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Repository: ZJU-FAST-Lab/CMPCC
Branch: master
Commit: 20b367c2e633
Files: 351
Total size: 3.5 MB
Directory structure:
gitextract_rie_rudg/
├── .gitignore
├── .vscode/
│ ├── c_cpp_properties.json
│ └── settings.json
├── README.md
├── install_tools.sh
├── key2joy.py
├── osqp/
│ ├── .bumpversion.cfg
│ ├── .editorconfig
│ ├── .gitattributes
│ ├── .gitmodules
│ ├── .travis.yml
│ ├── .valgrind-suppress.supp
│ ├── CHANGELOG.md
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── NOTICE
│ ├── README.md
│ ├── ROADMAP.md
│ ├── appveyor.yml
│ ├── ci/
│ │ ├── appveyor/
│ │ │ ├── deploy.cmd
│ │ │ ├── install.cmd
│ │ │ └── script.cmd
│ │ └── travis/
│ │ ├── deploy.sh
│ │ ├── docs.sh
│ │ ├── install.sh
│ │ └── script.sh
│ ├── configure/
│ │ ├── cmake/
│ │ │ ├── FindPythonModule.cmake
│ │ │ ├── FindR.cmake
│ │ │ ├── Utils.cmake
│ │ │ └── cmake_uninstall.cmake.in
│ │ └── osqp_configure.h.in
│ ├── docs/
│ │ ├── Makefile
│ │ ├── _static/
│ │ │ └── css/
│ │ │ └── osqp_theme.css
│ │ ├── _templates/
│ │ │ └── layout.html
│ │ ├── citing/
│ │ │ └── index.rst
│ │ ├── codegen/
│ │ │ ├── index.rst
│ │ │ ├── matlab.rst
│ │ │ └── python.rst
│ │ ├── conf.py
│ │ ├── contributing/
│ │ │ └── index.rst
│ │ ├── doxygen.conf
│ │ ├── examples/
│ │ │ ├── huber.rst
│ │ │ ├── index.rst
│ │ │ ├── lasso.rst
│ │ │ ├── least-squares.rst
│ │ │ ├── mpc.rst
│ │ │ ├── portfolio.rst
│ │ │ ├── setup-and-solve.rst
│ │ │ ├── svm.rst
│ │ │ ├── update-matrices.rst
│ │ │ └── update-vectors.rst
│ │ ├── get_started/
│ │ │ ├── CC++.rst
│ │ │ ├── cutest.rst
│ │ │ ├── index.rst
│ │ │ ├── julia.rst
│ │ │ ├── linear_system_solvers.rst
│ │ │ ├── matlab.rst
│ │ │ ├── python.rst
│ │ │ ├── r.rst
│ │ │ └── sources.rst
│ │ ├── index.rst
│ │ ├── interfaces/
│ │ │ ├── CC++.rst
│ │ │ ├── cutest.rst
│ │ │ ├── eigen.rst
│ │ │ ├── fortran.rst
│ │ │ ├── index.rst
│ │ │ ├── julia.rst
│ │ │ ├── linear_systems_solvers.rst
│ │ │ ├── matlab.rst
│ │ │ ├── python.rst
│ │ │ ├── rlang.rst
│ │ │ ├── ruby.rst
│ │ │ ├── rust.rst
│ │ │ ├── solver_settings.rst
│ │ │ └── status_values.rst
│ │ ├── make.bat
│ │ ├── parsers/
│ │ │ ├── cvxpy.rst
│ │ │ ├── index.rst
│ │ │ ├── jump.rst
│ │ │ └── yalmip.rst
│ │ ├── requirements.txt
│ │ └── solver/
│ │ └── index.rst
│ ├── examples/
│ │ └── osqp_demo.c
│ ├── include/
│ │ ├── .gitignore
│ │ ├── CMakeLists.txt
│ │ ├── auxil.h
│ │ ├── constants.h
│ │ ├── cs.h
│ │ ├── ctrlc.h
│ │ ├── error.h
│ │ ├── glob_opts.h
│ │ ├── kkt.h
│ │ ├── lin_alg.h
│ │ ├── lin_sys.h
│ │ ├── osqp.h
│ │ ├── polish.h
│ │ ├── proj.h
│ │ ├── scaling.h
│ │ ├── types.h
│ │ └── util.h
│ ├── lin_sys/
│ │ ├── CMakeLists.txt
│ │ ├── direct/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── pardiso/
│ │ │ │ ├── CMakeLists.txt
│ │ │ │ ├── pardiso_interface.c
│ │ │ │ ├── pardiso_interface.h
│ │ │ │ ├── pardiso_loader.c
│ │ │ │ └── pardiso_loader.h
│ │ │ └── qdldl/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── amd/
│ │ │ │ ├── LICENSE
│ │ │ │ ├── include/
│ │ │ │ │ ├── SuiteSparse_config.h
│ │ │ │ │ ├── amd.h
│ │ │ │ │ └── amd_internal.h
│ │ │ │ └── src/
│ │ │ │ ├── SuiteSparse_config.c
│ │ │ │ ├── amd_1.c
│ │ │ │ ├── amd_2.c
│ │ │ │ ├── amd_aat.c
│ │ │ │ ├── amd_control.c
│ │ │ │ ├── amd_defaults.c
│ │ │ │ ├── amd_info.c
│ │ │ │ ├── amd_order.c
│ │ │ │ ├── amd_post_tree.c
│ │ │ │ ├── amd_postorder.c
│ │ │ │ ├── amd_preprocess.c
│ │ │ │ └── amd_valid.c
│ │ │ ├── qdldl_interface.c
│ │ │ ├── qdldl_interface.h
│ │ │ └── qdldl_sources/
│ │ │ ├── .editorconfig
│ │ │ ├── .gitignore
│ │ │ ├── .travis.yml
│ │ │ ├── CHANGELOG.md
│ │ │ ├── CMakeLists.txt
│ │ │ ├── LICENSE
│ │ │ ├── README.md
│ │ │ ├── appveyor.yml
│ │ │ ├── configure/
│ │ │ │ ├── cmake/
│ │ │ │ │ └── cmake_uninstall.cmake.in
│ │ │ │ └── qdldl_types.h.in
│ │ │ ├── examples/
│ │ │ │ └── example.c
│ │ │ ├── include/
│ │ │ │ ├── .gitignore
│ │ │ │ └── qdldl.h
│ │ │ ├── src/
│ │ │ │ └── qdldl.c
│ │ │ └── tests/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── minunit.h
│ │ │ ├── qdldl_tester.c
│ │ │ ├── test_basic.h
│ │ │ ├── test_identity.h
│ │ │ ├── test_osqp_kkt.h
│ │ │ ├── test_rank_deficient.h
│ │ │ ├── test_singleton.h
│ │ │ ├── test_sym_structure.h
│ │ │ ├── test_tril_structure.h
│ │ │ ├── test_two_by_two.h
│ │ │ └── test_zero_on_diag.h
│ │ ├── lib_handler.c
│ │ └── lib_handler.h
│ ├── src/
│ │ ├── CMakeLists.txt
│ │ ├── auxil.c
│ │ ├── cs.c
│ │ ├── ctrlc.c
│ │ ├── error.c
│ │ ├── kkt.c
│ │ ├── lin_alg.c
│ │ ├── lin_sys.c
│ │ ├── osqp.c
│ │ ├── polish.c
│ │ ├── proj.c
│ │ ├── scaling.c
│ │ └── util.c
│ └── tests/
│ ├── .gitignore
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── __init__.py
│ ├── basic_qp/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_basic_qp.h
│ ├── basic_qp2/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_basic_qp2.h
│ ├── custom_memory/
│ │ ├── custom_memory.c
│ │ └── custom_memory.h
│ ├── demo/
│ │ ├── CMakeLists.txt
│ │ └── test_demo.h
│ ├── generate_tests_data.py
│ ├── lin_alg/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_lin_alg.h
│ ├── minunit.h
│ ├── non_cvx/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_non_cvx.h
│ ├── osqp_tester.c
│ ├── osqp_tester.h
│ ├── primal_dual_infeasibility/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_primal_dual_infeasibility.h
│ ├── primal_infeasibility/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_primal_infeasibility.h
│ ├── solve_linsys/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_solve_linsys.h
│ ├── unconstrained/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_unconstrained.h
│ ├── update_matrices/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_update_matrices.h
│ └── utils/
│ ├── __init__.py
│ └── codegen_utils.py
├── simulation.sh
└── src/
├── cmpcc/
│ ├── CMakeLists.txt
│ ├── config/
│ │ ├── 3d.rviz
│ │ ├── corridor.yaml
│ │ ├── mpcParameters.yaml
│ │ └── traj.yaml
│ ├── include/
│ │ ├── bezier_base.h
│ │ ├── corridor.h
│ │ ├── display_msgs.h
│ │ ├── map.h
│ │ ├── model.h
│ │ ├── mpc_solver.h
│ │ ├── my_spline.h
│ │ ├── osqp_interface.h
│ │ └── sparse_utils.h
│ ├── launch/
│ │ ├── flyfly.launch
│ │ ├── plot_bag.launch
│ │ └── vis_bag.launch
│ ├── package.xml
│ └── src/
│ ├── bezier_base.cpp
│ ├── corridor.cpp
│ ├── corridor_test.cpp
│ ├── display_msg.cpp
│ ├── fly_trr_node.cpp
│ ├── flyfly_node.cpp
│ ├── map.cpp
│ ├── model.cpp
│ ├── mpc_solver.cpp
│ ├── my_spline.cpp
│ ├── osqp_interface.cpp
│ ├── osqp_test.cpp
│ ├── plot_bag_node.cpp
│ ├── simulation_node.cpp
│ └── solver_test.cpp
└── uav_simulator/
├── DecompRos/
│ ├── LICENSE
│ ├── catkin_simple/
│ │ ├── CMakeLists.txt
│ │ ├── README.md
│ │ ├── cmake/
│ │ │ └── catkin_simple-extras.cmake.em
│ │ └── package.xml
│ ├── decomp_ros_msgs/
│ │ ├── CMakeLists.txt
│ │ ├── msg/
│ │ │ ├── Ellipsoid.msg
│ │ │ ├── EllipsoidArray.msg
│ │ │ ├── Polyhedron.msg
│ │ │ └── PolyhedronArray.msg
│ │ └── package.xml
│ └── decomp_ros_utils/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── decomp_basis/
│ │ │ ├── data_type.h
│ │ │ └── data_utils.h
│ │ ├── decomp_geometry/
│ │ │ ├── ellipsoid.h
│ │ │ ├── geometric_utils.h
│ │ │ └── polyhedron.h
│ │ ├── decomp_ros_utils/
│ │ │ └── data_ros_utils.h
│ │ └── decomp_util/
│ │ ├── decomp_base.h
│ │ ├── ellipsoid_decomp.h
│ │ ├── iterative_decomp.h
│ │ ├── line_segment.h
│ │ └── seed_decomp.h
│ ├── package.xml
│ ├── plugin_description.xml
│ └── src/
│ ├── bound_visual.cpp
│ ├── bound_visual.h
│ ├── ellipsoid_array_display.cpp
│ ├── ellipsoid_array_display.h
│ ├── ellipsoid_array_visual.cpp
│ ├── ellipsoid_array_visual.h
│ ├── mesh_visual.cpp
│ ├── mesh_visual.h
│ ├── polyhedron_array_display.cpp
│ ├── polyhedron_array_display.h
│ ├── vector_visual.cpp
│ └── vector_visual.h
├── map_generator/
│ ├── CMakeLists.txt
│ ├── config/
│ │ └── map.pcd
│ ├── launch/
│ │ └── map_generator.launch
│ ├── package.xml
│ └── src/
│ └── map_generator_node.cpp
├── quadrotor_msgs/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── quadrotor_msgs/
│ │ ├── comm_types.h
│ │ ├── decode_msgs.h
│ │ └── encode_msgs.h
│ ├── msg/
│ │ ├── AuxCommand.msg
│ │ ├── Bspline.msg
│ │ ├── Corrections.msg
│ │ ├── Gains.msg
│ │ ├── Odometry.msg
│ │ ├── OptimalTimeAllocator.msg
│ │ ├── OutputData.msg
│ │ ├── PPROutputData.msg
│ │ ├── PolynomialTrajectory.msg
│ │ ├── PositionCommand.msg
│ │ ├── PositionCommand_back.msg
│ │ ├── Replan.msg
│ │ ├── ReplanCheck.msg
│ │ ├── SO3Command.msg
│ │ ├── Serial.msg
│ │ ├── SpatialTemporalTrajectory.msg
│ │ ├── StatusData.msg
│ │ ├── SwarmCommand.msg
│ │ ├── SwarmInfo.msg
│ │ ├── SwarmOdometry.msg
│ │ ├── TRPYCommand.msg
│ │ └── TrajectoryMatrix.msg
│ ├── package.xml
│ └── src/
│ ├── decode_msgs.cpp
│ ├── encode_msgs.cpp
│ └── quadrotor_msgs/
│ ├── __init__.py
│ └── msg/
│ ├── _AuxCommand.py
│ ├── _Corrections.py
│ ├── _Gains.py
│ ├── _OutputData.py
│ ├── _PPROutputData.py
│ ├── _PositionCommand.py
│ ├── _SO3Command.py
│ ├── _Serial.py
│ ├── _StatusData.py
│ ├── _TRPYCommand.py
│ └── __init__.py
├── so3_controller/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── so3_controller/
│ │ └── so3_controller.hpp
│ ├── nodelet_plugin.xml
│ ├── package.xml
│ └── src/
│ └── so3_controller_nodelet.cpp
├── so3_quadrotor/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── so3_quadrotor/
│ │ ├── geometry_utils.hpp
│ │ └── quadrotor_dynamics.hpp
│ ├── nodelet_plugin.xml
│ ├── package.xml
│ └── src/
│ └── so3_quadrotor_nodelet.cpp
└── uav_simulator/
├── CMakeLists.txt
├── config/
│ ├── rviz_config.rviz
│ ├── so3_controller.yaml
│ └── so3_quadrotor.yaml
├── launch/
│ └── uav_simulator.launch
└── package.xml
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
build
devel
bag
screen.txt
.catkin_workspace
src/CMakeLists.txt
================================================
FILE: .vscode/c_cpp_properties.json
================================================
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"/home/ji/ros_ws/simulator/devel/include/**",
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"/home/ji/ros_ws/simulator/src/uav_simulator/mockamap/include/**",
"/home/ji/ros_ws/simulator/src/uav_simulator/so3_controller/include/**",
"/home/ji/ros_ws/simulator/src/uav_simulator/so3_quadrotor/include/**",
"/usr/include/**"
],
"name": "ROS",
"compilerPath": "/usr/bin/gcc"
}
],
"version": 4
}
================================================
FILE: .vscode/settings.json
================================================
{
"python.autoComplete.extraPaths": [
"/home/ji/ros_ws/simulator/devel/lib/python3/dist-packages",
"/opt/ros/noetic/lib/python3/dist-packages"
],
"files.associations": {
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"forward_list": "cpp",
"filesystem": "cpp",
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}
================================================
FILE: README.md
================================================
# CMPCC
Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight
## 0. Overview
**CMPCC** is an efficient, receding horizon, local adaptive low level planner as the middle layer between our original planner and controller [trr](https://github.com/USTfgaoaa/Teach-Repeat-Replan).
**Author**: Jialin Ji, Xin Zhou and [Fei Gao](https://ustfei.com/) from the [ZJU Fast Lab](www.kivact.com/).
**Related Paper**: [CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight](https://arxiv.org/abs/2007.03271), Jialin Ji, Xin Zhou, Chao Xu, Fei Gao, accepted, International Symposium on Experimental Robotics (ISER 2020).
**Video Links**: [youtube](https://www.youtube.com/watch?v=_7CzBh-0wQ0) or [bilibili](https://www.bilibili.com/video/BV1cZ4y1u7Ur)
### Features
- online flight speed optimization
- strict safety and feasibility
- real-time performance
### File Structure
- **src/cmpcc**: key module of CMPCC, which is a single ros package
- **src/simualtion**: a lightweight simulator for quadrotors
- **src/utils**: some functional codes and plugins
- **osqp**: a copy of [OSQP](https://osqp.org/) source code for solving qp problem.
- **key2joy.py**: a user-interface tool based on pygame for setting disturbance
## 1. Prerequisites
Our software is developed and tested in Ubuntu 18.04, ROS Melodic. Other version may require minor modification.
You can clone this repository:
```
git clone https://github.com/ZJU-FAST-Lab/CMPCC.git
cd CMPCC
```
To install the following dependencies, you can run the auto-install script by
```
chmod +x install_tools.sh
./install_tools.sh
```
If failed, you can manually install them one by one:
- install dependencies
```
sudo apt-get install libyaml-cpp-dev
sudo apt-get install libarmadillo-dev
```
- install pygame for key2joy.py
```
sudo apt-get install python-pip
pip install pygame
```
- install osqp
```
cd osqp
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
sudo cmake --build . --target install
```
## 2. Build on ROS
After the prerequisites are satisfied, you can catkin_make in this repository directory, which is already a ros-workspace:
```
catkin_make
```
## 3. Run the Simulation
```
source devel/setup.bash
./simulation.sh
```
You can set wind disturbance with keyboard "WASD". The default disturbance is quite fierce. If the drone flew outside the corridor, you would have to relauch the nodes.
## 4. Licence
The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.
## 5. Maintaince
For any technical issues, please contact Jialin JI (jlji@zju.edu.cn) or Fei GAO (fgaoaa@zju.edu.cn).
For commercial inquiries, please contact Fei GAO (fgaoaa@zju.edu.cn).
================================================
FILE: install_tools.sh
================================================
# install dependencies
sudo apt-get install libyaml-cpp-dev
sudo apt-get install libarmadillo-dev
# install pygame
sudo apt-get install python-pip
pip install pygame
# install osqp
cd osqp
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
sudo cmake --build . --target install
================================================
FILE: key2joy.py
================================================
import os
import pygame
from pygame.locals import *
import time
import sys
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy
def main():
# initialize pygame to get keyboard event
pygame.init()
window_size = Rect(0, 0, 438, 344)
screen = pygame.display.set_mode(window_size.size)
path = os.path.dirname(os.path.abspath(__file__))
print(path)
img = pygame.image.load(path+"/figs/key2joy.png")
# initialize ros publisher
twist_pub = rospy.Publisher('keyboard/twist', Twist, queue_size=10)
joy_pub = rospy.Publisher('/joy', Joy, queue_size=10)
rospy.init_node('key2joy')
rate = rospy.Rate(50)
# init joy message
joy_ = Joy()
joy_.header.frame_id = 'world'
for i in range(8):
joy_.axes.append(0.0)
for i in range(11):
joy_.buttons.append(0)
while not rospy.is_shutdown():
rate.sleep()
screen.blit(img, (1,1))
pygame.display.flip()
for event in pygame.event.get():
# ---------------------- key dowm message ----------------------
if event.type == KEYDOWN:
if event.key == pygame.K_w:
# print 'up'
joy_.axes[1] = 1.0
if event.key == pygame.K_s:
# print 'down'
joy_.axes[1] = -1.0
if event.key == pygame.K_a:
# print 'left'
joy_.axes[0] = -1.0
if event.key == pygame.K_d:
# print 'right'
joy_.axes[0] = 1.0
joy_pub.publish(joy_)
# when keyup, reset wind velocity
elif event.type == pygame.KEYUP:
# wind direction
if event.key == pygame.K_w:
joy_.axes[1] = 0.0
if event.key == pygame.K_s:
joy_.axes[1] = -0.0
if event.key == pygame.K_a:
joy_.axes[0] = 0.0
if event.key == pygame.K_d:
joy_.axes[0] = -0.0
joy_pub.publish(joy_)
if __name__ == '__main__':
try:
main()
except rospy.ROSInterruptException:
pass
================================================
FILE: osqp/.bumpversion.cfg
================================================
[bumpversion]
current_version = 0.6.0
commit = True
tag = True
parse = (?P<major>\d+)\.(?P<minor>\d+)\.(?P<patch>\d+)(\.(?P<release>[a-z]+)(?P<dev>\d+))?
serialize =
{major}.{minor}.{patch}.{release}{dev}
{major}.{minor}.{patch}
[bumpversion:part:release]
optional_value = gamma
values =
dev
gamma
[bumpversion:part:dev]
[bumpversion:file:README.md]
[bumpversion:file:docs/conf.py]
[bumpversion:file:docs/doxygen.conf]
[bumpversion:file:docs/get_started/CC++.rst]
[bumpversion:file:docs/get_started/matlab.rst]
[bumpversion:file:include/constants.h]
[bumpversion:file:.travis.yml]
[bumpversion:file:appveyor.yml]
================================================
FILE: osqp/.editorconfig
================================================
# https://editorconfig.org
root = true
[*.{c, h, cpp, hpp}]
charset = utf-8
indent_style = space
indent_size = 2
end_of_line = lf
trim_trailing_whitespace = true
# Python
[*.py]
indent_size = 4
# Python
[*.yml]
indent_size = 2
# CMake
[CMakeLists.txt]
indent_size = 4
================================================
FILE: osqp/.gitattributes
================================================
* text=auto
*.c text
*.h text
*.cpp text
================================================
FILE: osqp/.gitmodules
================================================
[submodule "lin_sys/direct/qdldl/qdldl_sources"]
path = lin_sys/direct/qdldl/qdldl_sources
url = https://github.com/oxfordcontrol/qdldl.git
================================================
FILE: osqp/.travis.yml
================================================
language: C
matrix:
include:
- os: linux
dist: xenial
- os: osx
# Specify version to avoid bug (https://github.com/travis-ci/travis-ci/issues/6522)
osx_image: xcode9.3
sudo: required
env:
global:
- OSQP_VERSION="0.6.0"
- DEPS_DIR="${HOME}/deps"
# Bintray API key
- secure: "RgZWa1zTkbXzbF+TW89CDa0OD+hjVrZCSnsG9X3OQRyMRcR8yp61SudC0sopJyAhrXA++6zRENI/T1rTmTr1WYcitF22x3fzVvPL+IQEUCxXPV6GOb3cBB/f3rxkpxeBYXO+tgsH1ad+A9T2oihO0/94fKVpZ5uN5mjJbP4yatF+DyEk5+IlHkp0yrgNxyLYEo7QCaDQJhffBJCa4R3C2sb2oL5S3JV6C1svWeSRVey5lrkNwk+rL1Af0kIEfWCXYBq5dchDLFGgfJlzFTw3i/UmKSqtdkq/Eq3vKpvvqMCHcm9ibcWeJX1iNSXVmblycLitI/K1LjONWvrAioHsv9qRaf+YXtLtyb1WXLmaPdi0P138TIDMHLslFYBq1Sf+1WZJ5U3KItzNXjFw/c2yUIDXMePrXNbHodYwND+3QS+yAoIHXT0buxUjjEbD6g54YfqjsTX8w510l+dy7WZQUM6GJn7byiEDfEEu9RbhLuDRHMG8h2viya9aLgIEAMq92/XbS6v01aX24dPmrlSZEocqwrp8yJxGU4tYk+gj4rnWXYF7XfaOVvINc5RRwejZ1mIkMg1fCEqaBmKQiOwDuypoG0L9kDaX85fGwo7/LIdApsJWZvXewlW8ZQERSqFwXDJpQXjS8iHcCzJUR+WUWkrVMYzzr74Fr+XeKmQeQC4="
- PYTHON_VERSION="3.6"
# OSQP_DOCS_DEPLOY_EMAIL
- secure: "EOnlXwP6GSEq4gm9lxTG6QHH4PUA2r2KOZULbdFXbn11Nr0z/ubjjzOGwGLCQdJcvz40G4Ks9Lty8RZqFvrIXXfMgli1jPR9N9jTPANog9abB+GOzjYn5IqBJMN4ZaR8DDpzHB4n9QE2w5I1ihTLIEnZ0Jxm9ckxYBlx9ndeRPEE0qqePkM1oP+GiT+WIidv9r9z3p6kKG+x4BF6d2SgzNGVL8v7yyPtVDGyUvLu/CGvY6pDgUqp0KImpOgjtrKTtFtYergBHTBPoLpxRLjw0RZRlaPquiitvwm4QxdYDmlyDahnoST330m0vvca2oCA76E3AlobUK8MDGxB+CiUfTM3e51mKCq3UO4o7g6BKT5ZF+0YpCFyfvvJZg6TupdfWdtlNG15rcgVgzOKAPrlaEe0qtCOUduPTHECCkOO/yUyEOU8+LEEvnESNdrJhfnPtkWBRJ607TjfKS6tLFcHjHobPtG4yB0ZBoOSWVjngIkJc/1vQNfrDXuBhWcF861GPnStv44ziNLl8+KL+9ekjPitVubInsxGNDtz0qVtMGigTK8xGxE0EjoUroIXc/DSfuFcPj4t7j56C7xFjxRz+nREGhq158XOiq0qLUtEdBPSvh9yxdn35n1L3D1kGM4oSHWhAslV55GZqorJfI/HBWelVhsVM+6HAoezQ9aJaQ4="
# OSQP_DOCS_DEPLOY_GH_TOKEN
- secure: "F+9E43Mw6DpmS//G48Rwh1BOr1fpwYN1RtxLA01E+VM3H3h6a0jgv0iXaTA1nAI7Ept7+RXCwH8TG6MFmGj+ygAB/6C8qUWXPhZugqi/ekXzEvQlA/kU1YjDKm1Uh57ZKrm7lLMt6X8RSuy4VWRa0ZyZ6yc7X+wFwRwz+u9kneQu0/U1BWY26FG0CWK639r8yD5nX2d33E723kCVT1o9R/hK5t01ow61/AE1AIevvjTYhaw8mGbDw0sWKVcPng4+2y8Nlh+E1lE5QQRgUntO4LYJfuMMuJlcHLwxAacJ8DQBpbop4WWxCkuccvaVBgeUNXNFIgq88lwAFYTiEC1LCoFxzEZuIbmfGJNTYZrjvIsxZaoavRVVDcdRVU+4sC/Nr3GHVh/WF+XsOzFN9ij+fvOd5SaEAN0KU6Wlw3lrvTjHnvDFFz5WVkeZMn+47flGl6aoPLfSi7IoNqch2iuAUr0qJ8CRC79/Avhbij9bPLEkEdMKnAcoJYL4V89xGKS67LJb3m8iS0FaCTYB7Fy4T0Gg6cxeLJbaJukj6kUUpJOuZSOFwf9QCA+u5SyYzcanPgPZsHOlZ9xB+6snDdZ+2G3VGsNnrTZoeqRSDelt4aKpI0JkYe0MFkm95AYxzf/utjWYz07QeewmPi7c15PpFr8XmRoGYtpIxVRV12y2Dqs="
install:
# Source to export variables
- source ${TRAVIS_BUILD_DIR}/ci/travis/install.sh
script:
- bash ${TRAVIS_BUILD_DIR}/ci/travis/script.sh
deploy:
# Deploy shared libraries to bintray
- provider: script
script: "bash ${TRAVIS_BUILD_DIR}/ci/travis/deploy.sh"
on:
tags: true
skip_cleanup: true # to upload artifacts created during the build
# Deploy docs
- provider: script
script: "bash ${TRAVIS_BUILD_DIR}/ci/travis/docs.sh"
on:
branch: master
================================================
FILE: osqp/.valgrind-suppress.supp
================================================
{
ignore_get_max_threads_intel
Memcheck:Param
sched_setaffinity(mask)
fun:syscall
fun:__kmp_affinity_determine_capable
fun:_Z20__kmp_env_initializePKc
fun:__kmp_middle_initialize
fun:omp_get_num_procs@@VERSION
fun:mkl_serv_domain_get_max_threads
obj:*
}
{
ignore mkl_get_max_threads
Memcheck:Cond
fun:mkl_serv_domain_get_max_threads
obj:*
}
{
ignore_libiomp_intel
Memcheck:Cond
fun:__intel_sse2_strrchr
fun:*_INTERNAL_45_______src_thirdparty_tbb_omp_dynamic_link_cpp_*
fun:__sti__$E
obj:*libiomp*.so
}
{
mkl_malloc
Memcheck:Leak
match-leak-kinds: definite
fun:malloc
fun:_dl_signal_error
fun:_dl_open
fun:dlopen_doit
fun:_dl_catch_error
fun:_dlerror_run
fun:dlopen@@GLIBC_2.2.5
fun:mkl_serv_inspector_suppress
fun:mkl_serv_lock
fun:mkl_serv_core_register_cleanup
fun:__sti__$E
fun:call_init.part.0
}
{
another_intel
Memcheck:Addr16
fun:__intel_sse2_strrchr
fun:_ZN67_INTERNAL_45_______src_thirdparty_tbb_omp_dynamic_link_cpp_d77f5ef55__kmp12init_dl_dataEv
fun:__sti__$E
obj:*libiomp5.so
obj:*libiomp5.so
}
================================================
FILE: osqp/CHANGELOG.md
================================================
Version 0.6.0 (30 August 2019)
------------------------------
* Added meaningful return values to internal functions. Changed syntax of `osqp_setup` function. It now returns an exitflag.
