPdata(	path, nQP,nV,nC,nEC,
+	readOqpData(	path, nQP,nV,nC,nEC,
 					&H,&g,&A,&lb,&ub,&lbA,&ubA,
 					0,0,0
 					);

diff --git a/testing/cpp/test_hs268.cpp b/testing/cpp/test_hs268.cpp
@@ -62,7 +62,7 @@ int main( int argc, char *argv[] )
 	real_t maxCPUtime; /* seconds */
 	real_t maxStationarity = 0.0, maxFeasibility = 0.0, maxComplementarity = 0.0;
 
-	char OQPproblem[MAX_STRING_LENGTH];
+	char oqpProblem[MAX_STRING_LENGTH];
 	char problem[] = "HS268";
 	returnValue returnvalue;
 
@@ -71,11 +71,11 @@ int main( int argc, char *argv[] )
 	fprintf(stdFile, "%-10s ", problem);
 	fflush(stdFile);
 
-	snprintf(OQPproblem, MAX_STRING_LENGTH, "../testing/cpp/data/problems/%s/", problem);
+	snprintf(oqpProblem, MAX_STRING_LENGTH, "../testing/cpp/data/problems/%s/", problem);
 	maxCPUtime = 100.0;
 	nWSR = 100;
 
-	returnvalue = runOQPbenchmark(	OQPproblem, isSparse, options,
+	returnvalue = runOqpBenchmark(	oqpProblem, isSparse, options,
 									nWSR, maxCPUtime, maxStationarity, maxFeasibility, maxComplementarity 
 									);
 

diff --git a/testing/cpp/test_runAllOqpExamples.cpp b/testing/cpp/test_runAllOqpExamples.cpp
@@ -82,7 +82,7 @@ int main( )
 		maxFeasibility     = 0.0;
 		maxComplementarity = 0.0;
 
-		if ( runOQPbenchmark(	benchmarkPath[ii/2],
+		if ( runOqpBenchmark(	benchmarkPath[ii/2],
 								isSparse,useHotstarts,
 								options,maxAllowedNWSR,
 								maxNWSR,avgNWSR,maxCPUtime,avgCPUtime,

diff --git a/testing/cpp/test_sebastien1.cpp b/testing/cpp/test_sebastien1.cpp
@@ -37,7 +37,7 @@
 #include <qpOASES/UnitTesting.hpp>
 
 
-/** Example for qpOASES main function using the OQP interface. */
+/** qpOASES main function defining a unit test. */
 int main( )
 {
 	REFER_NAMESPACE_QPOASES real_t solution[2]       = {0.0f, 0.0f};