* `osqp_setup` function requires `P` to be upper triangular. It returns a nonzero exitflag otherwise.
* Custom memory allocators via cmake and the configure file.
* Changed interfaces to linsys solver functions. The solve function now computes `(x_tilde,z_tilde)` instead of `(x_tilde,nu)`. This allows to implement custom linear system solvers (also indirect).
* Added `solve` function in Python interface that performs `setup` `solve` and `cleanup` for you directly and disables GIL.
* Improved code generation folder structure.
Version 0.5.0 (10 December 2018)
----------------
* Added `update_time` to the info structure.
* Fixed [#101](https://github.com/oxfordcontrol/osqp/issues/101).
Version 0.4.1 (25 September 2018)
---------------------------------
* Updated QDLDL to version 0.1.3.
* Added check for nonconvex cost function (non-positive semidefinite `P`) after factorization is performed.
* Added complete sources distribution on bintray.com (including QDLDL).
Version 0.4.0 (23 July 2018)
----------------------------
* Added check for nonconvex cost function (non-positive semidefinite `P`).
* Removed SuiteSparse LDL in favor of [QDLDL](https://github.com/oxfordcontrol/qdldl).
* Static library `libosqpstatic` now renamed as `libosqp`.
Version 0.3.1 (10 June 2018)
----------------------------
* Fixed [#62](https://github.com/oxfordcontrol/osqp/issues/62).
* Moved interfaces to separate repositories
* Fixed [#54](https://github.com/oxfordcontrol/osqp/issues/54).
* Changes to support Matlab 2018a
* Added support for new interface in R
Version 0.3.0 (5 March 2018)
----------------------------
* Added `time_limit` option
* Added CUTEst interface
* Fixed bug in upper triangular `P` extraction. Now the solver can accept both complete `P` matrix or just the upper triangular part.
* Fixed [#33](https://github.com/oxfordcontrol/osqp/issues/33)
* Fixed [#34](https://github.com/oxfordcontrol/osqp/issues/34)
* Allow `eps_rel=0` [#40](https://github.com/oxfordcontrol/osqp/issues/40)
* Fixed bug when calling `osqp_solve` or `osqp_cleanup` after failed linear system initialization
* Add "install" CMake target and installation of CMake configuration files
* Fixed potential name conflict with SCS [47](https://github.com/oxfordcontrol/osqp/issues/47)
* Changed `set_default_settings` to `osqp_set_default_settings` and brought function to main API header `osqp.h`
* Fixed [#49](https://github.com/oxfordcontrol/osqp/issues/49)
Version 0.2.1 (25 November 2017)
---------------------------------
* Fixed problem with code generation and pypi `data_files` (everything now in [MANIFEST.in](https://github.com/pypa/sampleproject/issues/30))
Version 0.2.0 (23 November 2017)
---------------------------------
* Added adaptive rho -> Much more reliable convergence!
* Simplified several settings
* "early_terminate" and "early_terminate_interval" -> "check_termination"
* "scaling_iter" removed and put inside "scaling" parameter
* Julia interface [OSQP.jl](https://github.com/oxfordcontrol/OSQP.jl)
* Shared libraries available on bintray.com
* Added inaccurate return statuses
* Added new object-oriented structure for linear system solvers
* Added MKL Pardiso interface using shared dynamic library loader
* Added diagonal rho vector with different values for equality/inequality constraints (interface still have scalar rho)
* Return certificates of infeasibility in results structure
* Now code generation produces a static library
Version 0.1.3 (21 September 2017)
---------------------------------
* Fixed sources distribution on Python
Version 0.1.2 (20 July 2017)
------------------------------
* Added option to terminate with scaled or unscaled residual
* Now Matlab interface does support logical entries for the settings
* Fixed bug in index ordering of sparse matrices of Python interface
* Changed 2-norms to inf-norms
* Fixed code generation bug when scaling is disabled [#7](https://github.com/oxfordcontrol/osqp/issues/7)
* Removed warnings in code-generation for standard <= C99
* Fixed MATLAB 2015b compatibility [#6](https://github.com/oxfordcontrol/osqp/issues/6)
Version 0.1.1 (11 April 2017)
-----------------------------
* Fixed crashes during polishing when factorization fails
* Added package to Pypi
* Fixed relative paths Matlab
Version 0.1.0 (10 April 2017)
-----------------------------
* Linux, Mac and Windows
* Interface to Python 2.7, 3.5+
* Interface to Matlab 2015b+
* Embedded code generation
================================================
FILE: osqp/CMakeLists.txt
================================================
# Minimum version required
cmake_minimum_required (VERSION 3.2)
# Project name
project (osqp)
# Export compile commands
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Set the output folder where your program will be created
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/out)
set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/out)
# Some non-standard CMake modules
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/configure/cmake)
INCLUDE(FindPythonModule)
INCLUDE(Utils)
# include(FindMKL) # Find MKL module
# Detect operating system
# ----------------------------------------------
message(STATUS "We are on a ${CMAKE_SYSTEM_NAME} system")
if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
set(IS_LINUX ON)
elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin")
set(IS_MAC ON)
elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
set(IS_WINDOWS ON)
endif()
# Set options
# ----------------------------------------------
# Are unittests generated?
option (UNITTESTS "Enable unittests generation" OFF)
# Is the code generated for embedded platforms?
# 1 : Yes. Matrix update not allowed.
# 2 : Yes. Matrix update allowed.
if (NOT DEFINED EMBEDDED)
message(STATUS "Embedded is OFF")
else()
message(STATUS "Embedded is ${EMBEDDED}")
endif()
# Is printing enabled?
option (PRINTING "Enable solver printing" OFF)
if (DEFINED EMBEDDED)
message(STATUS "Disabling printing for embedded")
set(PRINTING OFF)
endif()
set(PRINTING OFF)
message(STATUS "Printing is ${PRINTING}")
# Is profiling enabled?
option (PROFILING "Enable solver profiling (timing)" ON)
if (DEFINED EMBEDDED)
message(STATUS "Disabling profiling for embedded")
set(PROFILING OFF)
endif()
message(STATUS "Profiling is ${PROFILING}")
# Is user interrupt enabled?
option (CTRLC "Enable user interrupt (Ctrl-C)" ON)
if (DEFINED EMBEDDED)
message(STATUS "Disabling user interrupt for embedded")
set(CTRLC OFF)
endif()
message(STATUS "User interrupt is ${CTRLC}")
# Use floats instead of integers
option (DFLOAT "Use float numbers instead of doubles" OFF)
message(STATUS "Floats are ${DFLOAT}")
# Use long integers for indexing
option (DLONG "Use long integers (64bit) for indexing" OFF)
if (NOT (CMAKE_SIZEOF_VOID_P EQUAL 8))
message(STATUS "Disabling long integers (64bit) on 32bit machine")
set(DLONG OFF)
endif()
message(STATUS "Long integers (64bit) are ${DLONG}")
option (DEBUG "Debug mode" OFF)
if (CMAKE_BUILD_TYPE STREQUAL "Debug")
set (DEBUG ON)
message(STATUS "Debug mode is ${DEBUG}")
endif()
# Add code coverage
option (COVERAGE "Perform code coverage" OFF)
message(STATUS "Code coverage is ${COVERAGE}")
# Memory allocators
# ----------------------------------------------
#Report on custom user header options. This is intended to allow
#users to provide definitions of their own memory functions
# The header should define the functions as follows
#
# define c_malloc mymalloc
# define c_calloc mycalloc
# define c_realloc myrealloc
# define c_free myfree
if(OSQP_CUSTOM_MEMORY)
message(STATUS "User custom memory management header: ${OSQP_CUSTOM_MEMORY}")
endif()
# Linear solvers dependencies
# ---------------------------------------------
option (ENABLE_MKL_PARDISO "Enable MKL Pardiso solver" ON)
if (DFLOAT)
message(STATUS "Disabling MKL Pardiso Solver with floats")
set(ENABLE_MKL_PARDISO OFF)
elseif(DEFINED EMBEDDED)
message(STATUS "Disabling MKL Pardiso Solver for embedded")
set(ENABLE_MKL_PARDISO OFF)
endif()
message(STATUS "MKL Pardiso: ${ENABLE_MKL_PARDISO}")
# Generate header file with the global options
# ---------------------------------------------
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/configure/osqp_configure.h.in
${CMAKE_CURRENT_SOURCE_DIR}/include/osqp_configure.h
NEWLINE_STYLE LF)
# Set Compiler flags
# ----------------------------------------------
set(CMAKE_POSITION_INDEPENDENT_CODE ON) # -fPIC
if (NOT MSVC)
if (COVERAGE)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
if(FORTRAN)
set(CMAKE_FORTRAN_FLAGS "${CMAKE_FORTRAN_FLAGS} --coverage")
endif(FORTRAN)
endif()
if (DEBUG)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O0 -g")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3")
endif()
set(CMAKE_C_STANDARD_LIBRARIES "${CMAKE_C_STANDARD_LIBRARIES} -lm") # Include math
# Include real time library in linux
if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
set(CMAKE_C_STANDARD_LIBRARIES "${CMAKE_C_STANDARD_LIBRARIES} -lrt -ldl")
endif()
endif (NOT MSVC)
# Set sources and includes
# ----------------------------------------------
add_subdirectory (src)
add_subdirectory (include)
# if we are building the Python interface, let's look for Python
# and set some options
# -----------------------------------------------------------------
if (PYTHON)
# Python include directories need to be passed by the python compilation process
if (NOT PYTHON_INCLUDE_DIRS)
message( FATAL_ERROR "You need Python include directories to build the Python interface" )
endif (NOT PYTHON_INCLUDE_DIRS)
# Include directories for Python headers
include_directories(${PYTHON_INCLUDE_DIRS})
# Pass PYTHON flag to C compiler
add_definitions(-DPYTHON)
if (UNITTESTS)
# Disable unittests
message(STATUS "Disabling UNITTESTS because we are building Python interface")
set(UNITTESTS OFF)
endif (UNITTESTS)
endif (PYTHON)
# if we are building the Matlab interface, let's look for Matlab
# and set some options
# -----------------------------------------------------------------
if (MATLAB)
find_package(Matlab)
if (NOT Matlab_FOUND)
message( FATAL_ERROR "You need Matlab libraries to build the Matlab interface" )
endif (NOT Matlab_FOUND)
# Include directories for Matlab headers
include_directories(${Matlab_INCLUDE_DIRS})
message(STATUS "Matlab root is " ${Matlab_ROOT_DIR})
# Pass MATLAB flag to C compiler
add_definitions(-DMATLAB)
# Insist on the pre 2018 complex data API
# so that mxGetPr will work correctly
add_definitions(-DMATLAB_MEXSRC_RELEASE=R2017b)
message(STATUS "Using Matlab pre-2018a API for mxGetPr compatibility")
if (UNITTESTS)
# Disable unittests
message(STATUS "Disabling UNITTESTS because we are building Matlab interface")
set(UNITTESTS OFF)
endif (UNITTESTS)
endif (MATLAB)
# if we are building the R interface, let's look for R
# and set some options
# -----------------------------------------------------------------
if (R_LANG)
message(STATUS "We are building the R interface")
# Look for R libraries
find_package(R)
if (NOT R_FOUND)
message( FATAL_ERROR "You need R libraries to build the R interface" )
endif (NOT R_FOUND)
message(STATUS "R exec is: " ${R_EXEC})
message(STATUS "R root dir is: " ${R_ROOT_DIR})
message(STATUS "R includes are in: " ${R_INCLUDE_DIRS})
# Include directories for R headers
include_directories(${R_INCLUDE_DIRS})
# Pass R_LANG flag to C compiler
add_definitions(-DR_LANG)
if (UNITTESTS)
# Disable unittests
message(STATUS "Disabling UNITTESTS because we are building the R interface")
set(UNITTESTS OFF)
endif (UNITTESTS)
endif (R_LANG)
# Create Static Library
# ----------------------------------------------
# Add linear system solvers cumulative library
add_subdirectory(lin_sys)
# Static library
add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
# Give same name to static library output
set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
# Include directories for linear system solvers
target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
# Declare include directories for the cmake exported target
target_include_directories(osqpstatic
PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}/osqp>")
# Install Static Library
# ----------------------------------------------
include(GNUInstallDirs)
install(TARGETS osqpstatic
EXPORT ${PROJECT_NAME}
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
# Install Headers
# ----------------------------------------------
install(FILES ${osqp_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/osqp")
if (MATLAB)
target_link_libraries (osqpstatic ${Matlab_LIBRARIES})
endif (MATLAB)
# If we are building Python/Matlab/R interface:
# - do not build shared library
# - do not build demo
if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
# Create osqp shared library
# NB: Add all the linear system solvers here
add_library (osqp SHARED ${osqp_src} ${osqp_headers} ${linsys_solvers})
# Include directories for linear system solvers
target_include_directories(osqp PRIVATE ${linsys_solvers_includes})
# Declare include directories for the cmake exported target
target_include_directories(osqp
PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}/osqp>")
# Install osqp shared library
install(TARGETS osqp
EXPORT ${PROJECT_NAME}
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
# Create demo executable (linked to static library)
add_executable (osqp_demo ${PROJECT_SOURCE_DIR}/examples/osqp_demo.c)
target_link_libraries (osqp_demo osqpstatic)
endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
# Create CMake packages for the build directory
# ----------------------------------------------
include(CMakePackageConfigHelpers)
export(EXPORT ${PROJECT_NAME}
FILE "${CMAKE_CURRENT_BINARY_DIR}/osqp-targets.cmake"
NAMESPACE osqp::)
if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/osqp-config.cmake)
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/osqp-config.cmake "include(\"\${CMAKE_CURRENT_LIST_DIR}/osqp-targets.cmake\")\n")
endif()
# Create CMake packages for the install directory
# ----------------------------------------------
set(ConfigPackageLocation lib/cmake/osqp)
install(EXPORT ${PROJECT_NAME}
FILE osqp-targets.cmake
NAMESPACE osqp::
DESTINATION ${ConfigPackageLocation})
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/osqp-config.cmake
DESTINATION ${ConfigPackageLocation})
# Add uninstall command
# ----------------------------------------------
if(NOT TARGET uninstall)
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/configure/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()
# Add testing
# ----------------------------------------------
# Add custom command to generate tests
if (UNITTESTS)
find_package(PythonInterp)
if(NOT PYTHONINTERP_FOUND)
message( FATAL_ERROR "You need python installed to generate unittests. If you do not want to compile the unittests pass -DUNITTESTS=OFF to cmake." )
endif()
INCLUDE(FindPythonModule)
find_python_module(numpy)
IF(NOT NUMPY_FOUND)
message( FATAL_ERROR "You need numpy python module installed to generate unittests. If you do not want to compile the unittests pass -DUNITTESTS=OFF to cmake." )
ENDIF()
find_python_module(scipy)
# Check scipy version for sparse.random functionalities
IF((NOT SCIPY_FOUND) OR (SCIPY_VERSION VERSION_LESS 0.17.0))
message( FATAL_ERROR "You need scipy python module installed to generate unittests. If you do not want to compile the unittests pass -DUNITTESTS=OFF to cmake." )
ENDIF()
find_python_module(__future__)
IF(NOT __FUTURE___FOUND)
message( FATAL_ERROR "You need future python module installed to generate unittests. If you do not want to compile the unittests pass -DUNITTESTS=OFF to cmake." )
ENDIF()
# Add test_headers and codegen_test_headers
add_subdirectory(tests)
# Generating tests.stamp so that the test data are not always generated
# set(data_timestamp ${PROJECT_SOURCE_DIR}/tests/tests_data.stamp)
add_custom_command(
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/tests
COMMAND ${PYTHON_EXECUTABLE} generate_tests_data.py
DEPENDS ${PROJECT_SOURCE_DIR}/tests/generate_tests_data.py
OUTPUT ${codegen_test_headers}
COMMENT "Generating unittests data files using Python"
)
# Direct linear solver testing
include_directories(tests)
add_executable(osqp_tester
${PROJECT_SOURCE_DIR}/tests/osqp_tester.c
${PROJECT_SOURCE_DIR}/tests/osqp_tester.h
${PROJECT_SOURCE_DIR}/tests/minunit.h
${test_headers}
${codegen_test_headers})
target_link_libraries (osqp_tester osqpstatic)
# Add custom memory target
add_executable(osqp_tester_custom_memory
EXCLUDE_FROM_ALL
${PROJECT_SOURCE_DIR}/tests/osqp_tester.c
${PROJECT_SOURCE_DIR}/tests/osqp_tester.h
${PROJECT_SOURCE_DIR}/tests/minunit.h
${test_headers}
${codegen_test_headers}
${PROJECT_SOURCE_DIR}/tests/custom_memory/custom_memory.c
${PROJECT_SOURCE_DIR}/tests/custom_memory/custom_memory.h
)
target_link_libraries (osqp_tester_custom_memory osqpstatic)
# Add testing
include(CTest)
enable_testing()
add_test(NAME tester COMMAND $<TARGET_FILE:osqp_tester>)
endif()
================================================
FILE: osqp/LICENSE
================================================
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
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5. Submission of Contributions. Unless You explicitly state otherwise,
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the terms of any separate license agreement you may have executed
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6. Trademarks. This License does not grant permission to use the trade
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7. Disclaimer of Warranty. Unless required by applicable law or
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8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
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on Your own behalf and on Your sole responsibility, not on behalf
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END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "{}"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
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file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright 2019 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
================================================
FILE: osqp/NOTICE
================================================
OSQP
Copyright (c) 2019 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd
This product includes software developed at Stanford University and at the University of Oxford.
The following external modules are included in this software library
QDLDL
Copyright (c) 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac.
AMD
Copyright (c) 1996-2015, Timothy A. Davis, Patrick R. Amestoy, and Iain S. Duff.
================================================
FILE: osqp/README.md
================================================
# The Operator Splitting QP Solver
[](https://travis-ci.org/oxfordcontrol/osqp)
[](https://ci.appveyor.com/project/bstellato/osqp/branch/master)
[](https://coveralls.io/github/oxfordcontrol/osqp?branch=master)
[**Join our forum on Discourse**](https://osqp.discourse.group) for any questions related to the solver!
**The documentation** is available at [**osqp.org**](https://osqp.org/)
The OSQP (Operator Splitting Quadratic Program) solver is a numerical optimization package for solving problems in the form
```
minimize 0.5 x' P x + q' x
subject to l <= A x <= u
```
where `x in R^n` is the optimization variable. The objective function is defined by a positive semidefinite matrix `P in S^n_+` and vector `q in R^n`. The linear constraints are defined by matrix `A in R^{m x n}` and vectors `l` and `u` so that `l_i in R U {-inf}` and `u_i in R U {+inf}` for all `i in 1,...,m`.
The latest version is `0.6.0`.
## Citing OSQP
If you are using OSQP for your work, we encourage you to
* [Cite the related papers](https://osqp.org/citing/),
* Put a star on this repository.
**We are looking forward to hearing your success stories with OSQP!** Please [share them with us](mailto:bartolomeo.stellato@gmail.com).
## Bug reports and support
Please report any issues via the [Github issue tracker](https://github.com/oxfordcontrol/osqp/issues). All types of issues are welcome including bug reports, documentation typos, feature requests and so on.
## Numerical benchmarks
Numerical benchmarks against other solvers are available [here](https://github.com/oxfordcontrol/osqp_benchmarks).
================================================
FILE: osqp/ROADMAP.md
================================================
## TODO
- [ ] Add GPU solver
- [ ] Add indirect solver
================================================
FILE: osqp/appveyor.yml
================================================
# Not a .NET project. We build it in the install script
build: false
platform:
- x64
- x86
environment:
BINTRAY_API_KEY:
secure: ng7NUNQat2LczU5XjKKyDLITkZbZsJeAdPGDjuTdQDHDiaL03JJF6Usab+miNVsO
MINICONDA: C:\Miniconda
CMAKE_PROJECT: MinGW Makefiles
PYTHON_VERSION: 3.7
OSQP_VERSION: 0.6.0
init:
# Uncomment for remote desktop debug
# - ps: iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
- ECHO %PYTHON_VERSION% %MINICONDA%
install:
- "%APPVEYOR_BUILD_FOLDER%\\ci\\appveyor\\install.cmd"
test_script:
- "%APPVEYOR_BUILD_FOLDER%\\ci\\appveyor\\script.cmd"
deploy_script:
- "%APPVEYOR_BUILD_FOLDER%\\ci\\appveyor\\deploy.cmd"
on_finish:
# Uncomment for remote desktop debug
# - ps: $blockRdp = $true; iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
================================================
FILE: osqp/ci/appveyor/deploy.cmd
================================================
@echo on
REM Needed to enable to define OSQP_BIN within the file
@setlocal enabledelayedexpansion
IF "%APPVEYOR_REPO_TAG%" == "true" (
IF NOT "%OSQP_VERSION%"=="%OSQP_VERSION:dev=%" (
rem We are using a development version
set OSQP_PACKAGE_NAME="OSQP-dev"
) ELSE (
rem We are using standard version
set OSQP_PACKAGE_NAME="OSQP"
)
REM Build C libraries
cd %APPVEYOR_BUILD_FOLDER%
del /F /Q build
mkdir build
cd build
cmake -G "%CMAKE_PROJECT%" ..
cmake --build .
REM Go to output folder
cd %APPVEYOR_BUILD_FOLDER%\build\out
IF "%PLATFORM%" == "x86" (
set OSQP_BIN="osqp-!OSQP_VERSION!-windows32"
) ELSE (
set OSQP_BIN="osqp-!OSQP_VERSION!-windows64"
)
REM Create directories
REM NB. We force expansion of the variable at execution time!
mkdir !OSQP_BIN!
mkdir !OSQP_BIN!\lib
mkdir !OSQP_BIN!\include
REM Copy License
xcopy ..\..\LICENSE !OSQP_BIN!
REM Copy includes
xcopy ..\..\include\*.h !OSQP_BIN!\include
REM Copy static library
xcopy libosqp.a !OSQP_BIN!\lib
REM Copy shared library
xcopy libosqp.dll !OSQP_BIN!\lib
REM Compress package
7z a -ttar !OSQP_BIN!.tar !OSQP_BIN!
7z a -tgzip !OSQP_BIN!.tar.gz !OSQP_BIN!.tar
REM Deploy to Bintray
curl -T !OSQP_BIN!.tar.gz -ubstellato:!BINTRAY_API_KEY! -H X-Bintray-Package:!OSQP_PACKAGE_NAME! -H X-Bintray-Version:!OSQP_VERSION! -H "X-Bintray-Override: 1" https://api.bintray.com/content/bstellato/generic/!OSQP_PACKAGE_NAME!/!OSQP_VERSION!/
if errorlevel 1 exit /b 1
REM Publish
curl -X POST -ubstellato:!BINTRAY_API_KEY! https://api.bintray.com/content/bstellato/generic/!OSQP_PACKAGE_NAME!/!OSQP_VERSION!/publish
if errorlevel 1 exit /b 1
rem End of IF for appveyor tag
)
@echo off
================================================
FILE: osqp/ci/appveyor/install.cmd
================================================
@echo on
:: Make sure all the submodules are updated correctly
cd %APPVEYOR_BUILD_FOLDER%
git submodule update --init --recursive
:: Remove entry with sh.exe from PATH to fix error with MinGW toolchain
:: (For MinGW make to work correctly sh.exe must NOT be in your path)
:: http://stackoverflow.com/a/3870338/2288008
set PATH=%PATH:C:\Program Files\Git\usr\bin;=%
IF "%PLATFORM%"=="x86" (
set MINGW_PATH=C:\mingw-w64\i686-6.3.0-posix-dwarf-rt_v5-rev1\mingw32\bin
) ELSE (
set MINGW_PATH=C:\mingw-w64\x86_64-6.3.0-posix-seh-rt_v5-rev1\mingw64\bin
)
set PATH=%MINGW_PATH%;%PATH%
:: Activate test environment anaconda
IF "%PLATFORM%"=="x86" (
set MINICONDA_PATH=%MINICONDA%
) ELSE (
set MINICONDA_PATH=%MINICONDA%-%PLATFORM%
)
set PATH=%MINICONDA_PATH%;%MINICONDA_PATH%\\Scripts;%PATH%
conda config --set always_yes yes --set changeps1 no
REM This, together with next line, disables conda auto update (fixes problem with tqdm)
conda config --set auto_update_conda false
REM conda update -q conda
conda info -a
conda create -q -n test-environment python=%PYTHON_VERSION% numpy scipy future
if errorlevel 1 exit /b 1
:: NB: Need to run with call otherwise the script hangs
call activate test-environment
:: Set environment for build if 64bit
:: NB: Needed during conda build!
IF "%PLATFORM%"=="x64" (
call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
) ELSE (
REM Set environment for 32bit
call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86
)
@echo off
================================================
FILE: osqp/ci/appveyor/script.cmd
================================================
@echo on
:: Perform C Tests with standard configuration
:: -----------------------------------------------------
cd %APPVEYOR_BUILD_FOLDER%
mkdir build
cd build
cmake -G "%CMAKE_PROJECT%" -DUNITTESTS=ON ..
cmake --build .
%APPVEYOR_BUILD_FOLDER%\build\out\osqp_tester.exe
if errorlevel 1 exit /b 1
:: Perform C Tests with floats
:: -----------------------------------------------------
cd %APPVEYOR_BUILD_FOLDER%
rmdir /s /q build
mkdir build
cd build
cmake -G "%CMAKE_PROJECT%" -DDFLOAT=ON -DUNITTESTS=ON ..
cmake --build .
%APPVEYOR_BUILD_FOLDER%\build\out\osqp_tester.exe
if errorlevel 1 exit /b 1
:: Perform C Tests with short integers
:: -----------------------------------------------------
cd %APPVEYOR_BUILD_FOLDER%
rmdir /s /q build
mkdir build
cd build
cmake -G "%CMAKE_PROJECT%" -DDLONG=OFF -DUNITTESTS=ON ..
cmake --build .
%APPVEYOR_BUILD_FOLDER%\build\out\osqp_tester.exe
if errorlevel 1 exit /b 1
:: Perform C Tests without printing
:: -----------------------------------------------------
cd %APPVEYOR_BUILD_FOLDER%
rmdir /s /q build
mkdir build
cd build
cmake -G "%CMAKE_PROJECT%" -DPRINTING=OFF -DUNITTESTS=ON ..
cmake --build .
%APPVEYOR_BUILD_FOLDER%\build\out\osqp_tester.exe
if errorlevel 1 exit /b 1
cd %APPVEYOR_BUILD_FOLDER%
@echo off
================================================
FILE: osqp/ci/travis/deploy.sh
================================================
#!/bin/bash
set -e
echo "Creating Bintray shared library package..."
if [[ ${OSQP_VERSION} == *"dev"* ]]; then
# Using dev version
OSQP_PACKAGE_NAME="OSQP-dev";
else
OSQP_PACKAGE_NAME="OSQP";
fi
# Compile OSQP
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -G "Unix Makefiles" ..
make
cd ${TRAVIS_BUILD_DIR}/build/out
if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
OS_NAME="mac"
OS_SHARED_LIB_EXT="dylib"
else
OS_NAME="linux"
OS_SHARED_LIB_EXT="so"
fi
OSQP_BIN=osqp-${OSQP_VERSION}-${OS_NAME}64
mkdir $OSQP_BIN/
mkdir $OSQP_BIN/lib
mkdir $OSQP_BIN/include
# Copy license
cp ../../LICENSE $OSQP_BIN/
# Copy includes
cp ../../include/*.h $OSQP_BIN/include
# Copy static library
cp libosqp.a $OSQP_BIN/lib
# Copy shared library
cp libosqp.$OS_SHARED_LIB_EXT $OSQP_BIN/lib
# Compress package
tar -czvf ${TRAVIS_BUILD_DIR}/$OSQP_BIN.tar.gz $OSQP_BIN
echo "Creating Bintray sources package..."
OSQP_SOURCES=osqp-${OSQP_VERSION}
# Clone OSQP repository
cd ${TRAVIS_BUILD_DIR}
mkdir sources/
cd sources/
git clone https://github.com/$TRAVIS_REPO_SLUG.git ${OSQP_SOURCES} --recursive
cd ${OSQP_SOURCES}
git checkout -qf $TRAVIS_COMMIT
git submodule update
cd ..
# Create archive ignoring hidden files
tar --exclude=".*" -czvf ${TRAVIS_BUILD_DIR}/${OSQP_SOURCES}.tar.gz ${OSQP_SOURCES}
# Upload to Bintray
# Deploy sources
curl -T ${TRAVIS_BUILD_DIR}/${OSQP_SOURCES}.tar.gz -ubstellato:$BINTRAY_API_KEY -H "X-Bintray-Package:${OSQP_PACKAGE_NAME}" -H "X-Bintray-Version:${OSQP_VERSION}" -H "X-Bintray-Override: 1" https://api.bintray.com/content/bstellato/generic/${OSQP_PACKAGE_NAME}/${OSQP_VERSION}/
# Deploy shared library binaries
curl -T ${TRAVIS_BUILD_DIR}/${OSQP_BIN}.tar.gz -ubstellato:$BINTRAY_API_KEY -H "X-Bintray-Package:${OSQP_PACKAGE_NAME}" -H "X-Bintray-Version:${OSQP_VERSION}" -H "X-Bintray-Override: 1" https://api.bintray.com/content/bstellato/generic/${OSQP_PACKAGE_NAME}/${OSQP_VERSION}/
# Publish deployed files
curl -X POST -ubstellato:$BINTRAY_API_KEY https://api.bintray.com/content/bstellato/generic/${OSQP_PACKAGE_NAME}/${OSQP_VERSION}/publish
set +e
================================================
FILE: osqp/ci/travis/docs.sh
================================================
#!/bin/bash
echo "Deploying docs to website osqp.org..."
# Update variables from install
# Anaconda
export PATH=${DEPS_DIR}/miniconda/bin:$PATH
hash -r
source activate testenv
if [[ $TRAVIS_OS_NAME == "linux" ]]; then
# Install dependencies
# Add PPA to make doxygen installation work
sudo add-apt-repository ppa:libreoffice/ppa -y
sudo apt-get update -q -y
sudo apt-get install -y doxygen
conda install -y sphinx
conda install -y -c conda-forge sphinx_rtd_theme breathe
# Enter in docs folder
cd ${TRAVIS_BUILD_DIR}/docs/
# Create docs
make html
# Clone website repository
cd $HOME/
git clone "https://${OSQP_DOCS_DEPLOY_GH_TOKEN}@github.com/oxfordcontrol/osqp.org.git"
cd osqp.org/src/docs/
# Update git config to push
git config user.name "OSQP Docs Builder"
git config user.email "$OSQP_DOCS_DEPLOY_EMAIL"
# Copy in the docs HTML
cp -R ${TRAVIS_BUILD_DIR}/docs/_build/html/* ./
# Add and commit changes.
git add -A .
git commit --allow-empty -m "Generated docs for commit $TRAVIS_COMMIT"
# -q is very important, otherwise you leak your GH_TOKEN
git push -q origin master
fi
================================================
FILE: osqp/ci/travis/install.sh
================================================
#!/bin/bash
# Create deps dir
mkdir ${DEPS_DIR}
cd ${DEPS_DIR}
# Install lcov and valgrind on linux
if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
sudo apt-get update -y
sudo apt-get install -y lcov
sudo apt-get install -y valgrind
else if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew update
brew install lcov
fi
fi
# Install Anaconda
# Use the miniconda installer for faster download / install of conda
# itself
if [[ $TRAVIS_OS_NAME == 'osx' ]]; then
wget http://repo.continuum.io/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -O miniconda.sh;
else
wget http://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh;
fi
export CONDA_ROOT=${DEPS_DIR}/miniconda
chmod +x miniconda.sh && ./miniconda.sh -b -p $CONDA_ROOT
export PATH=${DEPS_DIR}/miniconda/bin:$PATH
hash -r
conda config --set always_yes yes --set changeps1 no
conda update --yes -q conda
conda create -n testenv --yes python=$PYTHON_VERSION mkl numpy scipy future
source activate testenv
# Install cmake
conda install --yes -c conda-forge cmake
# Install coveralls lcov
gem install coveralls-lcov
cd ${TRAVIS_BUILD_DIR}
================================================
FILE: osqp/ci/travis/script.sh
================================================
#!/bin/bash
set -e
# Add MKL shared libraries to the path
# This unfortunately does not work in travis OSX if I put the export command
# in the install.sh (it works on linux though)
export MKL_SHARED_LIB_DIR=`ls -rd ${CONDA_ROOT}/pkgs/*/ | grep mkl-2 | head -n 1`lib:`ls -rd ${CONDA_ROOT}/pkgs/*/ | grep intel-openmp- | head -n 1`lib
echo "MKL shared library path: ${MKL_SHARED_LIB_DIR}"
if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${MKL_SHARED_LIB_DIR}
else if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
export DYLD_LIBRARY_PATH=${DYLD_LIBRARY_PATH}:${MKL_SHARED_LIB_DIR}
fi
fi
# Test C interface
# ---------------------------------------------------
# Compile and test OSQP
echo "Change directory to Travis build ${TRAVIS_BUILD_DIR}"
echo "Testing OSQP with standard configuration"
cd ${TRAVIS_BUILD_DIR}
mkdir build
cd build
cmake -G "Unix Makefiles" -DCOVERAGE=ON -DUNITTESTS=ON ..
make
${TRAVIS_BUILD_DIR}/build/out/osqp_tester
# Pefrorm code coverage (only in Linux case)
if [[ $TRAVIS_OS_NAME == "linux" ]]; then
cd ${TRAVIS_BUILD_DIR}/build
lcov --directory . --capture -o coverage.info # capture coverage info
lcov --remove coverage.info "${TRAVIS_BUILD_DIR}/tests/*" \
"${TRAVIS_BUILD_DIR}/lin_sys/direct/qdldl/amd/*" \
"${TRAVIS_BUILD_DIR}/lin_sys/direct/qdldl/qdldl_sources/*" \
"/usr/include/x86_64-linux-gnu/**/*" \
-o coverage.info # filter out tests and unnecessary files
lcov --list coverage.info # debug before upload
coveralls-lcov coverage.info # uploads to coveralls
fi
if [[ $TRAVIS_OS_NAME == "linux" ]]; then
echo "Testing OSQP with valgrind (disabling MKL pardiso for memory allocation issues)"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
#disable PARDISO since intel instructions in MKL
#cause valgrind 3.11 to fail
cmake -G "Unix Makefiles" -DENABLE_MKL_PARDISO=OFF -DUNITTESTS=ON ..
make
valgrind --suppressions=${TRAVIS_BUILD_DIR}/.valgrind-suppress.supp --leak-check=full --gen-suppressions=all --track-origins=yes --error-exitcode=42 ${TRAVIS_BUILD_DIR}/build/out/osqp_tester
fi
echo "Testing OSQP with floats"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -G "Unix Makefiles" -DDFLOAT=ON -DUNITTESTS=ON ..
make
${TRAVIS_BUILD_DIR}/build/out/osqp_tester
echo "Testing OSQP without long integers"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -G "Unix Makefiles" -DDLONG=OFF -DUNITTESTS=ON ..
make
${TRAVIS_BUILD_DIR}/build/out/osqp_tester
echo "Building OSQP with embedded=1"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -G "Unix Makefiles" -DEMBEDDED=1 ..
make
echo "Building OSQP with embedded=2"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -G "Unix Makefiles" -DEMBEDDED=2 ..
make
echo "Testing OSQP without printing"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -G "Unix Makefiles" -DPRINTING=OFF -DUNITTESTS=ON ..
make
${TRAVIS_BUILD_DIR}/build/out/osqp_tester
# Test custom memory management
# ---------------------------------------------------
echo "Test OSQP custom allocators"
cd ${TRAVIS_BUILD_DIR}
rm -rf build
mkdir build
cd build
cmake -DUNITTESTS=ON \
-DOSQP_CUSTOM_MEMORY=${TRAVIS_BUILD_DIR}/tests/custom_memory/custom_memory.h \
..
make osqp_tester_custom_memory
${TRAVIS_BUILD_DIR}/build/out/osqp_tester_custom_memory
cd ${TRAVIS_BUILD_DIR}
set +e
================================================
FILE: osqp/configure/cmake/FindPythonModule.cmake
================================================
# Find python module and version
#
# It sets the variables (given module called MODULE)
# unless MODULE is __FUTURE__. In that case
# it only checks if it has been found.
#
# MODULE_FOUND - has the module been found?
# MODULE_VERSION - module version as a string
# MODULE_VERSION_MAJOR - major version number
# MODULE_VERSION_MINOR - minor version number
# MODULE_VERSION_PATCH - patch version number
# MODULE_VERSION_DECIMAL - e.g. version 1.6.1 is 10601
#
function(find_python_module module)
# Write module in upper and lower case
string(TOUPPER ${module} module_upper)
string(TOLOWER ${module} module_lower)
unset(${module_upper}_VERSION)
#
# if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED")
# set(${module_upper}_FIND_REQUIRED TRUE)
# endif()
if(PYTHONINTERP_FOUND)
if (NOT ${module} STREQUAL "__future__")
execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
"import ${module_lower} as n; print(n.__version__);"
RESULT_VARIABLE __result
OUTPUT_VARIABLE __output
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(__result MATCHES 0)
string(REGEX REPLACE ";" "\\\\;" __values ${__output})
string(REGEX REPLACE "\r?\n" ";" __values ${__values})
list(GET __values 0 ${module_upper}_VERSION)
string(REGEX MATCH "^([0-9])+\\.([0-9])+\\.([0-9])+" __ver_check "${${module_upper}_VERSION}")
if(NOT "${__ver_check}" STREQUAL "")
set(${module_upper}_VERSION_MAJOR ${CMAKE_MATCH_1})
set(${module_upper}_VERSION_MINOR ${CMAKE_MATCH_2})
set(${module_upper}_VERSION_PATCH ${CMAKE_MATCH_3})
math(EXPR ${module_upper}_VERSION_DECIMAL
"(${CMAKE_MATCH_1} * 10000) + (${CMAKE_MATCH_2} * 100) + ${CMAKE_MATCH_3}")
else()
unset(${module_upper}_VERSION)
message(STATUS "Requested ${module_lower} version, but got instead:\n${__output}\n")
endif()
find_package_handle_standard_args(${module_upper}
FOUND_VAR ${module_upper}_FOUND
REQUIRED_VARS ${module_upper}_VERSION
VERSION_VAR ${module_upper}_VERSION)
endif()
else()
execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
"import ${module_lower} as n"
RESULT_VARIABLE __result
OUTPUT_VARIABLE __output
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT __result)
set(${module_upper}_FOUND ON)
endif()
message(STATUS "Found Python __FUTURE__")
endif()
else()
message(STATUS "Python interpreter not found. To find ${module} you need the Python interpreter.")
endif()
# Set variables in parent scope
if(${module_upper}_FOUND)
set(${module_upper}_FOUND ON PARENT_SCOPE)
if (NOT ${module} STREQUAL "__future__")
set(${module_upper}_VERSION ${${module_upper}_VERSION} PARENT_SCOPE)
set(${module_upper}_VERSION_MAJOR ${${module_upper}_VERSION_MAJOR} PARENT_SCOPE)
set(${module_upper}_VERSION_MINOR ${${module_upper}_VERSION_MINOR} PARENT_SCOPE)
set(${module_upper}_VERSION_PATCH ${${module_upper}_VERSION_PATCH} PARENT_SCOPE)
set(${module_upper}_VERSION_DECIMAL ${${module_upper}_VERSION_DECIMAL} PARENT_SCOPE)
endif()
endif()
# Clear variables
osqp_clear_vars(__result __output __values __ver_check)
endfunction(find_python_module)
================================================
FILE: osqp/configure/cmake/FindR.cmake
================================================
# CMake module to find R
# - Try to find R. If found, defines:
#
# R_FOUND - system has R
# R_EXEC - the system R command
# R_ROOT_DIR - the R root directory
# R_INCLUDE_DIRS - the R include directories
set(TEMP_CMAKE_FIND_APPBUNDLE ${CMAKE_FIND_APPBUNDLE})
set(CMAKE_FIND_APPBUNDLE "NEVER")
find_program(R_EXEC NAMES R R.exe)
set(CMAKE_FIND_APPBUNDLE ${TEMP_CMAKE_FIND_APPBUNDLE})
#---Find includes and libraries if R exists
if(R_EXEC)
set(R_FOUND TRUE)
if((CMAKE_HOST_SOLARIS) AND (DEFINED ENV{R_HOME}))
message(STATUS "Unsetting R_HOME on Solaris.")
unset(ENV{R_HOME})
endif()
execute_process(WORKING_DIRECTORY .
COMMAND ${R_EXEC} RHOME
OUTPUT_VARIABLE R_ROOT_DIR
OUTPUT_STRIP_TRAILING_WHITESPACE)
find_path(R_INCLUDE_DIRS R.h
PATHS /usr/local/lib /usr/local/lib64 /usr/share /usr/include ${R_ROOT_DIR} PATH_SUFFIXES include R R/include)
endif()
mark_as_advanced(R_FOUND R_EXEC R_ROOT_DIR R_INCLUDE_DIRS)
================================================
FILE: osqp/configure/cmake/Utils.cmake
================================================
# Clears variables from list
# Usage:
# osqp_clear_vars(<variables_list>)
macro(osqp_clear_vars)
foreach(_var ${ARGN})
unset(${_var})
endforeach()
endmacro()
================================================
FILE: osqp/configure/cmake/cmake_uninstall.cmake.in
================================================
if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
message(FATAL_ERROR "Cannot find install manifest: @CMAKE_BINARY_DIR@/install_manifest.txt")
endif(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
string(REGEX REPLACE "\n" ";" files "${files}")
foreach(file ${files})
message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
exec_program(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
if(NOT "${rm_retval}" STREQUAL 0)
message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
endif(NOT "${rm_retval}" STREQUAL 0)
else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
endforeach(file)
================================================
FILE: osqp/configure/osqp_configure.h.in
================================================
#ifndef OSQP_CONFIGURE_H
# define OSQP_CONFIGURE_H
# ifdef __cplusplus
extern "C" {
# endif /* ifdef __cplusplus */
/* DEBUG */
#cmakedefine DEBUG
/* Operating system */
#cmakedefine IS_LINUX
#cmakedefine IS_MAC
#cmakedefine IS_WINDOWS
/* EMBEDDED */
#cmakedefine EMBEDDED (@EMBEDDED@)
/* PRINTING */
#cmakedefine PRINTING
/* PROFILING */
#cmakedefine PROFILING
/* CTRLC */
#cmakedefine CTRLC
/* DFLOAT */
#cmakedefine DFLOAT
/* DLONG */
#cmakedefine DLONG
/* ENABLE_MKL_PARDISO */
#cmakedefine ENABLE_MKL_PARDISO
/* MEMORY MANAGEMENT */
#cmakedefine OSQP_CUSTOM_MEMORY
#ifdef OSQP_CUSTOM_MEMORY
#include "@OSQP_CUSTOM_MEMORY@"
#endif
# ifdef __cplusplus
}
# endif /* ifdef __cplusplus */
#endif /* ifndef OSQP_CONFIGURE_H */
================================================
FILE: osqp/docs/Makefile
================================================
# Minimal makefile for Sphinx documentation
#
# You can set these variables from the command line.
SPHINXOPTS =
SPHINXBUILD = sphinx-build
SPHINXPROJ = osqp
SOURCEDIR = .
BUILDDIR = _build
# Put it first so that "make" without argument is like "make help".
help:
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
.PHONY: help Makefile
# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
================================================
FILE: osqp/docs/_static/css/osqp_theme.css
================================================
/* Default header fonts are ugly */
@import url(https://fonts.googleapis.com/css?family=Open+Sans:400,400i,600,600i,700,700i);
@import url(https://fonts.googleapis.com/css?family=Inconsolata);
h1, h2, h3, h4, h5, h6 {
font-family: "Open Sans", "Helvetica Neue",Helvetica,Arial,sans-serif;
font-weight: 600;
}
body {
font-family: 'Open Sans', sans-serif;
}
.wy-nav-top a {
font-size: 175%;
font-weight: 600;
}
/* Remove rounded navigation bar */
.wy-side-nav-search input[type=text] {
border-radius: 2px;
}
div[class^='highlight'] pre {
font-family: 'Inconsolata', monospace;
font-size: 16px;
background: #f3f6f6;
}
/* Make glossary entries bolder to stand out */
dl.glossary>dt{
font-weight: 700;
}
/* Make bold things less bold */
b, strong {
font-weight: 600;
}
/* Less bold table head */
.wy-table thead th, .rst-content table.docutils thead th, .rst-content table.field-list thead th {
font-weight: 600;
}
/* Less bold current active element */
.wy-menu-vertical li.on a, .wy-menu-vertical li.current>a {
font-weight: 600;
}
/* Types link refs less bold */
.rst-content tt.xref, a .rst-content tt, .rst-content tt.xref, .rst-content code.xref, a .rst-content tt, a .rst-content code {
font-weight: normal;
}
/* Make types in C/C++ docs less bold */
.rst-content dl dt {
font-weight: 600;
}
/* Link Styling */
a,a:visited, a:focus {
color: rgb(46, 118, 176); /* Light blue*/
text-decoration: none;
}
a:hover, a:active {
color: rgb(0, 32, 72); /* blue*/
text-decoration: none;
}
/* Make bar oxford blue*/
.wy-side-nav-search {
background-color: rgb(0, 32, 72); /* Oxford blue */
}
.wy-nav-side {
background: rgb(0, 32, 72); /* Oxford blue */
}
.wy-nav-content-wrap, .wy-menu li.current > a {
background-color: #fff;
/* font-weight: 600; */
}
@media screen and (min-width: 1400px) {
.wy-nav-content-wrap {
/*background-color: rgba(0, 0, 0, 0.0470588);*/
background-color: rgb(245, 245, 245); /* Light grey */
}
.wy-nav-content {
background-color: #fff;
}
}
.wy-nav-top {
background-color: rgb(0, 32, 72); /* Oxford blue */
}
/* Change color of the line at the top of Read the Docs box at the bottom left
corner */
.rst-versions{
border-top:solid 10px rgb(0, 32, 72); /* Oxford blue */
}
/* Change color of top left name */
.wy-side-nav-search>a{
color: rgb(255, 255, 255); /* White text*/
}
.wy-side-nav-search>div.version{
color: rgb(245, 245, 245); /* Light grey text*/
}
.wy-nav-top a{
color: rgb(255, 255, 255); /* White text*/
}
/* Navigation bar text */
.wy-menu-vertical header, .wy-menu-vertical p.caption {
color: rgb(255, 255, 255); /* White text*/
font-weight: 600;
}
.wy-menu-vertical a{
color: rgb(178, 188, 200); /* Grey */
}
.wy-menu-vertical a:hover{
background: rgb(46, 118, 176);
color: rgb(255, 255, 255); /* White text*/
}
/* Change text color for tt literal */
.rst-content tt.literal, .rst-content tt.literal, .rst-content code.literal{
color: rgb(46, 118, 176); /* Light blue*/
font-size: 14px;
}
tr td code span{
font-size: 13px;
}
.s1, .s2{
color: rgb(46, 118, 176); /* Light blue*/
}
/* Rubric bigger (initial page) */
.rst-content p.rubric {
font-family: "Open Sans", "Helvetica Neue",Helvetica,Arial,sans-serif;
font-weight: 600;
font-size: 150%;
margin-bottom: 20px;
}
/* Smaller rubric in C/C++ description */
p.breathe-sectiondef-title.rubric {
font-size: 100%;
}
/* Remove box shadow from buttons */
.btn {
font-weight: normal;
font-family: "Open Sans", "Helvetica Neue",Helvetica,Arial,sans-serif;
box-shadow: none;
}
/* Force breathe display inline parameters */
/*.wy-plain-list-disc li p:last-child, .rst-content .section ul li p:last-child, .rst-content .toctree-wrapper ul li p:last-child, article ul li p:last-child{
display: inline;
}*/
/* Remove line block indentation */
.rst-content .line-block {
margin-bottom: 0px !important;
margin-left: 0px !important;
}
/* Margin below tables */
table p {
margin-bottom: 0px;
}
================================================
FILE: osqp/docs/_templates/layout.html
================================================
{% extends '!layout.html' %}
{% block extrahead %}
<meta name="twitter:card" content="summary_large_image" >
<meta name="twitter:creator" content="@bstellato" >
<meta name="twitter:image"
content="https://osqp.org/docs/_static/img/logo.png">
<meta name="twitter:description" content="The OSQP (Operator Splitting
Quadratic Program) solver is a numerical optimization package for solving
convex quadratic programs." >
<meta property="og:url" content="https://osqp.org" >
<meta property="og:title" content="OSQP solver documentation" >
<meta property="og:description" content="The OSQP (Operator Splitting Quadratic
Program) solver is a numerical optimization package for solving convex
quadratic programs." >
<meta property="og:image"
content="https://osqp.org/docs/_static/img/logo.png">
<meta property="fb:app_id" content="129555174389689">
<meta property="og:type" content="website" >
{% endblock %}
================================================
FILE: osqp/docs/citing/index.rst
================================================
.. _citing :
Citing OSQP
===========
If you use OSQP for published work, we encourage you to put a star on `GitHub <https://github.com/oxfordcontrol/osqp>`_ and cite the accompanying papers:
.. glossary::
Main paper
Main algorithm description, derivation and benchmark available in this `paper <https://web.stanford.edu/~boyd/papers/pdf/osqp.pdf>`__.
.. code:: latex
@article{osqp,
author = {Stellato, Bartolomeo and Banjac, Goran and Goulart, Paul and Bemporad, Alberto and Boyd, Stephen},
title = {{{OSQP}}: An Operator Splitting Solver for Quadratic Programs},
journal = {Mathematical Programming Computation},
year = {2020},
doi = {10.1007/s12532-020-00179-2},
url = {https://doi.org/10.1007/s12532-020-00179-2}
}
Infeasibility detection
Infeasibility detection proofs using ADMM (also for general conic programs) in this `paper <https://stanford.edu/~boyd/papers/pdf/admm_infeas.pdf>`__.
.. code:: latex
@article{osqp-infeasibility,
author = {Banjac, G. and Goulart, P. and Stellato, B. and Boyd, S.},
title = {Infeasibility detection in the alternating direction method of multipliers for convex optimization},
journal = {Journal of Optimization Theory and Applications},
year = {2019},
volume = {183},
number = {2},
pages = {490--519},
doi = {10.1007/s10957-019-01575-y},
url = {https://doi.org/10.1007/s10957-019-01575-y},
}
Code generation
Code generation functionality and example in this `paper <https://stanford.edu/~boyd/papers/pdf/osqp_embedded.pdf>`_.
.. code:: latex
@inproceedings{osqp-codegen,
author = {Banjac, G. and Stellato, B. and Moehle, N. and Goulart, P. and Bemporad, A. and Boyd, S.},
title = {Embedded code generation using the {OSQP} solver},
booktitle = {IEEE Conference on Decision and Control (CDC)},
year = {2017},
doi = {10.1109/CDC.2017.8263928},
url = {https://doi.org/10.1109/CDC.2017.8263928},
}
================================================
FILE: osqp/docs/codegen/index.rst
================================================
Code generation
===============
OSQP can generate tailored C code that compiles into a fast and reliable solver
for the given family of QP problems in which the problem data, but not its
dimensions, change between problem instances.
The generated code is:
.. glossary::
Malloc-free
It does not perform any dynamic memory allocation.
Library-free
It is not linked to any external library.
Division-free
There are no division required in the ADMM algorithm
We make a distinction between two cases depending on which of the data are to be
treated as parameters.
.. glossary::
Vectors as parameters
Vectors :math:`q`, :math:`l` and :math:`u` can change between problem instances.
This corresponds to the compiler flag :code:`EMBEDDED=1`.
:math:`\rho` adaptation is not enabled.
The generated code is division-free and has a very small footprint.
Matrices as parameters
Both vectors :math:`q`, :math:`l`, :math:`u` and values in matrices
:math:`P` and :math:`A` can change between problem instances.
This corresponds to the compiler flag :code:`EMBEDDED=2`.
:math:`\rho` adaptation is enabled but the frequency does not rely on any timing.
We assume that the sparsity patterns of :math:`P` and :math:`A` are fixed.
.. toctree::
:maxdepth: 1
:glob:
*
================================================
FILE: osqp/docs/codegen/matlab.rst
================================================
Matlab
======
Before generating code for a parametric problem, the problem should be first
specified in the setup phase. See :ref:`matlab_setup` for more details.
Codegen
-------
The code is generated by running
.. code:: matlab
m.codegen(dir_name, varargin)
The argument :code:`dir_name` is the name of a directory where the generated
code is stored.
The second argument :code:`varargin` specifies additional codegen options
shown in the following table
+-----------------------+---------------------------------------------------+--------------------------------+
| Option | Description | Allowed values |
+=======================+===================================================+================================+
| :code:`project_type` | Build environment | | :code:`''` (default) |
| | | | :code:`'Makefile'` |
| | | | :code:`'MinGW Makefiles'` |
| | | | :code:`'Unix Makefiles'` |
| | | | :code:`'CodeBlocks'` |
| | | | :code:`'Xcode'` |
+-----------------------+---------------------------------------------------+--------------------------------+
| :code:`parameters` | Problem parameters | | :code:`'vectors'` (default) |
| | | | :code:`'matrices'` |
+-----------------------+---------------------------------------------------+--------------------------------+
| :code:`mexname` | Name of the compiled mex interface | | :code:`'emosqp'` (default) |
| | | | Nonempty string |
+-----------------------+---------------------------------------------------+--------------------------------+
| :code:`force_rewrite` | Rewrite existing directory | | :code:`false` (default) |
| | | | :code:`true` |
+-----------------------+---------------------------------------------------+--------------------------------+
| :code:`FLOAT` | Use :code:`float` type instead of :code:`double` | | :code:`false` (default) |
| | | | :code:`true` |
+-----------------------+---------------------------------------------------+--------------------------------+
| :code:`LONG` | Use :code:`long long` type instead of :code:`int` | | :code:`true` (default) |
| | | | :code:`false` |
+-----------------------+---------------------------------------------------+--------------------------------+
You can pass the options as field-value pairs, e.g.,
.. code:: matlab
m.codegen('code', 'parameters', 'matrices', 'mexname', 'emosqp');
If the :code:`project_type` argument is not passed or is set to :code:`''`,
then no build files are generated.
Mex interface
-------------
Once the code is generated the following functions are provided through its mex interface. Each function is called as
.. code:: matlab
emosqp('function_name');
where :code:`emosqp` is the name of the mex interface specified in the previous section
.. function:: emosqp('solve')
:noindex:
Solve the problem.
:returns: multiple variables [x, y, status_val, iter, run_time]
- **x** (*ndarray*) - Primal solution
- **y** (*ndarray*) - Dual solution
- **status_val** (*int*) - Status value as in :ref:`status_values`
- **iter** (*int*) - Number of iterations
- **run_time** (*double*) - Run time
.. function:: emosqp('update_lin_cost', q_new)
:noindex:
Update linear cost.
:param ndarray q_new: New linear cost vector
.. function:: emosqp('update_lower_bound', l_new)
:noindex:
Update lower bound in the constraints.
:param ndarray l_new: New lower bound vector
.. function:: emosqp('update_upper_bound', u_new)
:noindex:
Update upper bound in the constraints.
:param ndarray u_new: New upper bound vector
.. function:: emosqp('update_bounds', l_new, u_new)
:noindex:
Update lower and upper bounds in the constraints.
:param ndarray l_new: New lower bound vector
:param ndarray u_new: New upper bound vector
If the code is generated with the option :code:`parameters` set to
:code:`'matrices'`, then the following functions are also provided
.. function:: emosqp('update_P', Px, Px_idx, Px_n)
:noindex:
Update nonzero entries of the quadratic cost matrix (only upper triangular) without changing sparsity structure.
:param ndarray Px: Values of entries to be updated
:param ndarray Px_idx: Indices of entries to be updated. Pass :code:`[]` if
all the indices are to be updated
:param int Px_n: Number of entries to be updated. Used only if Px_idx is not
:code:`[]`.
.. function:: emosqp('update_A', Ax, Ax_idx, Ax_n)
:noindex:
Update nonzero entries of the constraint matrix.
:param ndarray Ax: Values of entries to be updated
:param ndarray Ax_idx: Indices of entries to be updated. Pass :code:`[]` if
all the indices are to be updated
:param int Ax_n: Number of entries to be updated. Used only if Ax_idx is not
:code:`[]`.
.. function:: emosqp('update_P_A', Px, Px_idx, Px_n, Ax, Ax_idx, Ax_n)
:noindex:
Update nonzero entries of the quadratic cost and constraint matrices. It considers only the upper-triangular part of P.
:param ndarray Px: Values of entries to be updated
:param ndarray Px_idx: Indices of entries to be updated. Pass :code:`[]` if
all the indices are to be updated
:param int Px_n: Number of entries to be updated. Used only if Px_idx is not
:code:`[]`.
:param ndarray Ax: Values of entries to be updated
:param ndarray Ax_idx: Indices of entries to be updated. Pass :code:`[]` if
all the indices are to be updated
:param int Ax_n: Number of entries to be updated. Used only if Ax_idx is not
:code:`[]`.
You can update all the nonzero entries in matrix :math:`A` by running
.. code:: matlab
emosqp('update_A', Ax_new, [], 0);
See C/C++ :ref:`C_sublevel_API` for more details on the input arguments.
================================================
FILE: osqp/docs/codegen/python.rst
================================================
Python
======
Before generating code for a parametric problem, the problem should be first
specified in the setup phase. See :ref:`python_setup` for more details.
Codegen
-------
The code is generated by running
.. code:: python
m.codegen(dir_name, **opts)
The argument :code:`dir_name` is the name of a directory where the generated
code is stored.
Additional codegen options are shown in the following table
+-------------------------+---------------------------------------------------+--------------------------------+
| Option | Description | Allowed values |
+=========================+===================================================+================================+
| :code:`project_type` | Build environment | | :code:`''` (default) |
| | | | :code:`'Makefile'` |
| | | | :code:`'MinGW Makefiles'` |
| | | | :code:`'Unix Makefiles'` |
| | | | :code:`'CodeBlocks'` |
| | | | :code:`'Xcode'` |
+-------------------------+---------------------------------------------------+--------------------------------+
| :code:`parameters` | Problem parameters | | :code:`'vectors'` (default) |
| | | | :code:`'matrices'` |
+-------------------------+---------------------------------------------------+--------------------------------+
| :code:`python_ext_name` | Name of the generated Python module | | :code:`'emosqp'` (default) |
| | | | Nonempty string |
+-------------------------+---------------------------------------------------+--------------------------------+
| :code:`force_rewrite` | Rewrite existing directory | | :code:`False` (default) |
| | | | :code:`True` |
+-------------------------+---------------------------------------------------+--------------------------------+
| :code:`FLOAT` | Use :code:`float` type instead of :code:`double` | | :code:`False` (default) |
| | | | :code:`True` |
+-------------------------+---------------------------------------------------+--------------------------------+
| :code:`LONG` | Use :code:`long long` type instead of :code:`int` | | :code:`True` (default) |
| | | | :code:`False` |
+-------------------------+---------------------------------------------------+--------------------------------+
The options are passed using named arguments, e.g.,
.. code:: python
m.codegen('code', parameters='matrices', python_ext_name='emosqp')
If the :code:`project_type` argument is not passed or is set to :code:`''`,
then no build files are generated.
Extension module API
--------------------
Once the code is generated, you can import a light python wrapper with
.. code:: python
import emosqp
where :code:`emosqp` is the extension name given in the previous section. The module imports the following functions
.. py:function:: solve()
:noindex:
Solve the problem.
:returns: tuple (x, y, status_val, iter, run_time)
- **x** (*ndarray*) - Primal solution
- **y** (*ndarray*) - Dual solution
- **status_val** (*int*) - Status value as in :ref:`status_values`
- **iter** (*int*) - Number of iterations
- **run_time** (*double*) - Run time
.. py:function:: update_lin_cost(q_new)
:noindex:
Update linear cost.
:param ndarray q_new: New linear cost vector
.. py:function:: update_lower_bound(l_new)
:noindex:
Update lower bound in the constraints.
:param ndarray l_new: New lower bound vector
.. py:function:: update_upper_bound(u_new)
:noindex:
Update upper bound in the constraints.
:param ndarray u_new: New upper bound vector
.. py:function:: update_bounds(l_new, u_new)
:noindex:
Update lower and upper bounds in the constraints.
:param ndarray l_new: New lower bound vector
:param ndarray u_new: New upper bound vector
If the code is generated with the option :code:`parameters` set to
:code:`'matrices'`, the following functions are also provided
.. py:function:: update_P(Px, Px_idx, Px_n)
:noindex:
Update nonzero entries of the quadratic cost matrix (only upper triangular) without changing sparsity structure.
:param ndarray Px: Values of entries to be updated
:param ndarray Px_idx: Indices of entries to be updated. Pass :code:`None` if
all the indices are to be updated
:param int Px_n: Number of entries to be updated. Used only if Px_idx is not
:code:`None`.
.. py:function:: update_A(Ax, Ax_idx, Ax_n)
:noindex:
Update nonzero entries of the constraint matrix.
:param ndarray Ax: Values of entries to be updated
:param ndarray Ax_idx: Indices of entries to be updated. Pass :code:`None` if
all the indices are to be updated
:param int Ax_n: Number of entries to be updated. Used only if Ax_idx is not
:code:`None`.
.. py:function:: update_P_A(Px, Px_idx, Px_n, Ax, Ax_idx, Ax_n)
:noindex:
Update nonzero entries of the quadratic cost and constraint matrices. It considers only the upper-triangular part of P.
:param ndarray Px: Values of entries to be updated
:param ndarray Px_idx: Indices of entries to be updated. Pass :code:`None` if
all the indices are to be updated
:param int Px_n: Number of entries to be updated. Used only if Px_idx is not
:code:`None`.
:param ndarray Ax: Values of entries to be updated
:param ndarray Ax_idx: Indices of entries to be updated. Pass :code:`None` if
all the indices are to be updated
:param int Ax_n: Number of entries to be updated. Used only if Ax_idx is not
:code:`None`.
You can update all the nonzero entries in matrix :math:`A` by running
.. code:: python
emosqp.update_A(Ax_new, None, 0);
See C/C++ :ref:`C_sublevel_API` for more details on the input arguments.
================================================
FILE: osqp/docs/conf.py
================================================
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# OSQP documentation build configuration file, created by
# sphinx-quickstart on Sat Feb 18 15:49:00 2017.
#
# This file is execfile()d with the current directory set to its
# containing dir.
#
# Note that not all possible configuration values are present in this
# autogenerated file.
#
# All configuration values have a default; values that are commented out
# serve to show the default.
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
import sphinx_rtd_theme
import os
import subprocess
# import sys
# sys.path.insert(0, os.path.abspath('.'))
# Set version for bumpversion
__version__ = "0.6.0"
# -- General configuration ------------------------------------------------
# If your documentation needs a minimal Sphinx version, state it here.
#
# needs_sphinx = '1.0'
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = ['sphinx.ext.todo', 'sphinx.ext.mathjax', 'breathe']
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# The suffix(es) of source filenames.
# You can specify multiple suffix as a list of string:
#
# source_suffix = ['.rst', '.md']
source_suffix = '.rst'
# The master toctree document.
master_doc = 'index'
# General information about the project.
project = 'OSQP'
copyright = '2019, Bartolomeo Stellato, Goran Banjac'
author = 'Bartolomeo Stellato, Goran Banjac'
# The version info for the project you're documenting, acts as replacement for
# |version| and |release|, also used in various other places throughout the
# built documents.
#
version = '.'.join(__version__.split('.')[:4])
# The full version, including alpha/beta/rc tags.
release = __version__
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#
# This is also used if you do content translation via gettext catalogs.
# Usually you set "language" from the command line for these cases.
language = None
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This patterns also effect to html_static_path and html_extra_path
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# The name of the Pygments (syntax highlighting) style to use.
pygments_style = 'sphinx'
# If true, `todo` and `todoList` produce output, else they produce nothing.
todo_include_todos = False
# -- Options for HTML output ----------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
html_theme = 'sphinx_rtd_theme'
html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
# Theme options are theme-specific and customize the look and feel of a theme
# further. For a list of options available for each theme, see the
# documentation.
#
html_theme_options = {
'logo_only': True,
}
html_logo = '_static/img/logo.png'
html_favicon = "_static/img/favicon.ico"
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = ['_static']
# on_rtd is whether we are on readthedocs.org, this line of code grabbed from docs.readthedocs.org
on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
if not on_rtd: # only import and set the theme if we're building docs locally
# Override default css to get a larger width for local build
def setup(app):
app.add_stylesheet('css/osqp_theme.css')
else:
html_context = {
'css_files': [
'https://media.readthedocs.org/css/sphinx_rtd_theme.css',
'https://media.readthedocs.org/css/readthedocs-doc-embed.css',
'_static/css/osqp_theme.css'],
}
# -- Options for HTMLHelp output ------------------------------------------
# Output file base name for HTML help builder.
htmlhelp_basename = 'OSQPdoc'
# -- Options for LaTeX output ---------------------------------------------
latex_elements = {
# The paper size ('letterpaper' or 'a4paper').
#
# 'papersize': 'letterpaper',
# The font size ('10pt', '11pt' or '12pt').
#
# 'pointsize': '10pt',
# Additional stuff for the LaTeX preamble.
#
# 'preamble': '',
# Latex figure (float) alignment
#
# 'figure_align': 'htbp',
'sphinxsetup': 'hmargin={1.5cm,1.5cm}',
}
# Grouping the document tree into LaTeX files. List of tuples
# (source start file, target name, title,
# author, documentclass [howto, manual, or own class]).
latex_documents = [
(master_doc, 'OSQP.tex', 'OSQP Documentation',
'Bartolomeo Stellato, Goran Banjac', 'manual'),
]
# -- Options for manual page output ---------------------------------------
# One entry per manual page. List of tuples
# (source start file, name, description, authors, manual section).
man_pages = [
(master_doc, 'OSQP', 'OSQP Documentation',
[author], 1)
]
# -- Options for breathe ---------------------------------------
# Generate doxygen documentation
subprocess.call('doxygen doxygen.conf', shell=True)
breathe_projects = {"osqp": "doxygen_out/xml/"}
breathe_default_project = "osqp"
# -- Options for Texinfo output -------------------------------------------
# Grouping the document tree into Texinfo files. List of tuples
# (source start file, target name, title, author,
# dir menu entry, description, category)
texinfo_documents = [
(master_doc, 'OSQP', 'OSQP Documentation',
author, 'OSQP', 'One line description of project.',
'Miscellaneous'),
]
================================================
FILE: osqp/docs/contributing/index.rst
================================================
Contributing
=============
OSQP is an open-source project open to any academic or commercial applications.
Contributions are welcome as `GitHub pull requests <https://help.github.com/articles/creating-a-pull-request/>`_ in any part of the project such as
* algorithm developments
* interfaces to other languages
* compatibility with new architectures
* linear system solvers interfaces
.. _interfacing_new_linear_system_solvers :
Interfacing new linear system solvers
-------------------------------------
OSQP is designed to be easily interfaced to new linear system solvers via dynamic library loading.
To add a linear system solver interface you need to edit the :code:`lin_sys/` directory subfolder :code:`direct/` or :code:`indirect/` depending on the type of solver.
Create a subdirectory with your solver name with four files:
* Dynamic library loading: :code:`mysolver_loader.c` and :code:`mysolver_loader.h`.
* Linear system solution: :code:`mysolver.c` and :code:`mysolver.h`.
We suggest you to have a look at the `MKL Pardiso solver interface <https://github.com/oxfordcontrol/osqp/tree/master/lin_sys/direct/pardiso>`_ for more details.
Dynamic library loading
^^^^^^^^^^^^^^^^^^^^^^^
In this part define the methods to load the shared library and obtain the functions required to solve the linear system.
The main functions to be exported are :code:`lh_load_mysolver(const char* libname)` and :code:`lh_unload_mysolver()`.
In addition, the file :code:`mysolver_loader.c` must define static function pointers to the shared library functions to be loaded.
Linear system solution
^^^^^^^^^^^^^^^^^^^^^^
In this part we define the core of the interface: **linear system solver object**.
The main functions are the external method
* :code:`init_linsys_solver_mysolver`: create the instance and perform the setup
and the internal methods of the object
* :code:`free_linsys_solver_mysolver`: free the instance
* :code:`solve_linsys_mysolver`: solve the linear system
* :code:`update_matrices`: update problem matrices
* :code:`update_rho_vec`: update :math:`\rho` as a diagonal vector.
After the initializations these functions are assigned to the internal pointers so that, for an instance :code:`s` they can be called as :code:`s->free`, :code:`s->solve`, :code:`s->update_matrices` and :code:`s->update_rho_vec`.
The linear system solver object is defined in :code:`mysolver.h` as follows
.. code:: c
typedef struct mysolver mysolver_solver;
struct mysolver {
// Methods
enum linsys_solver_type type; // Linear system solver defined in constants.h
c_int (*solve)(struct mysolver * self, c_float * b);
void (*free)(struct mysolver * self);
c_int (*update_matrices)(struct mysolver * self, const csc *P, const csc *A);
c_int (*update_rho_vec)(struct mysolver * self, const c_float * rho_vec);
// Attributes
c_int nthreads; // Number of threads used (required!)
// Internal attributes of the solver
...
// Internal attributes required for matrix updates
c_int * Pdiag_idx, Pdiag_n; ///< index and number of diagonal elements in P
c_int * PtoKKT, * AtoKKT; ///< Index of elements from P and A to KKT matrix
c_int * rhotoKKT; ///< Index of rho places in KKT matrix
...
};
// Initialize mysolver solver
c_int init_linsys_solver_mysolver(mysolver_solver ** s, const csc * P, const csc * A, c_float sigma, c_float * rho_vec, c_int polish);
// Solve linear system and store result in b
c_int solve_linsys_mysolver(mysolver_solver * s, c_float * b);
// Update linear system solver matrices
c_int update_linsys_solver_matrices_mysolver(mysolver_solver * s, const csc *P, const csc *A);
// Update rho_vec parameter in linear system solver structure
c_int update_linsys_solver_rho_vec_mysolver(mysolver_solver * s, const c_float * rho_vec);
// Free linear system solver
void free_linsys_solver_mysolver(mysolver_solver * s);
The function details are coded in the :code:`mysolver.c` file.
================================================
FILE: osqp/docs/doxygen.conf
================================================
# Doxyfile 1.8.13
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project.
#
# All text after a double hash (##) is considered a comment and is placed in
# front of the TAG it is preceding.
#
# All text after a single hash (#) is considered a comment and will be ignored.
# The format is:
# TAG = value [value, ...]
# For lists, items can also be appended using:
# TAG += value [value, ...]
# Values that contain spaces should be placed between quotes (\" \").
#---------------------------------------------------------------------------
# Project related configuration options
#---------------------------------------------------------------------------
# This tag specifies the encoding used for all characters in the config file
# that follow. The default is UTF-8 which is also the encoding used for all text
# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
# for the list of possible encodings.
# The default value is: UTF-8.
DOXYFILE_ENCODING = UTF-8
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
# double-quotes, unless you are using Doxywizard) that should identify the
# project for which the documentation is generated. This name is used in the
# title of most generated pages and in a few other places.
# The default value is: My Project.
PROJECT_NAME = "OSQP"
# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
# could be handy for archiving the generated documentation or if some version
# control system is used.
PROJECT_NUMBER = 0.6.0
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a
# quick idea about the purpose of the project. Keep the description short.
PROJECT_BRIEF = "The Operator Splitting QP Solver"
# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
# in the documentation. The maximum height of the logo should not exceed 55
# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
# the logo to the output directory.
PROJECT_LOGO =
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# into which the generated documentation will be written. If a relative path is
# entered, it will be relative to the location where doxygen was started. If
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OUTPUT_DIRECTORY = ./doxygen_out
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CREATE_SUBDIRS = YES
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ALLOW_UNICODE_NAMES = NO
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# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
# to include (a tag file for) the STL sources as input, then you should set this
# tag to YES in order to let doxygen match functions declarations and
# definitions whose arguments contain STL classes (e.g. func(std::string);
# versus func(std::string) {}). This also make the inheritance and collaboration
# diagrams that involve STL classes more complete and accurate.
# The default value is: NO.
BUILTIN_STL_SUPPORT = NO
# If you use Microsoft's C++/CLI language, you should set this option to YES to
# enable parsing support.
# The default value is: NO.
CPP_CLI_SUPPORT = NO
# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
# will parse them like normal C++ but will assume all classes use public instead
# of private inheritance when no explicit protection keyword is present.
# The default value is: NO.
SIP_SUPPORT = NO
# For Microsoft's IDL there are propget and propput attributes to indicate
# getter and setter methods for a property. Setting this option to YES will make
# doxygen to replace the get and set methods by a property in the documentation.
# This will only work if the methods are indeed getting or setting a simple
# type. If this is not the case, or you want to show the methods anyway, you
# should set this option to NO.
# The default value is: YES.
IDL_PROPERTY_SUPPORT = YES
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
# tag is set to YES then doxygen will reuse the documentation of the first
# member in the group (if any) for the other members of the group. By default
# all members of a group must be documented explicitly.
# The default value is: NO.
DISTRIBUTE_GROUP_DOC = NO
# If one adds a struct or class to a group and this option is enabled, then also
# any nested class or struct is added to the same group. By default this option
# is disabled and one has to add nested compounds explicitly via \ingroup.
# The default value is: NO.
GROUP_NESTED_COMPOUNDS = NO
# Set the SUBGROUPING tag to YES to allow class member groups of the same type
# (for instance a group of public functions) to be put as a subgroup of that
# type (e.g. under the Public Functions section). Set it to NO to prevent
# subgrouping. Alternatively, this can be done per class using the
# \nosubgrouping command.
# The default value is: YES.
SUBGROUPING = YES
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
# are shown inside the group in which they are included (e.g. using \ingroup)
# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
# and RTF).
#
# Note that this feature does not work in combination with
# SEPARATE_MEMBER_PAGES.
# The default value is: NO.
INLINE_GROUPED_CLASSES = NO
# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
# with only public data fields or simple typedef fields will be shown inline in
# the documentation of the scope in which they are defined (i.e. file,
# namespace, or group documentation), provided this scope is documented. If set
# to NO, structs, classes, and unions are shown on a separate page (for HTML and
# Man pages) or section (for LaTeX and RTF).
# The default value is: NO.
INLINE_SIMPLE_STRUCTS = NO
# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
# enum is documented as struct, union, or enum with the name of the typedef. So
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
# with name TypeT. When disabled the typedef will appear as a member of a file,
# namespace, or class. And the struct will be named TypeS. This can typically be
# useful for C code in case the coding convention dictates that all compound
# types are typedef'ed and only the typedef is referenced, never the tag name.
# The default value is: NO.
TYPEDEF_HIDES_STRUCT = NO
# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
# cache is used to resolve symbols given their name and scope. Since this can be
# an expensive process and often the same symbol appears multiple times in the
# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
# doxygen will become slower. If the cache is too large, memory is wasted. The
# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
# symbols. At the end of a run doxygen will report the cache usage and suggest
# the optimal cache size from a speed point of view.
# Minimum value: 0, maximum value: 9, default value: 0.
LOOKUP_CACHE_SIZE = 0
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
# documentation are documented, even if no documentation was available. Private
# class members and static file members will be hidden unless the
# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
# Note: This will also disable the warnings about undocumented members that are
# normally produced when WARNINGS is set to YES.
# The default value is: NO.
EXTRACT_ALL = YES
# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
# be included in the documentation.
# The default value is: NO.
EXTRACT_PRIVATE = NO
# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
# scope will be included in the documentation.
# The default value is: NO.
EXTRACT_PACKAGE = NO
# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
# included in the documentation.
# The default value is: NO.
EXTRACT_STATIC = NO
# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
# locally in source files will be included in the documentation. If set to NO,
# only classes defined in header files are included. Does not have any effect
# for Java sources.
# The default value is: YES.
EXTRACT_LOCAL_CLASSES = YES
# This flag is only useful for Objective-C code. If set to YES, local methods,
# which are defined in the implementation section but not in the interface are
# included in the documentation. If set to NO, only methods in the interface are
# included.
# The default value is: NO.
EXTRACT_LOCAL_METHODS = NO
# If this flag is set to YES, the members of anonymous namespaces will be
# extracted and appear in the documentation as a namespace called
# 'anonymous_namespace{file}', where file will be replaced with the base name of
# the file that contains the anonymous namespace. By default anonymous namespace
# are hidden.
# The default value is: NO.
EXTRACT_ANON_NSPACES = NO
# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
# undocumented members inside documented classes or files. If set to NO these
# members will be included in the various overviews, but no documentation
# section is generated. This option has no effect if EXTRACT_ALL is enabled.
# The default value is: NO.
HIDE_UNDOC_MEMBERS = NO
# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
# undocumented classes that are normally visible in the class hierarchy. If set
# to NO, these classes will be included in the various overviews. This option
# has no effect if EXTRACT_ALL is enabled.
# The default value is: NO.
HIDE_UNDOC_CLASSES = NO
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
# (class|struct|union) declarations. If set to NO, these declarations will be
# included in the documentation.
# The default value is: NO.
HIDE_FRIEND_COMPOUNDS = NO
# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
# documentation blocks found inside the body of a function. If set to NO, these
# blocks will be appended to the function's detailed documentation block.
# The default value is: NO.
HIDE_IN_BODY_DOCS = NO
# The INTERNAL_DOCS tag determines if documentation that is typed after a
# \internal command is included. If the tag is set to NO then the documentation
# will be excluded. Set it to YES to include the internal documentation.
# The default value is: NO.
INTERNAL_DOCS = NO
# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
# names in lower-case letters. If set to YES, upper-case letters are also
# allowed. This is useful if you have classes or files whose names only differ
# in case and if your file system supports case sensitive file names. Windows
# and Mac users are advised to set this option to NO.
# The default value is: system dependent.
CASE_SENSE_NAMES = NO
# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
# their full class and namespace scopes in the documentation. If set to YES, the
# scope will be hidden.
# The default value is: NO.
HIDE_SCOPE_NAMES = NO
# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
# append additional text to a page's title, such as Class Reference. If set to
# YES the compound reference will be hidden.
# The default value is: NO.
HIDE_COMPOUND_REFERENCE= NO
# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
# the files that are included by a file in the documentation of that file.
# The default value is: YES.
SHOW_INCLUDE_FILES = YES
# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
# grouped member an include statement to the documentation, telling the reader
# which file to include in order to use the member.
# The default value is: NO.
SHOW_GROUPED_MEMB_INC = NO
# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
# files with double quotes in the documentation rather than with sharp brackets.
# The default value is: NO.
FORCE_LOCAL_INCLUDES = NO
# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
# documentation for inline members.
# The default value is: YES.
INLINE_INFO = YES
# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
# (detailed) documentation of file and class members alphabetically by member
# name. If set to NO, the members will appear in declaration order.
# The default value is: YES.
SORT_MEMBER_DOCS = YES
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
# descriptions of file, namespace and class members alphabetically by member
# name. If set to NO, the members will appear in declaration order. Note that
# this will also influence the order of the classes in the class list.
# The default value is: NO.
SORT_BRIEF_DOCS = NO
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
# (brief and detailed) documentation of class members so that constructors and
# destructors are listed first. If set to NO the constructors will appear in the
# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
# member documentation.
# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
# detailed member documentation.
# The default value is: NO.
SORT_MEMBERS_CTORS_1ST = NO
# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
# of group names into alphabetical order. If set to NO the group names will
# appear in their defined order.
# The default value is: NO.
SORT_GROUP_NAMES = NO
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
# fully-qualified names, including namespaces. If set to NO, the class list will
# be sorted only by class name, not including the namespace part.
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
# Note: This option applies only to the class list, not to the alphabetical
# list.
# The default value is: NO.
SORT_BY_SCOPE_NAME = NO
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
# type resolution of all parameters of a function it will reject a match between
# the prototype and the implementation of a member function even if there is
# only one candidate or it is obvious which candidate to choose by doing a
# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
# accept a match between prototype and implementation in such cases.
# The default value is: NO.
STRICT_PROTO_MATCHING = NO
# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
# list. This list is created by putting \todo commands in the documentation.
# The default value is: YES.
GENERATE_TODOLIST = YES
# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
# list. This list is created by putting \test commands in the documentation.
# The default value is: YES.
GENERATE_TESTLIST = YES
# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
# list. This list is created by putting \bug commands in the documentation.
# The default value is: YES.
GENERATE_BUGLIST = YES
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
# the deprecated list. This list is created by putting \deprecated commands in
# the documentation.
# The default value is: YES.
GENERATE_DEPRECATEDLIST= YES
# The ENABLED_SECTIONS tag can be used to enable conditional documentation
# sections, marked by \if <section_label> ... \endif and \cond <section_label>
# ... \endcond blocks.
ENABLED_SECTIONS =
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
# initial value of a variable or macro / define can have for it to appear in the
# documentation. If the initializer consists of more lines than specified here
# it will be hidden. Use a value of 0 to hide initializers completely. The
# appearance of the value of individual variables and macros / defines can be
# controlled using \showinitializer or \hideinitializer command in the
# documentation regardless of this setting.
# Minimum value: 0, maximum value: 10000, default value: 30.
MAX_INITIALIZER_LINES = 30
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
# the bottom of the documentation of classes and structs. If set to YES, the
# list will mention the files that were used to generate the documentation.
# The default value is: YES.
SHOW_USED_FILES = YES
# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
# will remove the Files entry from the Quick Index and from the Folder Tree View
# (if specified).
# The default value is: YES.
SHOW_FILES = YES
# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
# page. This will remove the Namespaces entry from the Quick Index and from the
# Folder Tree View (if specified).
# The default value is: YES.
SHOW_NAMESPACES = YES
# The FILE_VERSION_FILTER tag can be used to specify a program or script that
# doxygen should invoke to get the current version for each file (typically from
# the version control system). Doxygen will invoke the program by executing (via
# popen()) the command command input-file, where command is the value of the
# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
# by doxygen. Whatever the program writes to standard output is used as the file
# version. For an example see the documentation.
FILE_VERSION_FILTER =
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
# by doxygen. The layout file controls the global structure of the generated
# output files in an output format independent way. To create the layout file
# that represents doxygen's defaults, run doxygen with the -l option. You can
# optionally specify a file name after the option, if omitted DoxygenLayout.xml
# will be used as the name of the layout file.
#
# Note that if you run doxygen from a directory containing a file called
# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
# tag is left empty.
LAYOUT_FILE =
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
# the reference definitions. This must be a list of .bib files. The .bib
# extension is automatically appended if omitted. This requires the bibtex tool
# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
# For LaTeX the style of the bibliography can be controlled using
# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
# search path. See also \cite for info how to create references.
CITE_BIB_FILES =
#---------------------------------------------------------------------------
# Configuration options related to warning and progress messages
#---------------------------------------------------------------------------
# The QUIET tag can be used to turn on/off the messages that are generated to
# standard output by doxygen. If QUIET is set to YES this implies that the
# messages are off.
# The default value is: NO.
QUIET = NO
# The WARNINGS tag can be used to turn on/off the warning messages that are
# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
# this implies that the warnings are on.
#
# Tip: Turn warnings on while writing the documentation.
# The default value is: YES.
WARNINGS = YES
# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
# will automatically be disabled.
# The default value is: YES.
WARN_IF_UNDOCUMENTED = YES
# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
# potential errors in the documentation, such as not documenting some parameters
# in a documented function, or documenting parameters that don't exist or using
# markup commands wrongly.
# The default value is: YES.
WARN_IF_DOC_ERROR = YES
# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
# are documented, but have no documentation for their parameters or return
# value. If set to NO, doxygen will only warn about wrong or incomplete
# parameter documentation, but not about the absence of documentation.
# The default value is: NO.
WARN_NO_PARAMDOC = NO
# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
# a warning is encountered.
# The default value is: NO.
WARN_AS_ERROR = NO
# The WARN_FORMAT tag determines the format of the warning messages that doxygen
# can produce. The string should contain the $file, $line, and $text tags, which
# will be replaced by the file and line number from which the warning originated
# and the warning text. Optionally the format may contain $version, which will
# be replaced by the version of the file (if it could be obtained via
# FILE_VERSION_FILTER)
# The default value is: $file:$line: $text.
WARN_FORMAT = "$file:$line: $text"
# The WARN_LOGFILE tag can be used to specify a file to which warning and error
# messages should be written. If left blank the output is written to standard
# error (stderr).
WARN_LOGFILE =
#---------------------------------------------------------------------------
# Configuration options related to the input files
#---------------------------------------------------------------------------
# The INPUT tag is used to specify the files and/or directories that contain
# documented source files. You may enter file names like myfile.cpp or
# directories like /usr/src/myproject. Separate the files or directories with
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
# Note: If this tag is empty the current directory is searched.
INPUT = ./../include ./../src
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
# documentation (see: http://www.gnu.org/software/libiconv) for the list of
# possible encodings.
# The default value is: UTF-8.
INPUT_ENCODING = UTF-8
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
# *.h) to filter out the source-files in the directories.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# read by doxygen.
#
# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
FILE_PATTERNS = *.c \
*.cc \
*.cxx \
*.cpp \
*.c++ \
*.java \
*.ii \
*.ixx \
*.ipp \
*.i++ \
*.inl \
*.idl \
*.ddl \
*.odl \
*.h \
*.hh \
*.hxx \
*.hpp \
*.h++ \
*.cs \
*.d \
*.php \
*.php4 \
*.php5 \
*.phtml \
*.inc \
*.m \
*.markdown \
*.md \
*.mm \
*.dox \
*.py \
*.pyw \
*.f90 \
*.f95 \
*.f03 \
*.f08 \
*.f \
*.for \
*.tcl \
*.vhd \
*.vhdl \
*.ucf \
*.qsf
# The RECURSIVE tag can be used to specify whether or not subdirectories should
# be searched for input files as well.
# The default value is: NO.
RECURSIVE = NO
# The EXCLUDE tag can be used to specify files and/or directories that should be
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
#
# Note that relative paths are relative to the directory from which doxygen is
# run.
EXCLUDE =
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
# directories that are symbolic links (a Unix file system feature) are excluded
# from the input.
# The default value is: NO.
EXCLUDE_SYMLINKS = NO
# If the value of the INPUT tag contains directories, you can use the
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
# certain files from those directories.
#
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories for example use the pattern */test/*
EXCLUDE_PATTERNS =
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
# (namespaces, classes, functions, etc.) that should be excluded from the
# output. The symbol name can be a fully qualified name, a word, or if the
# wildcard * is used, a substring. Examples: ANamespace, AClass,
# AClass::ANamespace, ANamespace::*Test
#
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories use the pattern */test/*
EXCLUDE_SYMBOLS =
# The EXAMPLE_PATH tag can be used to specify one or more files or directories
# that contain example code fragments that are included (see the \include
# command).
EXAMPLE_PATH =
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
# *.h) to filter out the source-files in the directories. If left blank all
# files are included.
EXAMPLE_PATTERNS = *
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
# searched for input files to be used with the \include or \dontinclude commands
# irrespective of the value of the RECURSIVE tag.
# The default value is: NO.
EXAMPLE_RECURSIVE = NO
# The IMAGE_PATH tag can be used to specify one or more files or directories
# that contain images that are to be included in the documentation (see the
# \image command).
IMAGE_PATH =
# The INPUT_FILTER tag can be used to specify a program that doxygen should
# invoke to filter for each input file. Doxygen will invoke the filter program
# by executing (via popen()) the command:
#
# <filter> <input-file>
#
# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
# name of an input file. Doxygen will then use the output that the filter
# program writes to standard output. If FILTER_PATTERNS is specified, this tag
# will be ignored.
#
# Note that the filter must not add or remove lines; it is applied before the
# code is scanned, but not when the output code is generated. If lines are added
# or removed, the anchors will not be placed correctly.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# properly processed by doxygen.
INPUT_FILTER =
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
# basis. Doxygen will compare the file name with each pattern and apply the
# filter if there is a match. The filters are a list of the form: pattern=filter
# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
# patterns match the file name, INPUT_FILTER is applied.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# properly processed by doxygen.
FILTER_PATTERNS =
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
# INPUT_FILTER) will also be used to filter the input files that are used for
# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
# The default value is: NO.
FILTER_SOURCE_FILES = NO
# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
# it is also possible to disable source filtering for a specific pattern using
# *.ext= (so without naming a filter).
# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
FILTER_SOURCE_PATTERNS =
# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
# is part of the input, its contents will be placed on the main page
# (index.html). This can be useful if you have a project on for instance GitHub
# and want to reuse the introduction page also for the doxygen output.
USE_MDFILE_AS_MAINPAGE =
#---------------------------------------------------------------------------
# Configuration options related to source browsing
#---------------------------------------------------------------------------
# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
# generated. Documented entities will be cross-referenced with these sources.
#
# Note: To get rid of all source code in the generated output, make sure that
# also VERBATIM_HEADERS is set to NO.
# The default value is: NO.
SOURCE_BROWSER = NO
# Setting the INLINE_SOURCES tag to YES will include the body of functions,
# classes and enums directly into the documentation.
# The default value is: NO.
INLINE_SOURCES = NO
# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
# special comment blocks from generated source code fragments. Normal C, C++ and
# Fortran comments will always remain visible.
# The default value is: YES.
STRIP_CODE_COMMENTS = YES
# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
# function all documented functions referencing it will be listed.
# The default value is: NO.
REFERENCED_BY_RELATION = NO
# If the REFERENCES_RELATION tag is set to YES then for each documented function
# all documented entities called/used by that function will be listed.
# The default value is: NO.
REFERENCES_RELATION = NO
# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
# to YES then the hyperlinks from functions in REFERENCES_RELATION and
# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
# link to the documentation.
# The default value is: YES.
REFERENCES_LINK_SOURCE = YES
# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
# source code will show a tooltip with additional information such as prototype,
# brief description and links to the definition and documentation. Since this
# will make the HTML file larger and loading of large files a bit slower, you
# can opt to disable this feature.
# The default value is: YES.
# This tag requires that the tag SOURCE_BROWSER is set to YES.
SOURCE_TOOLTIPS = YES
# If the USE_HTAGS tag is set to YES then the references to source code will
# point to the HTML generated by the htags(1) tool instead of doxygen built-in
# source browser. The htags tool is part of GNU's global source tagging system
# (see http://www.gnu.org/software/global/global.html). You will need version
# 4.8.6 or higher.
#
# To use it do the following:
# - Install the latest version of global
# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
# - Make sure the INPUT points to the root of the source tree
# - Run doxygen as normal
#
# Doxygen will invoke htags (and that will in turn invoke gtags), so these
# tools must be available from the command line (i.e. in the search path).
#
# The result: instead of the source browser generated by doxygen, the links to
# source code will now point to the output of htags.
# The default value is: NO.
# This tag requires that the tag SOURCE_BROWSER is set to YES.
USE_HTAGS = NO
# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
# verbatim copy of the header file for each class for which an include is
# specified. Set to NO to disable this.
# See also: Section \class.
# The default value is: YES.
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# Configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
# compounds will be generated. Enable this if the project contains a lot of
# classes, structs, unions or interfaces.
# The default value is: YES.
ALPHABETICAL_INDEX = YES
# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
# which the alphabetical index list will be split.
# Minimum value: 1, maximum value: 20, default value: 5.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
COLS_IN_ALPHA_INDEX = 5
# In case all classes in a project start with a common prefix, all classes will
# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
# can be used to specify a prefix (or a list of prefixes) that should be ignored
# while generating the index headers.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the HTML output
#---------------------------------------------------------------------------
# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
# The default value is: YES.
GENERATE_HTML = YES
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it.
# The default directory is: html.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_OUTPUT = html
# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
# generated HTML page (for example: .htm, .php, .asp).
# The default value is: .html.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_FILE_EXTENSION = .html
# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
# each generated HTML page. If the tag is left blank doxygen will generate a
# standard header.
#
# To get valid HTML the header file that includes any scripts and style sheets
# that doxygen needs, which is dependent on the configuration options used (e.g.
# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
# default header using
# doxygen -w html new_header.html new_footer.html new_stylesheet.css
# YourConfigFile
# and then modify the file new_header.html. See also section "Doxygen usage"
# for information on how to generate the default header that doxygen normally
# uses.
# Note: The header is subject to change so you typically have to regenerate the
# default header when upgrading to a newer version of doxygen. For a description
# of the possible markers and block names see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_HEADER =
# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
# generated HTML page. If the tag is left blank doxygen will generate a standard
# footer. See HTML_HEADER for more information on how to generate a default
# footer and what special commands can be used inside the footer. See also
# section "Doxygen usage" for information on how to generate the default footer
# that doxygen normally uses.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_FOOTER =
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
# sheet that is used by each HTML page. It can be used to fine-tune the look of
# the HTML output. If left blank doxygen will generate a default style sheet.
# See also section "Doxygen usage" for information on how to generate the style
# sheet that doxygen normally uses.
# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
# it is more robust and this tag (HTML_STYLESHEET) will in the future become
# obsolete.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_STYLESHEET =
# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
# cascading style sheets that are included after the standard style sheets
# created by doxygen. Using this option one can overrule certain style aspects.
# This is preferred over using HTML_STYLESHEET since it does not replace the
# standard style sheet and is therefore more robust against future updates.
# Doxygen will copy the style sheet files to the output directory.
# Note: The order of the extra style sheet files is of importance (e.g. the last
# style sheet in the list overrules the setting of the previous ones in the
# list). For an example see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_EXTRA_STYLESHEET =
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the HTML output directory. Note
# that these files will be copied to the base HTML output directory. Use the
# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
# files will be copied as-is; there are no commands or markers available.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_EXTRA_FILES =
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
# will adjust the colors in the style sheet and background images according to
# this color. Hue is specified as an angle on a colorwheel, see
# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
# purple, and 360 is red again.
# Minimum value: 0, maximum value: 359, default value: 220.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE_HUE = 220
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
# in the HTML output. For a value of 0 the output will use grayscales only. A
# value of 255 will produce the most vivid colors.
# Minimum value: 0, maximum value: 255, default value: 100.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE_SAT = 100
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
# luminance component of the colors in the HTML output. Values below 100
# gradually make the output lighter, whereas values above 100 make the output
# darker. The value divided by 100 is the actual gamma applied, so 80 represents
# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
# change the gamma.
# Minimum value: 40, maximum value: 240, default value: 80.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE_GAMMA = 80
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
# page will contain the date and time when the page was generated. Setting this
# to YES can help to show when doxygen was last run and thus if the
# documentation is up to date.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_TIMESTAMP = NO
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
# documentation will contain sections that can be hidden and shown after the
# page has loaded.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_DYNAMIC_SECTIONS = NO
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
# shown in the various tree structured indices initially; the user can expand
# and collapse entries dynamically later on. Doxygen will expand the tree to
# such a level that at most the specified number of entries are visible (unless
# a fully collapsed tree already exceeds this amount). So setting the number of
# entries 1 will produce a full collapsed tree by default. 0 is a special value
# representing an infinite number of entries and will result in a full expanded
# tree by default.
# Minimum value: 0, maximum value: 9999, default value: 100.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_INDEX_NUM_ENTRIES = 100
# If the GENERATE_DOCSET tag is set to YES, additional index files will be
# generated that can be used as input for Apple's Xcode 3 integrated development
# environment (see: http://developer.apple.com/tools/xcode/), introduced with
# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
# Makefile in the HTML output directory. Running make will produce the docset in
# that directory and running make install will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# for more information.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_DOCSET = NO
# This tag determines the name of the docset feed. A documentation feed provides
# an umbrella under which multiple documentation sets from a single provider
# (such as a company or product suite) can be grouped.
# The default value is: Doxygen generated docs.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_FEEDNAME = "Doxygen generated docs"
# This tag specifies a string that should uniquely identify the documentation
# set bundle. This should be a reverse domain-name style string, e.g.
# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_BUNDLE_ID = org.doxygen.Project
# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
# the documentation publisher. This should be a reverse domain-name style
# string, e.g. com.mycompany.MyDocSet.documentation.
# The default value is: org.doxygen.Publisher.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_PUBLISHER_ID = org.doxygen.Publisher
# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
# The default value is: Publisher.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_PUBLISHER_NAME = Publisher
# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
# Windows.
#
# The HTML Help Workshop contains a compiler that can convert all HTML output
# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
# files are now used as the Windows 98 help format, and will replace the old
# Windows help format (.hlp) on all Windows platforms in the future. Compressed
# HTML files also contain an index, a table of contents, and you can search for
# words in the documentation. The HTML workshop also contains a viewer for
# compressed HTML files.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_HTMLHELP = NO
# The CHM_FILE tag can be used to specify the file name of the resulting .chm
# file. You can add a path in front of the file if the result should not be
# written to the html output directory.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
CHM_FILE =
# The HHC_LOCATION tag can be used to specify the location (absolute path
# including file name) of the HTML help compiler (hhc.exe). If non-empty,
# doxygen will try to run the HTML help compiler on the generated index.hhp.
# The file has to be specified with full path.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
HHC_LOCATION =
# The GENERATE_CHI flag controls if a separate .chi index file is generated
# (YES) or that it should be included in the master .chm file (NO).
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
GENERATE_CHI = NO
# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
# and project file content.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
CHM_INDEX_ENCODING =
# The BINARY_TOC flag controls whether a binary table of contents is generated
# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
# enables the Previous and Next buttons.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
BINARY_TOC = NO
# The TOC_EXPAND flag can be set to YES to add extra items for group members to
# the table of contents of the HTML help documentation and to the tree view.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
TOC_EXPAND = NO
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
# (.qch) of the generated HTML documentation.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_QHP = NO
# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
# the file name of the resulting .qch file. The path specified is relative to
# the HTML output folder.
# This tag requires that the tag GENERATE_QHP is set to YES.
QCH_FILE =
# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
# Project output. For more information please see Qt Help Project / Namespace
# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_NAMESPACE = org.doxygen.Project
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
# Help Project output. For more information please see Qt Help Project / Virtual
# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
# folders).
# The default value is: doc.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_VIRTUAL_FOLDER = doc
# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
# filter to add. For more information please see Qt Help Project / Custom
# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_CUST_FILTER_NAME =
# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
# custom filter to add. For more information please see Qt Help Project / Custom
# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_CUST_FILTER_ATTRS =
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
# project's filter section matches. Qt Help Project / Filter Attributes (see:
# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_SECT_FILTER_ATTRS =
# The QHG_LOCATION tag can be used to specify the location of Qt's
# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
# generated .qhp file.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHG_LOCATION =
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
# generated, together with the HTML files, they form an Eclipse help plugin. To
# install this plugin and make it available under the help contents menu in
# Eclipse, the contents of the directory containing the HTML and XML files needs
# to be copied into the plugins directory of eclipse. The name of the directory
# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
# After copying Eclipse needs to be restarted before the help appears.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_ECLIPSEHELP = NO
# A unique identifier for the Eclipse help plugin. When installing the plugin
# the directory name containing the HTML and XML files should also have this
# name. Each documentation set should have its own identifier.
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
ECLIPSE_DOC_ID = org.doxygen.Project
# If you want full control over the layout of the generated HTML pages it might
# be necessary to disable the index and replace it with your own. The
# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
# of each HTML page. A value of NO enables the index and the value YES disables
# it. Since the tabs in the index contain the same information as the navigation
# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
DISABLE_INDEX = NO
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
# structure should be generated to display hierarchical information. If the tag
# value is set to YES, a side panel will be generated containing a tree-like
# index structure (just like the one that is generated for HTML Help). For this
# to work a browser that supports JavaScript, DHTML, CSS and frames is required
# (i.e. any modern browser). Windows users are probably better off using the
# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
# further fine-tune the look of the index. As an example, the default style
# sheet generated by doxygen has an example that shows how to put an image at
# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
# the same information as the tab index, you could consider setting
# DISABLE_INDEX to YES when enabling this option.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_TREEVIEW = NO
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
# doxygen will group on one line in the generated HTML documentation.
#
# Note that a value of 0 will completely suppress the enum values from appearing
# in the overview section.
# Minimum value: 0, maximum value: 20, default value: 4.
# This tag requires that the tag GENERATE_HTML is set to YES.
ENUM_VALUES_PER_LINE = 4
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
# to set the initial width (in pixels) of the frame in which the tree is shown.
# Minimum value: 0, maximum value: 1500, default value: 250.
# This tag requires that the tag GENERATE_HTML is set to YES.
TREEVIEW_WIDTH = 250
# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
# external symbols imported via tag files in a separate window.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
EXT_LINKS_IN_WINDOW = NO
# Use this tag to change the font size of LaTeX formulas included as images in
# the HTML documentation. When you change the font size after a successful
# doxygen run you need to manually remove any form_*.png images from the HTML
# output directory to force them to be regenerated.
# Minimum value: 8, maximum value: 50, default value: 10.
# This tag requires that the tag GENERATE_HTML is set to YES.
FORMULA_FONTSIZE = 10
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
# generated for formulas are transparent PNGs. Transparent PNGs are not
# supported properly for IE 6.0, but are supported on all modern browsers.
#
# Note that when changing this option you need to delete any form_*.png files in
# the HTML output directory before the changes have effect.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
FORMULA_TRANSPARENT = YES
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
# http://www.mathjax.org) which uses client side Javascript for the rendering
# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
# installed or if you want to formulas look prettier in the HTML output. When
# enabled you may also need to install MathJax separately and configure the path
# to it using the MATHJAX_RELPATH option.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
USE_MATHJAX = YES
# When MathJax is enabled you can set the default output format to be used for
# the MathJax output. See the MathJax site (see:
# http://docs.mathjax.org/en/latest/output.html) for more details.
# Possible values are: HTML-CSS (which is slower, but has the best
# compatibility), NativeMML (i.e. MathML) and SVG.
# The default value is: HTML-CSS.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_FORMAT = HTML-CSS
# When MathJax is enabled you need to specify the location relative to the HTML
# output directory using the MATHJAX_RELPATH option. The destination directory
# should contain the MathJax.js script. For instance, if the mathjax directory
# is located at the same level as the HTML output directory, then
# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
# Content Delivery Network so you can quickly see the result without installing
# MathJax. However, it is strongly recommended to install a local copy of
# MathJax from http://www.mathjax.org before deployment.
# The default value is: http://cdn.mathjax.org/mathjax/latest.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
# extension names that should be enabled during MathJax rendering. For example
# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_EXTENSIONS =
# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
# of code that will be used on startup of the MathJax code. See the MathJax site
# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
# example see the documentation.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_CODEFILE =
# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
# the HTML output. The underlying search engine uses javascript and DHTML and
# should work on any modern browser. Note that when using HTML help
# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
# there is already a search function so this one should typically be disabled.
# For large projects the javascript based search engine can be slow, then
# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
# search using the keyboard; to jump to the search box use <access key> + S
# (what the <access key> is depends on the OS and browser, but it is typically
# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
# key> to jump into the search results window, the results can be navigated
# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
# the search. The filter options can be selected when the cursor is inside the
# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
# to select a filter and <Enter> or <escape> to activate or cancel the filter
# option.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
SEARCHENGINE = YES
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
# implemented using a web server instead of a web client using Javascript. There
# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
# setting. When disabled, doxygen will generate a PHP script for searching and
# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
# and searching needs to be provided by external tools. See the section
# "External Indexing and Searching" for details.
# The default value is: NO.
# This tag requires that the tag SEARCHENGINE is set to YES.
SERVER_BASED_SEARCH = NO
# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
# script for searching. Instead the search results are written to an XML file
# which needs to be processed by an external indexer. Doxygen will invoke an
# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
# search results.
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
# This tag requires that the tag SEARCHENGINE is set to YES.
EXTERNAL_SEARCH = NO
# The SEARCHENGINE_URL should point to a search engine hosted by a web server
# which will return the search results when EXTERNAL_SEARCH is enabled.
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/). See the section "External Indexing and
# Searching" for details.
# This tag requires that the tag SEARCHENGINE is set to YES.
SEARCHENGINE_URL =
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
# search data is written to a file for indexing by an external tool. With the
# SEARCHDATA_FILE tag the name of this file can be specified.
# The default file is: searchdata.xml.
# This tag requires that the tag SEARCHENGINE is set to YES.
SEARCHDATA_FILE = searchdata.xml
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
# projects and redirect the results back to the right project.
# This tag requires that the tag SEARCHENGINE is set to YES.
EXTERNAL_SEARCH_ID =
# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
# projects other than the one defined by this configuration file, but that are
# all added to the same external search index. Each project needs to have a
# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
# to a relative location where the documentation can be found. The format is:
# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
# This tag requires that the tag SEARCHENGINE is set to YES.
EXTRA_SEARCH_MAPPINGS =
#---------------------------------------------------------------------------
# Configuration options related to the LaTeX output
#---------------------------------------------------------------------------
# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
# The default value is: YES.
GENERATE_LATEX = NO
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
# it.
# The default directory is: latex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_OUTPUT = latex
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gitextract_rie_rudg/
├── .gitignore
├── .vscode/
│ ├── c_cpp_properties.json
│ └── settings.json
├── README.md
├── install_tools.sh
├── key2joy.py
├── osqp/
│ ├── .bumpversion.cfg
│ ├── .editorconfig
│ ├── .gitattributes
│ ├── .gitmodules
│ ├── .travis.yml
│ ├── .valgrind-suppress.supp
│ ├── CHANGELOG.md
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── NOTICE
│ ├── README.md
│ ├── ROADMAP.md
│ ├── appveyor.yml
│ ├── ci/
│ │ ├── appveyor/
│ │ │ ├── deploy.cmd
│ │ │ ├── install.cmd
│ │ │ └── script.cmd
│ │ └── travis/
│ │ ├── deploy.sh
│ │ ├── docs.sh
│ │ ├── install.sh
│ │ └── script.sh
│ ├── configure/
│ │ ├── cmake/
│ │ │ ├── FindPythonModule.cmake
│ │ │ ├── FindR.cmake
│ │ │ ├── Utils.cmake
│ │ │ └── cmake_uninstall.cmake.in
│ │ └── osqp_configure.h.in
│ ├── docs/
│ │ ├── Makefile
│ │ ├── _static/
│ │ │ └── css/
│ │ │ └── osqp_theme.css
│ │ ├── _templates/
│ │ │ └── layout.html
│ │ ├── citing/
│ │ │ └── index.rst
│ │ ├── codegen/
│ │ │ ├── index.rst
│ │ │ ├── matlab.rst
│ │ │ └── python.rst
│ │ ├── conf.py
│ │ ├── contributing/
│ │ │ └── index.rst
│ │ ├── doxygen.conf
│ │ ├── examples/
│ │ │ ├── huber.rst
│ │ │ ├── index.rst
│ │ │ ├── lasso.rst
│ │ │ ├── least-squares.rst
│ │ │ ├── mpc.rst
│ │ │ ├── portfolio.rst
│ │ │ ├── setup-and-solve.rst
│ │ │ ├── svm.rst
│ │ │ ├── update-matrices.rst
│ │ │ └── update-vectors.rst
│ │ ├── get_started/
│ │ │ ├── CC++.rst
│ │ │ ├── cutest.rst
│ │ │ ├── index.rst
│ │ │ ├── julia.rst
│ │ │ ├── linear_system_solvers.rst
│ │ │ ├── matlab.rst
│ │ │ ├── python.rst
│ │ │ ├── r.rst
│ │ │ └── sources.rst
│ │ ├── index.rst
│ │ ├── interfaces/
│ │ │ ├── CC++.rst
│ │ │ ├── cutest.rst
│ │ │ ├── eigen.rst
│ │ │ ├── fortran.rst
│ │ │ ├── index.rst
│ │ │ ├── julia.rst
│ │ │ ├── linear_systems_solvers.rst
│ │ │ ├── matlab.rst
│ │ │ ├── python.rst
│ │ │ ├── rlang.rst
│ │ │ ├── ruby.rst
│ │ │ ├── rust.rst
│ │ │ ├── solver_settings.rst
│ │ │ └── status_values.rst
│ │ ├── make.bat
│ │ ├── parsers/
│ │ │ ├── cvxpy.rst
│ │ │ ├── index.rst
│ │ │ ├── jump.rst
│ │ │ └── yalmip.rst
│ │ ├── requirements.txt
│ │ └── solver/
│ │ └── index.rst
│ ├── examples/
│ │ └── osqp_demo.c
│ ├── include/
│ │ ├── .gitignore
│ │ ├── CMakeLists.txt
│ │ ├── auxil.h
│ │ ├── constants.h
│ │ ├── cs.h
│ │ ├── ctrlc.h
│ │ ├── error.h
│ │ ├── glob_opts.h
│ │ ├── kkt.h
│ │ ├── lin_alg.h
│ │ ├── lin_sys.h
│ │ ├── osqp.h
│ │ ├── polish.h
│ │ ├── proj.h
│ │ ├── scaling.h
│ │ ├── types.h
│ │ └── util.h
│ ├── lin_sys/
│ │ ├── CMakeLists.txt
│ │ ├── direct/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── pardiso/
│ │ │ │ ├── CMakeLists.txt
│ │ │ │ ├── pardiso_interface.c
│ │ │ │ ├── pardiso_interface.h
│ │ │ │ ├── pardiso_loader.c
│ │ │ │ └── pardiso_loader.h
│ │ │ └── qdldl/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── amd/
│ │ │ │ ├── LICENSE
│ │ │ │ ├── include/
│ │ │ │ │ ├── SuiteSparse_config.h
│ │ │ │ │ ├── amd.h
│ │ │ │ │ └── amd_internal.h
│ │ │ │ └── src/
│ │ │ │ ├── SuiteSparse_config.c
│ │ │ │ ├── amd_1.c
│ │ │ │ ├── amd_2.c
│ │ │ │ ├── amd_aat.c
│ │ │ │ ├── amd_control.c
│ │ │ │ ├── amd_defaults.c
│ │ │ │ ├── amd_info.c
│ │ │ │ ├── amd_order.c
│ │ │ │ ├── amd_post_tree.c
│ │ │ │ ├── amd_postorder.c
│ │ │ │ ├── amd_preprocess.c
│ │ │ │ └── amd_valid.c
│ │ │ ├── qdldl_interface.c
│ │ │ ├── qdldl_interface.h
│ │ │ └── qdldl_sources/
│ │ │ ├── .editorconfig
│ │ │ ├── .gitignore
│ │ │ ├── .travis.yml
│ │ │ ├── CHANGELOG.md
│ │ │ ├── CMakeLists.txt
│ │ │ ├── LICENSE
│ │ │ ├── README.md
│ │ │ ├── appveyor.yml
│ │ │ ├── configure/
│ │ │ │ ├── cmake/
│ │ │ │ │ └── cmake_uninstall.cmake.in
│ │ │ │ └── qdldl_types.h.in
│ │ │ ├── examples/
│ │ │ │ └── example.c
│ │ │ ├── include/
│ │ │ │ ├── .gitignore
│ │ │ │ └── qdldl.h
│ │ │ ├── src/
│ │ │ │ └── qdldl.c
│ │ │ └── tests/
│ │ │ ├── CMakeLists.txt
│ │ │ ├── minunit.h
│ │ │ ├── qdldl_tester.c
│ │ │ ├── test_basic.h
│ │ │ ├── test_identity.h
│ │ │ ├── test_osqp_kkt.h
│ │ │ ├── test_rank_deficient.h
│ │ │ ├── test_singleton.h
│ │ │ ├── test_sym_structure.h
│ │ │ ├── test_tril_structure.h
│ │ │ ├── test_two_by_two.h
│ │ │ └── test_zero_on_diag.h
│ │ ├── lib_handler.c
│ │ └── lib_handler.h
│ ├── src/
│ │ ├── CMakeLists.txt
│ │ ├── auxil.c
│ │ ├── cs.c
│ │ ├── ctrlc.c
│ │ ├── error.c
│ │ ├── kkt.c
│ │ ├── lin_alg.c
│ │ ├── lin_sys.c
│ │ ├── osqp.c
│ │ ├── polish.c
│ │ ├── proj.c
│ │ ├── scaling.c
│ │ └── util.c
│ └── tests/
│ ├── .gitignore
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── __init__.py
│ ├── basic_qp/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_basic_qp.h
│ ├── basic_qp2/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_basic_qp2.h
│ ├── custom_memory/
│ │ ├── custom_memory.c
│ │ └── custom_memory.h
│ ├── demo/
│ │ ├── CMakeLists.txt
│ │ └── test_demo.h
│ ├── generate_tests_data.py
│ ├── lin_alg/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_lin_alg.h
│ ├── minunit.h
│ ├── non_cvx/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_non_cvx.h
│ ├── osqp_tester.c
│ ├── osqp_tester.h
│ ├── primal_dual_infeasibility/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_primal_dual_infeasibility.h
│ ├── primal_infeasibility/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_primal_infeasibility.h
│ ├── solve_linsys/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_solve_linsys.h
│ ├── unconstrained/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_unconstrained.h
│ ├── update_matrices/
│ │ ├── CMakeLists.txt
│ │ ├── __init__.py
│ │ ├── generate_problem.py
│ │ └── test_update_matrices.h
│ └── utils/
│ ├── __init__.py
│ └── codegen_utils.py
├── simulation.sh
└── src/
├── cmpcc/
│ ├── CMakeLists.txt
│ ├── config/
│ │ ├── 3d.rviz
│ │ ├── corridor.yaml
│ │ ├── mpcParameters.yaml
│ │ └── traj.yaml
│ ├── include/
│ │ ├── bezier_base.h
│ │ ├── corridor.h
│ │ ├── display_msgs.h
│ │ ├── map.h
│ │ ├── model.h
│ │ ├── mpc_solver.h
│ │ ├── my_spline.h
│ │ ├── osqp_interface.h
│ │ └── sparse_utils.h
│ ├── launch/
│ │ ├── flyfly.launch
│ │ ├── plot_bag.launch
│ │ └── vis_bag.launch
│ ├── package.xml
│ └── src/
│ ├── bezier_base.cpp
│ ├── corridor.cpp
│ ├── corridor_test.cpp
│ ├── display_msg.cpp
│ ├── fly_trr_node.cpp
│ ├── flyfly_node.cpp
│ ├── map.cpp
│ ├── model.cpp
│ ├── mpc_solver.cpp
│ ├── my_spline.cpp
│ ├── osqp_interface.cpp
│ ├── osqp_test.cpp
│ ├── plot_bag_node.cpp
│ ├── simulation_node.cpp
│ └── solver_test.cpp
└── uav_simulator/
├── DecompRos/
│ ├── LICENSE
│ ├── catkin_simple/
│ │ ├── CMakeLists.txt
│ │ ├── README.md
│ │ ├── cmake/
│ │ │ └── catkin_simple-extras.cmake.em
│ │ └── package.xml
│ ├── decomp_ros_msgs/
│ │ ├── CMakeLists.txt
│ │ ├── msg/
│ │ │ ├── Ellipsoid.msg
│ │ │ ├── EllipsoidArray.msg
│ │ │ ├── Polyhedron.msg
│ │ │ └── PolyhedronArray.msg
│ │ └── package.xml
│ └── decomp_ros_utils/
│ ├── CMakeLists.txt
│ ├── include/
│ │ ├── decomp_basis/
│ │ │ ├── data_type.h
│ │ │ └── data_utils.h
│ │ ├── decomp_geometry/
│ │ │ ├── ellipsoid.h
│ │ │ ├── geometric_utils.h
│ │ │ └── polyhedron.h
│ │ ├── decomp_ros_utils/
│ │ │ └── data_ros_utils.h
│ │ └── decomp_util/
│ │ ├── decomp_base.h
│ │ ├── ellipsoid_decomp.h
│ │ ├── iterative_decomp.h
│ │ ├── line_segment.h
│ │ └── seed_decomp.h
│ ├── package.xml
│ ├── plugin_description.xml
│ └── src/
│ ├── bound_visual.cpp
│ ├── bound_visual.h
│ ├── ellipsoid_array_display.cpp
│ ├── ellipsoid_array_display.h
│ ├── ellipsoid_array_visual.cpp
│ ├── ellipsoid_array_visual.h
│ ├── mesh_visual.cpp
│ ├── mesh_visual.h
│ ├── polyhedron_array_display.cpp
│ ├── polyhedron_array_display.h
│ ├── vector_visual.cpp
│ └── vector_visual.h
├── map_generator/
│ ├── CMakeLists.txt
│ ├── config/
│ │ └── map.pcd
│ ├── launch/
│ │ └── map_generator.launch
│ ├── package.xml
│ └── src/
│ └── map_generator_node.cpp
├── quadrotor_msgs/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── quadrotor_msgs/
│ │ ├── comm_types.h
│ │ ├── decode_msgs.h
│ │ └── encode_msgs.h
│ ├── msg/
│ │ ├── AuxCommand.msg
│ │ ├── Bspline.msg
│ │ ├── Corrections.msg
│ │ ├── Gains.msg
│ │ ├── Odometry.msg
│ │ ├── OptimalTimeAllocator.msg
│ │ ├── OutputData.msg
│ │ ├── PPROutputData.msg
│ │ ├── PolynomialTrajectory.msg
│ │ ├── PositionCommand.msg
│ │ ├── PositionCommand_back.msg
│ │ ├── Replan.msg
│ │ ├── ReplanCheck.msg
│ │ ├── SO3Command.msg
│ │ ├── Serial.msg
│ │ ├── SpatialTemporalTrajectory.msg
│ │ ├── StatusData.msg
│ │ ├── SwarmCommand.msg
│ │ ├── SwarmInfo.msg
│ │ ├── SwarmOdometry.msg
│ │ ├── TRPYCommand.msg
│ │ └── TrajectoryMatrix.msg
│ ├── package.xml
│ └── src/
│ ├── decode_msgs.cpp
│ ├── encode_msgs.cpp
│ └── quadrotor_msgs/
│ ├── __init__.py
│ └── msg/
│ ├── _AuxCommand.py
│ ├── _Corrections.py
│ ├── _Gains.py
│ ├── _OutputData.py
│ ├── _PPROutputData.py
│ ├── _PositionCommand.py
│ ├── _SO3Command.py
│ ├── _Serial.py
│ ├── _StatusData.py
│ ├── _TRPYCommand.py
│ └── __init__.py
├── so3_controller/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── so3_controller/
│ │ └── so3_controller.hpp
│ ├── nodelet_plugin.xml
│ ├── package.xml
│ └── src/
│ └── so3_controller_nodelet.cpp
├── so3_quadrotor/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── so3_quadrotor/
│ │ ├── geometry_utils.hpp
│ │ └── quadrotor_dynamics.hpp
│ ├── nodelet_plugin.xml
│ ├── package.xml
│ └── src/
│ └── so3_quadrotor_nodelet.cpp
└── uav_simulator/
├── CMakeLists.txt
├── config/
│ ├── rviz_config.rviz
│ ├── so3_controller.yaml
│ └── so3_quadrotor.yaml
├── launch/
│ └── uav_simulator.launch
└── package.xml
SYMBOL INDEX (505 symbols across 115 files)
FILE: key2joy.py
function main (line 11) | def main():
FILE: osqp/docs/conf.py
function setup (line 117) | def setup(app):
FILE: osqp/examples/osqp_demo.c
function main (line 4) | int main(int argc, char **argv) {
FILE: osqp/include/constants.h
type linsys_solver_type (line 36) | enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER }
type osqp_error_type (line 43) | enum osqp_error_type {
FILE: osqp/include/error.h
type osqp_error_type (line 29) | enum osqp_error_type
FILE: osqp/include/glob_opts.h
type c_int (line 75) | typedef long long c_int;
type c_int (line 77) | typedef int c_int;
type c_float (line 82) | typedef double c_float;
type c_float (line 84) | typedef float c_float;
FILE: osqp/include/lin_sys.h
type linsys_solver_type (line 17) | enum linsys_solver_type
type linsys_solver_type (line 25) | enum linsys_solver_type
type linsys_solver_type (line 47) | enum linsys_solver_type
FILE: osqp/include/types.h
type csc (line 21) | typedef struct {
type LinSysSolver (line 35) | typedef struct linsys_solver LinSysSolver;
type OSQPTimer (line 40) | typedef struct OSQP_TIMER OSQPTimer;
type OSQPScaling (line 45) | typedef struct {
type OSQPSolution (line 57) | typedef struct {
type OSQPInfo (line 66) | typedef struct {
type OSQPPolish (line 99) | typedef struct {
type OSQPData (line 125) | typedef struct {
type OSQPSettings (line 139) | typedef struct {
type OSQPWorkspace (line 182) | typedef struct {
type linsys_solver (line 298) | struct linsys_solver {
FILE: osqp/include/util.h
type OSQP_TIMER (line 103) | struct OSQP_TIMER {
type OSQP_TIMER (line 115) | struct OSQP_TIMER {
type OSQP_TIMER (line 129) | struct OSQP_TIMER {
FILE: osqp/lin_sys/direct/pardiso/pardiso_interface.c
function free_linsys_solver_pardiso (line 38) | void free_linsys_solver_pardiso(pardiso_solver *s) {
function c_int (line 73) | c_int init_linsys_solver_pardiso(pardiso_solver ** sp, const csc * P, co...
function c_int (line 231) | c_int solve_linsys_pardiso(pardiso_solver * s, c_float * b) {
function c_int (line 262) | c_int update_linsys_solver_matrices_pardiso(pardiso_solver * s, const cs...
function c_int (line 281) | c_int update_linsys_solver_rho_vec_pardiso(pardiso_solver * s, const c_f...
FILE: osqp/lin_sys/direct/pardiso/pardiso_interface.h
type pardiso_solver (line 16) | typedef struct pardiso pardiso_solver;
type pardiso (line 18) | struct pardiso {
FILE: osqp/lin_sys/direct/pardiso/pardiso_loader.c
function pardiso (line 35) | void pardiso(void** pt, const c_int* maxfct, const c_int* mnum,
function c_int (line 54) | c_int mkl_set_interface_layer(c_int code) {
function c_int (line 58) | c_int mkl_get_max_threads() {
function c_int (line 63) | c_int lh_load_pardiso(const char* libname) {
function c_int (line 90) | c_int lh_unload_pardiso() {
FILE: osqp/lin_sys/direct/qdldl/amd/include/SuiteSparse_config.h
type SuiteSparse_config_struct (line 77) | struct SuiteSparse_config_struct
type SuiteSparse_config_struct (line 93) | struct SuiteSparse_config_struct
FILE: osqp/lin_sys/direct/qdldl/amd/src/SuiteSparse_config.c
type SuiteSparse_config_struct (line 57) | struct SuiteSparse_config_struct
function SuiteSparse_tic (line 233) | void SuiteSparse_tic
function SuiteSparse_tic (line 247) | void SuiteSparse_tic
function c_float (line 271) | c_float SuiteSparse_toc /* returns time in seconds since last tic */
function c_float (line 288) | c_float SuiteSparse_time /* returns current wall clock time in seconds */
function SuiteSparse_version (line 303) | int SuiteSparse_version
function c_float (line 338) | c_float SuiteSparse_hypot (c_float x, c_float y)
function SuiteSparse_divcomplex (line 388) | int SuiteSparse_divcomplex
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_1.c
function GLOBAL (line 29) | GLOBAL void AMD_1
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_2.c
function Int (line 22) | static Int clear_flag (Int wflg, Int wbig, Int W [ ], Int n)
function GLOBAL (line 42) | GLOBAL void AMD_2
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_aat.c
function GLOBAL (line 20) | GLOBAL size_t AMD_aat /* returns nz in A+A' */
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_control.c
function GLOBAL (line 18) | GLOBAL void AMD_control
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_defaults.c
function GLOBAL (line 21) | GLOBAL void AMD_defaults
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_info.c
function GLOBAL (line 19) | GLOBAL void AMD_info
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_order.c
function GLOBAL (line 21) | GLOBAL Int AMD_order
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_post_tree.c
function GLOBAL (line 15) | GLOBAL Int AMD_post_tree
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_postorder.c
function GLOBAL (line 15) | GLOBAL void AMD_postorder
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_preprocess.c
function GLOBAL (line 29) | GLOBAL void AMD_preprocess
FILE: osqp/lin_sys/direct/qdldl/amd/src/amd_valid.c
function GLOBAL (line 38) | GLOBAL Int AMD_valid
FILE: osqp/lin_sys/direct/qdldl/qdldl_interface.c
function free_linsys_solver_qdldl (line 17) | void free_linsys_solver_qdldl(qdldl_solver *s) {
function c_int (line 53) | static c_int LDL_factor(csc *A, qdldl_solver * p, c_int nvar){
function c_int (line 99) | static c_int permute_KKT(csc ** KKT, qdldl_solver * p, c_int Pnz, c_int ...
function c_int (line 170) | c_int init_linsys_solver_qdldl(qdldl_solver ** sp, const csc * P, const ...
function permute_x (line 322) | void permute_x(c_int n, c_float * x, const c_float * b, const c_int * P) {
function permutet_x (line 328) | void permutet_x(c_int n, c_float * x, const c_float * b, const c_int * P) {
function LDLSolve (line 334) | static void LDLSolve(c_float *x, c_float *b, const csc *L, const c_float...
function c_int (line 374) | c_int update_linsys_solver_matrices_qdldl(qdldl_solver * s, const csc *P...
function c_int (line 389) | c_int update_linsys_solver_rho_vec_qdldl(qdldl_solver * s, const c_float...
FILE: osqp/lin_sys/direct/qdldl/qdldl_interface.h
type qdldl_solver (line 14) | typedef struct qdldl qdldl_solver;
type qdldl (line 16) | struct qdldl {
FILE: osqp/lin_sys/direct/qdldl/qdldl_sources/examples/example.c
function main (line 17) | int main()
function print_line (line 153) | void print_line(void){
function print_arrayi (line 157) | void print_arrayi(const QDLDL_int* data, QDLDL_int n,char* varName){
function print_arrayf (line 168) | void print_arrayf(const QDLDL_float* data, QDLDL_int n, char* varName){
FILE: osqp/lin_sys/direct/qdldl/qdldl_sources/src/qdldl.c
function QDLDL_int (line 11) | QDLDL_int QDLDL_etree(const QDLDL_int n,
function QDLDL_int (line 72) | QDLDL_int QDLDL_factor(const QDLDL_int n,
function QDLDL_Lsolve (line 236) | void QDLDL_Lsolve(const QDLDL_int n,
function QDLDL_Ltsolve (line 251) | void QDLDL_Ltsolve(const QDLDL_int n,
function QDLDL_solve (line 266) | void QDLDL_solve(const QDLDL_int n,
FILE: osqp/lin_sys/direct/qdldl/qdldl_sources/tests/qdldl_tester.c
function QDLDL_float (line 49) | QDLDL_float vec_diff_norm(QDLDL_float* x, QDLDL_float* y, QDLDL_int len){
function ldl_factor_solve (line 63) | int ldl_factor_solve(QDLDL_int An,
function main (line 164) | int main(void) {
FILE: osqp/lin_sys/lib_handler.c
function soHandle_t (line 7) | soHandle_t lh_load_lib(const char *libName) {
function c_int (line 38) | c_int lh_unload_lib (soHandle_t h) {
type FARPROC (line 53) | typedef FARPROC symtype;
function symtype (line 66) | symtype lh_load_sym (soHandle_t h, const char *symName) {
FILE: osqp/lin_sys/lib_handler.h
type HINSTANCE (line 8) | typedef HINSTANCE soHandle_t;
FILE: osqp/src/auxil.c
function c_float (line 13) | c_float compute_rho_estimate(OSQPWorkspace *work) {
function c_int (line 57) | c_int adapt_rho(OSQPWorkspace *work) {
function set_rho_vec (line 79) | void set_rho_vec(OSQPWorkspace *work) {
function c_int (line 103) | c_int update_rho_vec(OSQPWorkspace *work) {
function swap_vectors (line 150) | void swap_vectors(c_float **a, c_float **b) {
function cold_start (line 158) | void cold_start(OSQPWorkspace *work) {
function compute_rhs (line 164) | static void compute_rhs(OSQPWorkspace *work) {
function update_xz_tilde (line 180) | void update_xz_tilde(OSQPWorkspace *work) {
function update_x (line 188) | void update_x(OSQPWorkspace *work) {
function update_z (line 203) | void update_z(OSQPWorkspace *work) {
function update_y (line 217) | void update_y(OSQPWorkspace *work) {
function c_float (line 230) | c_float compute_obj_val(OSQPWorkspace *work, c_float *x) {
function c_float (line 243) | c_float compute_pri_res(OSQPWorkspace *work, c_float *x, c_float *z) {
function c_float (line 259) | c_float compute_pri_tol(OSQPWorkspace *work, c_float eps_abs, c_float ep...
function c_float (line 290) | c_float compute_dua_res(OSQPWorkspace *work, c_float *x, c_float *y) {
function c_float (line 323) | c_float compute_dua_tol(OSQPWorkspace *work, c_float eps_abs, c_float ep...
function c_int (line 364) | c_int is_primal_infeasible(OSQPWorkspace *work, c_float eps_prim_inf) {
function c_int (line 429) | c_int is_dual_infeasible(OSQPWorkspace *work, c_float eps_dual_inf) {
function c_int (line 517) | c_int has_solution(OSQPInfo * info){
function store_solution (line 527) | void store_solution(OSQPWorkspace *work) {
function reset_info (line 635) | void reset_info(OSQPInfo *info) {
function else (line 675) | else if (status_val == OSQP_TIME_LIMIT_REACHED) c_strcpy(info->status,
function c_int (line 794) | c_int validate_data(const OSQPData *data) {
function c_int (line 877) | c_int validate_linsys_solver(c_int linsys_solver) {
function c_int (line 889) | c_int validate_settings(const OSQPSettings *settings) {
FILE: osqp/src/cs.c
function csc (line 12) | csc* csc_matrix(c_int m, c_int n, c_int nzmax, c_float *x, c_int *i, c_i...
function csc (line 28) | csc* csc_spalloc(c_int m, c_int n, c_int nzmax, c_int values, c_int trip...
function csc_spfree (line 46) | void csc_spfree(csc *A) {
function csc (line 55) | csc* triplet_to_csc(const csc *T, c_int *TtoC) {
function csc (line 90) | csc* triplet_to_csr(const csc *T, c_int *TtoC) {
function c_int (line 125) | c_int csc_cumsum(c_int *p, c_int *c, c_int n) {
function c_int (line 140) | c_int* csc_pinv(c_int const *p, c_int n) {
function csc (line 153) | csc* csc_symperm(const csc *A, const c_int *pinv, c_int *AtoC, c_int val...
function csc (line 208) | csc* copy_csc_mat(const csc *A) {
function prea_copy_csc_mat (line 220) | void prea_copy_csc_mat(const csc *A, csc *B) {
function csc (line 228) | csc* csc_done(csc *C, void *w, void *x, c_int ok) {
function csc (line 238) | csc* csc_to_triu(csc *M) {
FILE: osqp/src/ctrlc.c
function osqp_start_interrupt_listener (line 16) | void osqp_start_interrupt_listener(void) {
function osqp_end_interrupt_listener (line 20) | void osqp_end_interrupt_listener(void) {
function osqp_is_interrupted (line 24) | int osqp_is_interrupted(void) {
function BOOL (line 31) | static BOOL WINAPI handle_ctrlc(DWORD dwCtrlType) {
function osqp_start_interrupt_listener (line 38) | void osqp_start_interrupt_listener(void) {
function osqp_end_interrupt_listener (line 43) | void osqp_end_interrupt_listener(void) {
function osqp_is_interrupted (line 47) | int osqp_is_interrupted(void) {
type sigaction (line 55) | struct sigaction
function handle_ctrlc (line 56) | static void handle_ctrlc(int dummy) {
function osqp_start_interrupt_listener (line 60) | void osqp_start_interrupt_listener(void) {
function osqp_end_interrupt_listener (line 70) | void osqp_end_interrupt_listener(void) {
function osqp_is_interrupted (line 76) | int osqp_is_interrupted(void) {
FILE: osqp/src/error.c
function c_int (line 14) | c_int _osqp_error(enum osqp_error_type error_code,
FILE: osqp/src/kkt.c
function csc (line 6) | csc* form_KKT(const csc *P,
function update_KKT_P (line 184) | void update_KKT_P(csc *KKT,
function update_KKT_A (line 205) | void update_KKT_A(csc *KKT, const csc *A, const c_int *AtoKKT) {
function update_KKT_param2 (line 214) | void update_KKT_param2(csc *KKT, const c_float *param2,
FILE: osqp/src/lin_alg.c
function vec_add_scaled (line 7) | void vec_add_scaled(c_float *c,
function c_float (line 19) | c_float vec_scaled_norm_inf(const c_float *S, const c_float *v, c_int l) {
function c_float (line 32) | c_float vec_norm_inf(const c_float *v, c_int l) {
function c_float (line 45) | c_float vec_norm_inf_diff(const c_float *a, const c_float *b, c_int l) {
function c_float (line 57) | c_float vec_mean(const c_float *a, c_int n) {
function int_vec_set_scalar (line 69) | void int_vec_set_scalar(c_int *a, c_int sc, c_int n) {
function vec_set_scalar (line 77) | void vec_set_scalar(c_float *a, c_float sc, c_int n) {
function vec_add_scalar (line 85) | void vec_add_scalar(c_float *a, c_float sc, c_int n) {
function vec_mult_scalar (line 93) | void vec_mult_scalar(c_float *a, c_float sc, c_int n) {
function c_float (line 102) | c_float* vec_copy(c_float *a, c_int n) {
function prea_int_vec_copy (line 119) | void prea_int_vec_copy(const c_int *a, c_int *b, c_int n) {
function prea_vec_copy (line 127) | void prea_vec_copy(const c_float *a, c_float *b, c_int n) {
function vec_ew_recipr (line 135) | void vec_ew_recipr(const c_float *a, c_float *b, c_int n) {
function c_float (line 143) | c_float vec_prod(const c_float *a, const c_float *b, c_int n) {
function vec_ew_prod (line 154) | void vec_ew_prod(const c_float *a, const c_float *b, c_float *c, c_int n) {
function vec_ew_sqrt (line 163) | void vec_ew_sqrt(c_float *a, c_int n) {
function vec_ew_max (line 171) | void vec_ew_max(c_float *a, c_int n, c_float max_val) {
function vec_ew_min (line 179) | void vec_ew_min(c_float *a, c_int n, c_float min_val) {
function vec_ew_max_vec (line 187) | void vec_ew_max_vec(const c_float *a, const c_float *b, c_float *c, c_in...
function vec_ew_min_vec (line 195) | void vec_ew_min_vec(const c_float *a, const c_float *b, c_float *c, c_in...
function mat_mult_scalar (line 209) | void mat_mult_scalar(csc *A, c_float sc) {
function mat_premult_diag (line 219) | void mat_premult_diag(csc *A, const c_float *d) {
function mat_postmult_diag (line 230) | void mat_postmult_diag(csc *A, const c_float *d) {
function mat_vec (line 241) | void mat_vec(const csc *A, const c_float *x, c_float *y, c_int plus_eq) {
function mat_tpose_vec (line 273) | void mat_tpose_vec(const csc *A, const c_float *x, c_float *y,
function mat_inf_norm_cols (line 325) | void mat_inf_norm_cols(const csc *M, c_float *E) {
function mat_inf_norm_rows (line 341) | void mat_inf_norm_rows(const csc *M, c_float *E) {
function mat_inf_norm_cols_sym_triu (line 358) | void mat_inf_norm_cols_sym_triu(const csc *M, c_float *E) {
function c_float (line 387) | c_float quad_form(const csc *P, const c_float *x) {
FILE: osqp/src/lin_sys.c
function c_int (line 15) | c_int load_linsys_solver(enum linsys_solver_type linsys_solver) {
function c_int (line 35) | c_int unload_linsys_solver(enum linsys_solver_type linsys_solver) {
function c_int (line 56) | c_int init_linsys_solver(LinSysSolver **s,
FILE: osqp/src/osqp.c
function osqp_set_default_settings (line 24) | void osqp_set_default_settings(OSQPSettings *settings) {
function c_int (line 76) | c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQP...
function c_int (line 288) | c_int osqp_solve(OSQPWorkspace *work) {
function c_int (line 646) | c_int osqp_cleanup(OSQPWorkspace *work) {
function c_int (line 752) | c_int osqp_update_lin_cost(OSQPWorkspace *work, const c_float *q_new) {
function c_int (line 784) | c_int osqp_update_bounds(OSQPWorkspace *work,
function c_int (line 835) | c_int osqp_update_lower_bound(OSQPWorkspace *work, const c_float *l_new) {
function c_int (line 882) | c_int osqp_update_upper_bound(OSQPWorkspace *work, const c_float *u_new) {
function c_int (line 929) | c_int osqp_warm_start(OSQPWorkspace *work, const c_float *x, const c_flo...
function c_int (line 954) | c_int osqp_warm_start_x(OSQPWorkspace *work, const c_float *x) {
function c_int (line 976) | c_int osqp_warm_start_y(OSQPWorkspace *work, const c_float *y) {
function c_int (line 999) | c_int osqp_update_P(OSQPWorkspace *work,
function c_int (line 1079) | c_int osqp_update_A(OSQPWorkspace *work,
function c_int (line 1158) | c_int osqp_update_P_A(OSQPWorkspace *work,
function c_int (line 1268) | c_int osqp_update_rho(OSQPWorkspace *work, c_float rho_new) {
function c_int (line 1326) | c_int osqp_update_max_iter(OSQPWorkspace *work, c_int max_iter_new) {
function c_int (line 1345) | c_int osqp_update_eps_abs(OSQPWorkspace *work, c_float eps_abs_new) {
function c_int (line 1364) | c_int osqp_update_eps_rel(OSQPWorkspace *work, c_float eps_rel_new) {
function c_int (line 1383) | c_int osqp_update_eps_prim_inf(OSQPWorkspace *work, c_float eps_prim_inf...
function c_int (line 1402) | c_int osqp_update_eps_dual_inf(OSQPWorkspace *work, c_float eps_dual_inf...
function c_int (line 1422) | c_int osqp_update_alpha(OSQPWorkspace *work, c_float alpha_new) {
function c_int (line 1441) | c_int osqp_update_warm_start(OSQPWorkspace *work, c_int warm_start_new) {
function c_int (line 1460) | c_int osqp_update_scaled_termination(OSQPWorkspace *work, c_int scaled_t...
function c_int (line 1479) | c_int osqp_update_check_termination(OSQPWorkspace *work, c_int check_ter...
function c_int (line 1500) | c_int osqp_update_delta(OSQPWorkspace *work, c_float delta_new) {
function c_int (line 1519) | c_int osqp_update_polish(OSQPWorkspace *work, c_int polish_new) {
function c_int (line 1544) | c_int osqp_update_polish_refine_iter(OSQPWorkspace *work, c_int polish_r...
function c_int (line 1563) | c_int osqp_update_verbose(OSQPWorkspace *work, c_int verbose_new) {
function c_int (line 1586) | c_int osqp_update_time_limit(OSQPWorkspace *work, c_float time_limit_new) {
FILE: osqp/src/polish.c
function c_int (line 19) | static c_int form_Ared(OSQPWorkspace *work) {
function form_rhs_red (line 105) | static void form_rhs_red(OSQPWorkspace *work, c_float *rhs) {
function c_int (line 134) | static c_int iterative_refinement(OSQPWorkspace *work,
function get_ypol_from_yred (line 188) | static void get_ypol_from_yred(OSQPWorkspace *work, c_float *yred) {
function c_int (line 212) | c_int polish(OSQPWorkspace *work) {
FILE: osqp/src/proj.c
function project (line 4) | void project(OSQPWorkspace *work, c_float *z) {
function project_normalcone (line 16) | void project_normalcone(OSQPWorkspace *work, c_float *z, c_float *y) {
FILE: osqp/src/scaling.c
function limit_scaling (line 7) | void limit_scaling(c_float *D, c_int n) {
function compute_inf_norm_cols_KKT (line 28) | void compute_inf_norm_cols_KKT(const csc *P, const csc *A,
function c_int (line 44) | c_int scale_data(OSQPWorkspace *work) {
function c_int (line 160) | c_int unscale_data(OSQPWorkspace *work) {
function c_int (line 177) | c_int unscale_solution(OSQPWorkspace *work) {
FILE: osqp/src/util.c
function c_strcpy (line 20) | void c_strcpy(char dest[], const char source[]) {
function print_line (line 33) | static void print_line(void) {
function print_header (line 42) | void print_header(void) {
function print_setup_header (line 58) | void print_setup_header(const OSQPWorkspace *work) {
function print_summary (line 133) | void print_summary(OSQPWorkspace *work) {
function print_polish (line 158) | void print_polish(OSQPWorkspace *work) {
function print_footer (line 189) | void print_footer(OSQPInfo *info, c_int polish) {
function OSQPSettings (line 224) | OSQPSettings* copy_settings(const OSQPSettings *settings) {
function osqp_tic (line 277) | void osqp_tic(OSQPTimer *t)
function c_float (line 283) | c_float osqp_toc(OSQPTimer *t)
function osqp_tic (line 292) | void osqp_tic(OSQPTimer *t)
function c_float (line 298) | c_float osqp_toc(OSQPTimer *t)
function osqp_tic (line 317) | void osqp_tic(OSQPTimer *t)
function c_float (line 323) | c_float osqp_toc(OSQPTimer *t)
function print_csc_matrix (line 353) | void print_csc_matrix(csc *M, const char *name)
function dump_csc_matrix (line 374) | void dump_csc_matrix(csc *M, const char *file_name) {
function print_trip_matrix (line 400) | void print_trip_matrix(csc *M, const char *name)
function print_dns_matrix (line 412) | void print_dns_matrix(c_float *M, c_int m, c_int n, const char *name)
function print_vec (line 436) | void print_vec(c_float *v, c_int n, const char *name) {
function dump_vec (line 440) | void dump_vec(c_float *v, c_int len, const char *file_name) {
function print_vec_int (line 455) | void print_vec_int(c_int *x, c_int n, const char *name) {
FILE: osqp/tests/custom_memory/custom_memory.c
function my_free (line 29) | void my_free(void *ptr) {
FILE: osqp/tests/osqp_tester.c
function main (line 42) | int main(void) {
FILE: osqp/tests/osqp_tester.h
function c_float (line 5) | c_float* csc_to_dns(csc *M)
function c_int (line 30) | c_int is_eq_csc(csc *A, csc *B, c_float tol) {
FILE: osqp/tests/utils/codegen_utils.py
function write_int (line 8) | def write_int(f, x, name, *args):
function write_float (line 17) | def write_float(f, x, name, *args):
function write_vec_int (line 26) | def write_vec_int(f, x, name, *args):
function write_vec_float (line 42) | def write_vec_float(f, x, name, *args):
function clean_vec (line 63) | def clean_vec(f, name, *args):
function write_mat_sparse (line 73) | def write_mat_sparse(f, A, name, *args):
function clean_mat (line 141) | def clean_mat(f, name, *args):
function generate_problem_data (line 172) | def generate_problem_data(P, q, A, l, u, problem_name, sols_data={}):
function generate_data (line 351) | def generate_data(problem_name, sols_data):
FILE: src/cmpcc/include/bezier_base.h
function class (line 19) | class Bernstein
FILE: src/cmpcc/include/corridor.h
function namespace (line 6) | namespace ft{
FILE: src/cmpcc/include/display_msgs.h
function namespace (line 15) | namespace ft{
FILE: src/cmpcc/include/map.h
function namespace (line 11) | namespace ft {
FILE: src/cmpcc/include/model.h
function namespace (line 10) | namespace ft{
FILE: src/cmpcc/include/mpc_solver.h
function namespace (line 8) | namespace ft{
FILE: src/cmpcc/include/my_spline.h
function namespace (line 14) | namespace ft
FILE: src/cmpcc/include/osqp_interface.h
function namespace (line 6) | namespace osqp{
FILE: src/cmpcc/include/sparse_utils.h
function namespace (line 5) | namespace sp{
FILE: src/cmpcc/src/bezier_base.cpp
function MatrixXd (line 5) | MatrixXd Bernstein::CholeskyDecomp(MatrixXd Q) // return square root F o...
FILE: src/cmpcc/src/corridor.cpp
type ft (line 9) | namespace ft{
FILE: src/cmpcc/src/corridor_test.cpp
function main (line 6) | int main(void){
FILE: src/cmpcc/src/display_msg.cpp
type ft (line 7) | namespace ft{
FILE: src/cmpcc/src/fly_trr_node.cpp
function rcvTransformCallBack (line 43) | void rcvTransformCallBack(geometry_msgs::PoseConstPtr msg){
function odom_callback (line 52) | void odom_callback(const nav_msgs::Odometry& odom){
function main (line 104) | int main(int argc, char **argv)
FILE: src/cmpcc/src/flyfly_node.cpp
function rcvTransformCallBack (line 40) | void rcvTransformCallBack(geometry_msgs::PoseConstPtr msg){
function odom_callback (line 49) | void odom_callback(const nav_msgs::Odometry& odom){
function mpc_callback (line 60) | void mpc_callback(const ros::TimerEvent& event){
function cmd_callback (line 104) | void cmd_callback(const ros::TimerEvent& event){
function safe_callback (line 135) | void safe_callback(const ros::TimerEvent& event){
function main (line 140) | int main(int argc, char **argv)
FILE: src/cmpcc/src/map.cpp
type ft (line 7) | namespace ft{
FILE: src/cmpcc/src/model.cpp
type ft (line 6) | namespace ft{
FILE: src/cmpcc/src/mpc_solver.cpp
type ft (line 9) | namespace ft{
FILE: src/cmpcc/src/my_spline.cpp
type ft (line 3) | namespace ft{
type tk (line 4) | namespace tk{
FILE: src/cmpcc/src/osqp_interface.cpp
type osqp (line 7) | namespace osqp{
function OSQPSolution (line 76) | OSQPSolution* OSQPInterface::solPtr(){
FILE: src/cmpcc/src/osqp_test.cpp
function printQ (line 9) | void printQ(Eigen::SparseMatrix<double> Q_){
function main (line 21) | int main(int argc, char const *argv[])
FILE: src/cmpcc/src/plot_bag_node.cpp
function rcvTransformCallBack (line 20) | void rcvTransformCallBack(geometry_msgs::PoseConstPtr msg){
function odom_callback (line 26) | void odom_callback(const nav_msgs::Odometry& odom){
function cmd_callback (line 50) | void cmd_callback(const quadrotor_msgs::PositionCommand& cmd){
function main (line 78) | int main(int argc, char **argv){
FILE: src/cmpcc/src/simulation_node.cpp
function odom_callback (line 43) | void odom_callback(const nav_msgs::Odometry& odom){
function mpc_callback (line 61) | void mpc_callback(const ros::TimerEvent& event){
function cmd_callback (line 111) | void cmd_callback(const ros::TimerEvent& event){
function joy_callback (line 133) | void joy_callback(const sensor_msgs::Joy::ConstPtr& msg){
function main (line 139) | int main(int argc, char **argv)
FILE: src/cmpcc/src/solver_test.cpp
function main (line 6) | int main(int argc, char const *argv[])
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_basis/data_type.h
type decimal_t (line 50) | typedef double decimal_t;
type Vecf (line 75) | typedef Vecf<2> Vec2f;
type Veci (line 77) | typedef Veci<2> Vec2i;
type Vecf (line 79) | typedef Vecf<3> Vec3f;
type Veci (line 81) | typedef Veci<3> Vec3i;
type Vecf (line 83) | typedef Vecf<4> Vec4f;
type Vecf (line 85) | typedef Vecf<6> Vec6f;
type vec_E (line 88) | typedef vec_E<Vec2f> vec_Vec2f;
type vec_E (line 90) | typedef vec_E<Vec2i> vec_Vec2i;
type vec_E (line 92) | typedef vec_E<Vec3f> vec_Vec3f;
type vec_E (line 94) | typedef vec_E<Vec3i> vec_Vec3i;
type Vecf (line 106) | typedef Vecf<Eigen::Dynamic> VecDf;
type MatDNf (line 108) | typedef MatDNf<2> MatD2f;
type MatDNf (line 110) | typedef MatDNf<3> MatD3f;
type Matf (line 112) | typedef Matf<Eigen::Dynamic, Eigen::Dynamic> MatDf;
type Eigen (line 115) | typedef Eigen::Transform<decimal_t, 2, Eigen::Affine> Aff2f;
type Eigen (line 117) | typedef Eigen::Transform<decimal_t, 3, Eigen::Affine> Aff3f;
type Eigen (line 123) | typedef Eigen::Quaternion<decimal_t> Quatf;
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_geometry/ellipsoid.h
function decimal_t (line 19) | decimal_t dist(const Vecf<Dim>& pt) const {
function inside (line 24) | bool inside(const Vecf<Dim>& pt) const {
type Ellipsoid (line 98) | typedef Ellipsoid<2> Ellipsoid2D;
type Ellipsoid (line 100) | typedef Ellipsoid<3> Ellipsoid3D;
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_geometry/geometric_utils.h
function Mat2f (line 20) | inline Mat2f vec2_to_rotation(const Vec2f &v) {
function Mat3f (line 27) | inline Mat3f vec3_to_rotation(const Vec3f &v) {
function vec_Vec2f (line 38) | inline vec_Vec2f sort_pts(const vec_Vec2f &pts) {
function line_intersect (line 68) | inline bool line_intersect(const std::pair<Vec2f, Vec2f> &v1,
function vec_Vec2f (line 90) | inline vec_Vec2f line_intersects(const vec_E<std::pair<Vec2f, Vec2f>> &l...
function vec_Vec2f (line 104) | inline vec_Vec2f cal_vertices(const Polyhedron2D &poly) {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_geometry/polyhedron.h
function decimal_t (line 18) | decimal_t signed_dist(const Vecf<Dim>& pt) const {
function decimal_t (line 23) | decimal_t dist(const Vecf<Dim>& pt) const {
type Hyperplane (line 34) | typedef Hyperplane<2> Hyperplane2D;
type Hyperplane (line 36) | typedef Hyperplane<3> Hyperplane3D;
function vs_ (line 45) | vs_(vs) {}
function add (line 49) | void add(const Hyperplane<Dim>& v) {
function inside (line 54) | bool inside(const Vecf<Dim>& pt) const {
function inside (line 130) | bool inside(const Vecf<Dim> &pt) {
type LinearConstraint (line 150) | typedef LinearConstraint<2> LinearConstraint2D;
type LinearConstraint (line 152) | typedef LinearConstraint<3> LinearConstraint3D;
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_ros_utils/data_ros_utils.h
function vec_E (line 69) | inline vec_E<Polyhedron3D> ros_to_polyhedron_array(const decomp_ros_msgs...
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_util/decomp_base.h
function set_local_bbox (line 28) | void set_local_bbox(const Vecf<Dim>& bbox) {
function set_obs (line 33) | void set_obs(const vec_Vecf<Dim> &obs) {
function virtual (line 59) | virtual void shrink(double shrink_distance) {}
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_util/ellipsoid_decomp.h
function set_obs (line 32) | void set_obs(const vec_Vecf<Dim> &obs) { obs_ = obs; }
function set_local_bbox (line 35) | void set_local_bbox(const Vecf<Dim>& bbox) { local_bbox_ = bbox; }
type EllipsoidDecomp (line 131) | typedef EllipsoidDecomp<2> EllipsoidDecomp2D;
type EllipsoidDecomp (line 133) | typedef EllipsoidDecomp<3> EllipsoidDecomp3D;
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_util/iterative_decomp.h
function decimal_t (line 69) | decimal_t cal_closest_dist(const Vecf<Dim>& pt, const Polyhedron<Dim>& vs){
type IterativeDecomp (line 102) | typedef IterativeDecomp<2> IterativeDecomp2D;
type IterativeDecomp (line 104) | typedef IterativeDecomp<3> IterativeDecomp3D;
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_util/line_segment.h
function dilate (line 31) | void dilate(decimal_t radius) {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/include/decomp_util/seed_decomp.h
function p_ (line 25) | p_(p) {}
function dilate (line 30) | void dilate(decimal_t radius) {
type SeedDecomp (line 76) | typedef SeedDecomp<2> SeedDecomp2D;
type SeedDecomp (line 78) | typedef SeedDecomp<3> SeedDecomp3D;
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/bound_visual.cpp
type decomp_rviz_plugins (line 3) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/bound_visual.h
function namespace (line 13) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/ellipsoid_array_display.cpp
type decomp_rviz_plugins (line 4) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/ellipsoid_array_display.h
function namespace (line 14) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/ellipsoid_array_visual.cpp
type decomp_rviz_plugins (line 3) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/ellipsoid_array_visual.h
function namespace (line 14) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/mesh_visual.cpp
type decomp_rviz_plugins (line 3) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/mesh_visual.h
function namespace (line 13) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/polyhedron_array_display.cpp
type decomp_rviz_plugins (line 5) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/polyhedron_array_display.h
function namespace (line 21) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/vector_visual.cpp
type decomp_rviz_plugins (line 2) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/DecompRos/decomp_ros_utils/src/vector_visual.h
function namespace (line 10) | namespace decomp_rviz_plugins {
FILE: src/uav_simulator/map_generator/src/map_generator_node.cpp
function main (line 10) | int main (int argc, char** argv)
FILE: src/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/comm_types.h
type SO3_CMD_INPUT (line 5) | struct SO3_CMD_INPUT
type STATUS_DATA (line 21) | struct STATUS_DATA
type OUTPUT_DATA (line 29) | struct OUTPUT_DATA
type TRPY_CMD (line 45) | struct TRPY_CMD
type PPR_OUTPUT_DATA (line 57) | struct PPR_OUTPUT_DATA
type PPR_GAINS (line 80) | struct PPR_GAINS
FILE: src/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
function namespace (line 10) | namespace quadrotor_msgs
FILE: src/uav_simulator/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
function namespace (line 10) | namespace quadrotor_msgs
FILE: src/uav_simulator/quadrotor_msgs/src/decode_msgs.cpp
type quadrotor_msgs (line 5) | namespace quadrotor_msgs
function decodeOutputData (line 8) | bool decodeOutputData(const std::vector<uint8_t> &data,
function decodeStatusData (line 58) | bool decodeStatusData(const std::vector<uint8_t> &data,
function decodePPROutputData (line 73) | bool decodePPROutputData(const std::vector<uint8_t> &data,
FILE: src/uav_simulator/quadrotor_msgs/src/encode_msgs.cpp
type quadrotor_msgs (line 4) | namespace quadrotor_msgs
function encodeSO3Command (line 7) | void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command,
function encodeTRPYCommand (line 44) | void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command,
function encodePPRGains (line 60) | void encodePPRGains(const quadrotor_msgs::Gains &gains,
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py
class AuxCommand (line 8) | class AuxCommand(genpy.Message):
method __init__ (line 22) | def __init__(self, *args, **kwds):
method _get_types (line 56) | def _get_types(self):
method serialize (line 62) | def serialize(self, buff):
method deserialize (line 76) | def deserialize(self, str):
method serialize_numpy (line 101) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 116) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py
class Corrections (line 8) | class Corrections(genpy.Message):
method __init__ (line 19) | def __init__(self, *args, **kwds):
method _get_types (line 44) | def _get_types(self):
method serialize (line 50) | def serialize(self, buff):
method deserialize (line 61) | def deserialize(self, str):
method serialize_numpy (line 79) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 91) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py
class Gains (line 8) | class Gains(genpy.Message):
method __init__ (line 21) | def __init__(self, *args, **kwds):
method _get_types (line 52) | def _get_types(self):
method serialize (line 58) | def serialize(self, buff):
method deserialize (line 69) | def deserialize(self, str):
method serialize_numpy (line 85) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 97) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py
class OutputData (line 10) | class OutputData(genpy.Message):
method __init__ (line 65) | def __init__(self, *args, **kwds):
method _get_types (line 117) | def _get_types(self):
method serialize (line 123) | def serialize(self, buff):
method deserialize (line 152) | def deserialize(self, str):
method serialize_numpy (line 197) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 227) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py
class PPROutputData (line 9) | class PPROutputData(genpy.Message):
method __init__ (line 52) | def __init__(self, *args, **kwds):
method _get_types (line 119) | def _get_types(self):
method serialize (line 125) | def serialize(self, buff):
method deserialize (line 148) | def deserialize(self, str):
method serialize_numpy (line 182) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 206) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py
class PositionCommand (line 10) | class PositionCommand(genpy.Message):
method __init__ (line 59) | def __init__(self, *args, **kwds):
method _get_types (line 102) | def _get_types(self):
method serialize (line 108) | def serialize(self, buff):
method deserialize (line 132) | def deserialize(self, str):
method serialize_numpy (line 175) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 200) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py
class SO3Command (line 11) | class SO3Command(genpy.Message):
method __init__ (line 68) | def __init__(self, *args, **kwds):
method _get_types (line 105) | def _get_types(self):
method serialize (line 111) | def serialize(self, buff):
method deserialize (line 140) | def deserialize(self, str):
method serialize_numpy (line 196) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 226) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py
class Serial (line 9) | class Serial(genpy.Message):
method __init__ (line 57) | def __init__(self, *args, **kwds):
method _get_types (line 88) | def _get_types(self):
method serialize (line 94) | def serialize(self, buff):
method deserialize (line 123) | def deserialize(self, str):
method serialize_numpy (line 160) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 190) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py
class StatusData (line 9) | class StatusData(genpy.Message):
method __init__ (line 40) | def __init__(self, *args, **kwds):
method _get_types (line 71) | def _get_types(self):
method serialize (line 77) | def serialize(self, buff):
method deserialize (line 99) | def deserialize(self, str):
method serialize_numpy (line 130) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 153) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py
class TRPYCommand (line 10) | class TRPYCommand(genpy.Message):
method __init__ (line 51) | def __init__(self, *args, **kwds):
method _get_types (line 88) | def _get_types(self):
method serialize (line 94) | def serialize(self, buff):
method deserialize (line 119) | def deserialize(self, str):
method serialize_numpy (line 161) | def serialize_numpy(self, buff, numpy):
method deserialize_numpy (line 187) | def deserialize_numpy(self, str, numpy):
FILE: src/uav_simulator/so3_controller/include/so3_controller/so3_controller.hpp
type so3_controller (line 4) | namespace so3_controller {
class SO3Controller (line 6) | class SO3Controller {
method SO3Controller (line 18) | SO3Controller(const double& mass, const double& g) :
method setPos (line 22) | inline void setPos(const Eigen::Vector3d& pos) {
method setVel (line 25) | inline void setVel(const Eigen::Vector3d& vel) {
method setAcc (line 28) | inline void setAcc(const Eigen::Vector3d& acc) {
method getF (line 31) | inline Eigen::Vector3d getF() const {
method getQ (line 34) | inline Eigen::Quaterniond getQ() const {
method calculateControl (line 38) | inline void calculateControl(const Eigen::Vector3d& des_pos,
FILE: src/uav_simulator/so3_controller/src/so3_controller_nodelet.cpp
type so3_controller (line 10) | namespace so3_controller {
class Nodelet (line 11) | class Nodelet : public nodelet::Nodelet{
method timer_callback (line 23) | void timer_callback(const ros::TimerEvent& event) {
method position_cmd_callback (line 46) | void position_cmd_callback(const quadrotor_msgs::PositionCommand::Co...
method odom_callback (line 75) | void odom_callback(const nav_msgs::Odometry::ConstPtr& msg) {
method imu_callback (line 88) | void imu_callback(const sensor_msgs::Imu::ConstPtr& msg) {
method onInit (line 95) | void onInit(void) {
FILE: src/uav_simulator/so3_quadrotor/include/so3_quadrotor/geometry_utils.hpp
type uav_utils (line 4) | namespace uav_utils {
function Scalar_t (line 7) | Scalar_t toRad(const Scalar_t& x) {
function Scalar_t (line 12) | Scalar_t toDeg(const Scalar_t& x) {
function rotx (line 17) | Eigen::Matrix<Scalar_t, 3, 3> rotx(Scalar_t t) {
function roty (line 33) | Eigen::Matrix<Scalar_t, 3, 3> roty(Scalar_t t) {
function rotz (line 49) | Eigen::Matrix<Scalar_t, 3, 3> rotz(Scalar_t t) {
function ypr_to_R (line 65) | Eigen::Matrix<typename Derived::Scalar, 3, 3> ypr_to_R(const Eigen::De...
function R_to_ypr (line 107) | Eigen::Matrix<typename Derived::Scalar, 3, 1> R_to_ypr(const Eigen::De...
function ypr_to_quaternion (line 129) | Eigen::Quaternion<typename Derived::Scalar> ypr_to_quaternion(const Ei...
function quaternion_to_ypr (line 152) | Eigen::Matrix<Scalar_t, 3, 1> quaternion_to_ypr(const Eigen::Quaternio...
function Scalar_t (line 164) | Scalar_t get_yaw_from_quaternion(const Eigen::Quaternion<Scalar_t>& q) {
function yaw_to_quaternion (line 169) | Eigen::Quaternion<Scalar_t> yaw_to_quaternion(Scalar_t yaw) {
function Scalar_t (line 174) | Scalar_t normalize_angle(Scalar_t a) {
function Scalar_t (line 196) | Scalar_t angle_add(Scalar_t a, Scalar_t b) {
function Scalar_t (line 204) | Scalar_t yaw_add(Scalar_t a, Scalar_t b) {
function get_skew_symmetric (line 209) | Eigen::Matrix<typename Derived::Scalar, 3, 3> get_skew_symmetric(const...
function from_skew_symmetric (line 226) | Eigen::Matrix<typename Derived::Scalar, 3, 1> from_skew_symmetric(cons...
FILE: src/uav_simulator/so3_quadrotor/include/so3_quadrotor/quadrotor_dynamics.hpp
type so3_quadrotor (line 4) | namespace so3_quadrotor {
type Config (line 7) | struct Config {
type Control (line 18) | struct Control {
type Cmd (line 21) | struct Cmd {
class Quadrotor (line 31) | class Quadrotor {
type State (line 36) | struct State {
method State (line 43) | inline State operator+(const State &t) const {
method State (line 52) | inline State operator*(const double &t) const {
method State (line 61) | inline State operator/(const double &t) const {
method Quadrotor (line 75) | Quadrotor(const Config &conf) : config_(conf),
method setInput (line 85) | inline void setInput(double u1, double u2, double u3, double u4) {
method State (line 100) | inline State diff(const State &state) const {
method State (line 43) | inline State operator+(const State &t) const {
method State (line 52) | inline State operator*(const double &t) const {
method State (line 61) | inline State operator/(const double &t) const {
method step (line 138) | inline void step(const double &dt) {
method Control (line 147) | inline Control getControl(const Cmd& cmd) {
method setPos (line 232) | inline void setPos(const Eigen::Vector3d &pos) {
method setYpr (line 235) | inline void setYpr(const Eigen::Vector3d &ypr) {
method setRpm (line 238) | inline void setRpm(const Eigen::Vector4d &rpm) {
method getGrav (line 242) | inline double getGrav() const {
method getPos (line 245) | inline Eigen::Vector3d getPos() const {
method getVel (line 248) | inline Eigen::Vector3d getVel() const {
method getAcc (line 251) | inline Eigen::Vector3d getAcc() const {
method getQuat (line 263) | inline Eigen::Quaterniond getQuat() const {
method getOmega (line 266) | inline Eigen::Vector3d getOmega() const {
FILE: src/uav_simulator/so3_quadrotor/src/so3_quadrotor_nodelet.cpp
type so3_quadrotor (line 10) | namespace so3_quadrotor {
class Nodelet (line 11) | class Nodelet : public nodelet::Nodelet {
method cmd_callback (line 31) | void cmd_callback(const quadrotor_msgs::SO3Command::ConstPtr& cmd_ms...
method timer_callback (line 51) | void timer_callback(const ros::TimerEvent& event) {
method onInit (line 141) | void onInit(void) {
Condensed preview — 351 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (3,831K chars).
[
{
"path": ".gitignore",
"chars": 63,
"preview": "build\ndevel\nbag\nscreen.txt\n.catkin_workspace\nsrc/CMakeLists.txt"
},
{
"path": ".vscode/c_cpp_properties.json",
"chars": 720,
"preview": "{\n \"configurations\": [\n {\n \"browse\": {\n \"databaseFilename\": \"\",\n \"lim"
},
{
"path": ".vscode/settings.json",
"chars": 417,
"preview": "{\n \"python.autoComplete.extraPaths\": [\n \"/home/ji/ros_ws/simulator/devel/lib/python3/dist-packages\",\n \"/opt/ros/n"
},
{
"path": "README.md",
"chars": 2753,
"preview": "# CMPCC\nCorridor-based Model Predictive Contouring Control for Aggressive Drone Flight\n\n## 0. Overview\n**CMPCC** is an e"
},
{
"path": "install_tools.sh",
"chars": 293,
"preview": "# install dependencies\nsudo apt-get install libyaml-cpp-dev\nsudo apt-get install libarmadillo-dev\n# install pygame\nsudo "
},
{
"path": "key2joy.py",
"chars": 2258,
"preview": "import os\nimport pygame\nfrom pygame.locals import *\nimport time\nimport sys\nimport rospy\nfrom geometry_msgs.msg import Tw"
},
{
"path": "osqp/.bumpversion.cfg",
"chars": 630,
"preview": "[bumpversion]\ncurrent_version = 0.6.0\ncommit = True\ntag = True\nparse = (?P<major>\\d+)\\.(?P<minor>\\d+)\\.(?P<patch>\\d+)(\\."
},
{
"path": "osqp/.editorconfig",
"chars": 274,
"preview": "# https://editorconfig.org\n\nroot = true\n\n[*.{c, h, cpp, hpp}]\ncharset = utf-8\nindent_style = space\nindent_size = 2\nend_o"
},
{
"path": "osqp/.gitattributes",
"chars": 40,
"preview": "* text=auto\n*.c text\n*.h text\n*.cpp text"
},
{
"path": "osqp/.gitmodules",
"chars": 142,
"preview": "[submodule \"lin_sys/direct/qdldl/qdldl_sources\"]\n\tpath = lin_sys/direct/qdldl/qdldl_sources\n\turl = https://github.com/ox"
},
{
"path": "osqp/.travis.yml",
"chars": 2991,
"preview": "language: C\n\nmatrix:\n include:\n - os: linux\n dist: xenial\n - os: osx\n # Specify version to avoid bug (h"
},
{
"path": "osqp/.valgrind-suppress.supp",
"chars": 1137,
"preview": "{\n ignore_get_max_threads_intel\n Memcheck:Param\n sched_setaffinity(mask)\n fun:syscall\n fun:__kmp_affinity_dete"
},
{
"path": "osqp/CHANGELOG.md",
"chars": 4709,
"preview": "Version 0.6.0 (30 August 2019)\n------------------------------\n* Added meaningful return values to internal functions. Ch"
},
{
"path": "osqp/CMakeLists.txt",
"chars": 14003,
"preview": "# Minimum version required\ncmake_minimum_required (VERSION 3.2)\n\n# Project name\nproject (osqp)\n\n# Export compile command"
},
{
"path": "osqp/LICENSE",
"chars": 11391,
"preview": " Apache License\n Version 2.0, January 2004\n "
},
{
"path": "osqp/NOTICE",
"chars": 418,
"preview": "OSQP\nCopyright (c) 2019 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd\n\nThis product includes software de"
},
{
"path": "osqp/README.md",
"chars": 2245,
"preview": "# The Operator Splitting QP Solver\n\n[![Build status of the master branch on Linux/OSX](https://img.shields.io/travis/oxf"
},
{
"path": "osqp/ROADMAP.md",
"chars": 60,
"preview": "## TODO\n- [ ] Add GPU solver\n- [ ] Add indirect solver\n\n"
},
{
"path": "osqp/appveyor.yml",
"chars": 946,
"preview": "# Not a .NET project. We build it in the install script\nbuild: false\n\nplatform:\n - x64\n - x86\n\nenvironment:\n BINTRAY_"
},
{
"path": "osqp/ci/appveyor/deploy.cmd",
"chars": 1825,
"preview": "@echo on\n\nREM Needed to enable to define OSQP_BIN within the file\n@setlocal enabledelayedexpansion\n\nIF \"%APPVEYOR_REPO_T"
},
{
"path": "osqp/ci/appveyor/install.cmd",
"chars": 1521,
"preview": "@echo on\n\n:: Make sure all the submodules are updated correctly\ncd %APPVEYOR_BUILD_FOLDER%\ngit submodule update --init -"
},
{
"path": "osqp/ci/appveyor/script.cmd",
"chars": 1266,
"preview": "@echo on\n\n\n:: Perform C Tests with standard configuration\n:: -----------------------------------------------------\ncd %A"
},
{
"path": "osqp/ci/travis/deploy.sh",
"chars": 2118,
"preview": "#!/bin/bash\nset -e\necho \"Creating Bintray shared library package...\"\n\nif [[ ${OSQP_VERSION} == *\"dev\"* ]]; then\n # Us"
},
{
"path": "osqp/ci/travis/docs.sh",
"chars": 1116,
"preview": "#!/bin/bash\n\necho \"Deploying docs to website osqp.org...\"\n\n# Update variables from install\n\n# Anaconda\nexport PATH=${DEP"
},
{
"path": "osqp/ci/travis/install.sh",
"chars": 1141,
"preview": "#!/bin/bash\n\n# Create deps dir\nmkdir ${DEPS_DIR}\ncd ${DEPS_DIR}\n\n# Install lcov and valgrind on linux\nif [[ \"$TRAVIS_OS_"
},
{
"path": "osqp/ci/travis/script.sh",
"chars": 3465,
"preview": "#!/bin/bash\nset -e\n\n# Add MKL shared libraries to the path\n# This unfortunately does not work in travis OSX if I put the"
},
{
"path": "osqp/configure/cmake/FindPythonModule.cmake",
"chars": 3768,
"preview": "# Find python module and version\n#\n# It sets the variables (given module called MODULE)\n# unless MODULE is __FUTURE__. I"
},
{
"path": "osqp/configure/cmake/FindR.cmake",
"chars": 980,
"preview": "# CMake module to find R\n# - Try to find R. If found, defines:\n#\n# R_FOUND - system has R\n# R_EXEC - t"
},
{
"path": "osqp/configure/cmake/Utils.cmake",
"chars": 168,
"preview": "# Clears variables from list\n# Usage:\n# osqp_clear_vars(<variables_list>)\nmacro(osqp_clear_vars)\n foreach(_var ${ARGN"
},
{
"path": "osqp/configure/cmake/cmake_uninstall.cmake.in",
"chars": 1002,
"preview": "if(NOT EXISTS \"@CMAKE_BINARY_DIR@/install_manifest.txt\")\n message(FATAL_ERROR \"Cannot find install manifest: @CMAKE_BIN"
},
{
"path": "osqp/configure/osqp_configure.h.in",
"chars": 741,
"preview": "#ifndef OSQP_CONFIGURE_H\n# define OSQP_CONFIGURE_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif /* ifdef __cplusplus */\n\n/*"
},
{
"path": "osqp/docs/Makefile",
"chars": 604,
"preview": "# Minimal makefile for Sphinx documentation\n#\n\n# You can set these variables from the command line.\nSPHINXOPTS =\nSPHI"
},
{
"path": "osqp/docs/_static/css/osqp_theme.css",
"chars": 4139,
"preview": "/* Default header fonts are ugly */\n@import url(https://fonts.googleapis.com/css?family=Open+Sans:400,400i,600,600i,700,"
},
{
"path": "osqp/docs/_templates/layout.html",
"chars": 909,
"preview": "{% extends '!layout.html' %}\n\n{% block extrahead %}\n<meta name=\"twitter:card\" content=\"summary_large_image\" >\n<meta name"
},
{
"path": "osqp/docs/citing/index.rst",
"chars": 2276,
"preview": ".. _citing :\n\nCiting OSQP\n===========\n\nIf you use OSQP for published work, we encourage you to put a star on `GitHub <ht"
},
{
"path": "osqp/docs/codegen/index.rst",
"chars": 1399,
"preview": "Code generation\n===============\n\nOSQP can generate tailored C code that compiles into a fast and reliable solver\nfor the"
},
{
"path": "osqp/docs/codegen/matlab.rst",
"chars": 6937,
"preview": "Matlab\n======\n\nBefore generating code for a parametric problem, the problem should be first\nspecified in the setup phase"
},
{
"path": "osqp/docs/codegen/python.rst",
"chars": 6857,
"preview": "Python\n======\n\nBefore generating code for a parametric problem, the problem should be first\nspecified in the setup phase"
},
{
"path": "osqp/docs/conf.py",
"chars": 5973,
"preview": "#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n#\n# OSQP documentation build configuration file, created by\n# sphinx-quic"
},
{
"path": "osqp/docs/contributing/index.rst",
"chars": 4213,
"preview": "Contributing\n=============\n\nOSQP is an open-source project open to any academic or commercial applications.\nContribution"
},
{
"path": "osqp/docs/doxygen.conf",
"chars": 107534,
"preview": "# Doxyfile 1.8.13\n\n# This file describes the settings to be used by the documentation system\n# doxygen (www.doxygen.org)"
},
{
"path": "osqp/docs/examples/huber.rst",
"chars": 3607,
"preview": "Huber fitting\n=============\n\n*Huber fitting* or the *robust least-squares problem* performs linear regression under the "
},
{
"path": "osqp/docs/examples/index.rst",
"chars": 274,
"preview": "Examples\n========\n\n\nDemo\n----\n\n.. toctree::\n :maxdepth: 1\n\n setup-and-solve.rst\n update-vectors.rst\n update-matr"
},
{
"path": "osqp/docs/examples/lasso.rst",
"chars": 4799,
"preview": "Lasso\n=====\n\n\nLasso is a well known technique for sparse linear regression.\nIt is obtained by adding an :math:`\\ell_1` r"
},
{
"path": "osqp/docs/examples/least-squares.rst",
"chars": 2536,
"preview": "Least-squares\n=============\n\nConsider the following constrained least-squares problem\n\n.. math::\n \\begin{array}{ll}\n "
},
{
"path": "osqp/docs/examples/mpc.rst",
"chars": 14569,
"preview": "Model predictive control (MPC)\n==============================\n\nWe consider the problem of controlling a linear time-inva"
},
{
"path": "osqp/docs/examples/portfolio.rst",
"chars": 3904,
"preview": "Portfolio optimization\n======================\n\n\nPortfolio optimization seeks to allocate assets in a way that maximizes "
},
{
"path": "osqp/docs/examples/setup-and-solve.rst",
"chars": 3999,
"preview": "Setup and solve\n===============\n\n\nConsider the following QP\n\n\n.. math::\n \\begin{array}{ll}\n \\mbox{minimize} & \\frac{"
},
{
"path": "osqp/docs/examples/svm.rst",
"chars": 3950,
"preview": "Support vector machine (SVM)\n============================\n\n*Support vector machine* seeks an affine function that approx"
},
{
"path": "osqp/docs/examples/update-matrices.rst",
"chars": 5903,
"preview": "Update matrices\n===============\n\n\nConsider the following QP\n\n\n.. math::\n \\begin{array}{ll}\n \\mbox{minimize} & \\frac{"
},
{
"path": "osqp/docs/examples/update-vectors.rst",
"chars": 5283,
"preview": "Update vectors\n==============\n\n\nConsider the following QP\n\n\n.. math::\n \\begin{array}{ll}\n \\mbox{minimize} & \\frac{1}"
},
{
"path": "osqp/docs/get_started/CC++.rst",
"chars": 1601,
"preview": ".. _install_osqp_libs:\n\nCC++\n=====\n\nBinaries\n--------\n\nPrecompiled platform-dependent shared and static libraries are av"
},
{
"path": "osqp/docs/get_started/cutest.rst",
"chars": 528,
"preview": "CUTEst\n=======\n\nTo be able to use OSQP and `CUTEst <https://github.com/ralna/CUTEst/wiki>`_ you need to\n\n* Install `CUTE"
},
{
"path": "osqp/docs/get_started/index.rst",
"chars": 296,
"preview": "Get started\n===============\n\nTo get started simply choose your language interface and follow the easy installation instr"
},
{
"path": "osqp/docs/get_started/julia.rst",
"chars": 218,
"preview": "Julia\n======\n\nJulia interface can be directly installed from Julia package manager by running\n\n.. code:: julia\n\n ] add"
},
{
"path": "osqp/docs/get_started/linear_system_solvers.rst",
"chars": 3776,
"preview": ".. _linear_system_solvers_installation :\n\nLinear System Solvers\n======================\n\nThe linear system solver is a co"
},
{
"path": "osqp/docs/get_started/matlab.rst",
"chars": 1345,
"preview": "Matlab\n======\nOSQP Matlab interface requires Matlab 2015b or newer.\n\n\nBinaries\n--------\n\nPrecompiled platform-dependent "
},
{
"path": "osqp/docs/get_started/python.rst",
"chars": 955,
"preview": "Python\n======\n\nPython interface supports Python 2.7 and 3.5 or newer.\n\nPip\n----\n\n.. code:: bash\n\n pip install osqp\n\n\nA"
},
{
"path": "osqp/docs/get_started/r.rst",
"chars": 1307,
"preview": "R\n======\n\nBinaries\n--------\n\nA pre-compiled version of the OSQP R interface can be installed directly from within R. N"
},
{
"path": "osqp/docs/get_started/sources.rst",
"chars": 3893,
"preview": ".. _build_from_sources:\n\n\nBuild from sources\n==================\n\nInstall GCC and CMake\n----------------------\n\nThe main "
},
{
"path": "osqp/docs/index.rst",
"chars": 3999,
"preview": "OSQP solver documentation\n==========================\n**Join our** `forum <https://osqp.discourse.group/>`_ **for any\nque"
},
{
"path": "osqp/docs/interfaces/CC++.rst",
"chars": 2221,
"preview": ".. _c_cpp_interface:\n\nC/C++\n=====\n\n\n\n\n.. _C_main_API:\n\nMain solver API\n---------------\n\nThe main C/C++ API is imported f"
},
{
"path": "osqp/docs/interfaces/cutest.rst",
"chars": 1001,
"preview": ".. _cutest_interface:\n\nCUTEst\n======\n\nThe command to solve a problem in SIF format contained in the file\nprobname.SIF is"
},
{
"path": "osqp/docs/interfaces/eigen.rst",
"chars": 149,
"preview": ".. _eigen_interface:\n\nEigen\n======\n\nThe Eigen interface is documented `here <https://robotology.github.io/osqp-eigen/dox"
},
{
"path": "osqp/docs/interfaces/fortran.rst",
"chars": 252,
"preview": ".. _fortran_interface:\n\n\nFortran\n========\n\nThe interface is still experimental.\nYou can find a demo of how it works in t"
},
{
"path": "osqp/docs/interfaces/index.rst",
"chars": 7714,
"preview": "Interfaces\n============\n\nOSQP has several interfaces. The information about settings, status values and how to assign di"
},
{
"path": "osqp/docs/interfaces/julia.rst",
"chars": 6152,
"preview": ".. _julia_interface:\n\nJulia\n======\n\nLoad the module\n---------------\nThe OSQP module can be load with\n\n.. code:: julia\n\n "
},
{
"path": "osqp/docs/interfaces/linear_systems_solvers.rst",
"chars": 1018,
"preview": ".. _linear_system_solvers_setting :\n\nLinear Systems Solvers\n-----------------------\nThe settings parameter :code:`linsys"
},
{
"path": "osqp/docs/interfaces/matlab.rst",
"chars": 6296,
"preview": ".. _matlab_interface:\n\nMatlab\n======\n\n.. _matlab_setup:\n\nSetup\n-----\nThe solver is initialized by creating an OSQP objec"
},
{
"path": "osqp/docs/interfaces/python.rst",
"chars": 6318,
"preview": ".. _python_interface:\n\nPython\n======\n\nImport\n------\nThe OSQP module can be imported with\n\n.. code:: python\n\n import o"
},
{
"path": "osqp/docs/interfaces/rlang.rst",
"chars": 139,
"preview": ".. _rlang_interface:\n\n\nR\n==\n\nThe R interface is officially on CRAN and documented `here <https://cran.r-project.org/web/"
},
{
"path": "osqp/docs/interfaces/ruby.rst",
"chars": 152,
"preview": ".. _ruby_interface:\n\n\nRuby\n========\n\nThe ruby interface can be installed as a Ruby gem and is documented `here <https://"
},
{
"path": "osqp/docs/interfaces/rust.rst",
"chars": 100,
"preview": ".. _rust_interface:\n\nRust\n======\n\nThe Rust interface is documented `here <https://docs.rs/osqp/>`_.\n"
},
{
"path": "osqp/docs/interfaces/solver_settings.rst",
"chars": 9156,
"preview": ".. _solver_settings :\n\nSolver settings\n---------------\n\nThe solver settings are displayed in the following table. The se"
},
{
"path": "osqp/docs/interfaces/status_values.rst",
"chars": 4916,
"preview": ".. _status_values :\n\n\n\nStatus values and errors\n========================\n\nStatus values\n-------------\n\nThese are the exi"
},
{
"path": "osqp/docs/make.bat",
"chars": 772,
"preview": "@ECHO OFF\n\npushd %~dp0\n\nREM Command file for Sphinx documentation\n\nif \"%SPHINXBUILD%\" == \"\" (\n\tset SPHINXBUILD=sphinx-bu"
},
{
"path": "osqp/docs/parsers/cvxpy.rst",
"chars": 426,
"preview": "CVXPY\n=====\n\n`CVXPY <http://www.cvxpy.org/>`_ 1.0 supports the OSQP solver by default. After defining your problem, you "
},
{
"path": "osqp/docs/parsers/index.rst",
"chars": 96,
"preview": "Parsers\n=======\n\n.. toctree::\n :maxdepth: 1\n :glob:\n\n yalmip.rst\n cvxpy.rst\n jump.rst\n"
},
{
"path": "osqp/docs/parsers/jump.rst",
"chars": 732,
"preview": "JuMP\n=====\n\n`JuMP <https://github.com/JuliaOpt/JuMP.jl>`_ supports the OSQP solver using the `MathOptInterface interface"
},
{
"path": "osqp/docs/parsers/yalmip.rst",
"chars": 310,
"preview": "YALMIP\n======\n\n`YALMIP <https://yalmip.github.io/>`_ support the OSQP solver. You can easily define problems in high-lev"
},
{
"path": "osqp/docs/requirements.txt",
"chars": 8,
"preview": "breathe\n"
},
{
"path": "osqp/docs/solver/index.rst",
"chars": 6665,
"preview": "The solver\n==========\n\nProblem statement\n-----------------\n\nOSQP solves convex quadratic programs (QPs) of the form\n\n.. "
},
{
"path": "osqp/examples/osqp_demo.c",
"chars": 1375,
"preview": "#include \"osqp.h\"\n\n\nint main(int argc, char **argv) {\n // Load problem data\n c_float P_x[3] = { 4.0, 1.0, 2.0, };\n c_"
},
{
"path": "osqp/include/.gitignore",
"chars": 64,
"preview": "# Ignore Cmake-generated osqp_configure.h file\nosqp_configure.h\n"
},
{
"path": "osqp/include/CMakeLists.txt",
"chars": 1272,
"preview": "# Add the OSQP headers\nset(\n osqp_headers\n \"${CMAKE_CURRENT_SOURCE_DIR}/auxil.h\"\n \"${CMAKE_CURRENT_SOURCE_DIR}/"
},
{
"path": "osqp/include/auxil.h",
"chars": 3901,
"preview": "#ifndef AUXIL_H\n# define AUXIL_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"types.h\"\n\n\n/"
},
{
"path": "osqp/include/constants.h",
"chars": 3606,
"preview": "#ifndef CONSTANTS_H\n# define CONSTANTS_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n\n/*************"
},
{
"path": "osqp/include/cs.h",
"chars": 4996,
"preview": "#ifndef CS_H\n# define CS_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"types.h\" // CSC "
},
{
"path": "osqp/include/ctrlc.h",
"chars": 1032,
"preview": "/*\n * Interface for OSQP signal handling.\n */\n\n#ifndef CTRLC_H\n# define CTRLC_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endi"
},
{
"path": "osqp/include/error.h",
"chars": 760,
"preview": "#ifndef ERROR_H\n# define ERROR_H\n\n/* OSQP error handling */\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cpluspl"
},
{
"path": "osqp/include/glob_opts.h",
"chars": 4418,
"preview": "#ifndef GLOB_OPTS_H\n# define GLOB_OPTS_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif /* ifdef __cplusplus */\n\n/*\n Define"
},
{
"path": "osqp/include/kkt.h",
"chars": 3266,
"preview": "#ifndef KKT_H\n# define KKT_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"types.h\"\n\n# ifnd"
},
{
"path": "osqp/include/lin_alg.h",
"chars": 5678,
"preview": "#ifndef LIN_ALG_H\n# define LIN_ALG_H\n\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"types.h"
},
{
"path": "osqp/include/lin_sys.h",
"chars": 1621,
"preview": "#ifndef LIN_SYS_H\n# define LIN_SYS_H\n\n/* KKT linear system definition and solution */\n\n# ifdef __cplusplus\nextern \"C\" {\n"
},
{
"path": "osqp/include/osqp.h",
"chars": 11814,
"preview": "#ifndef OSQP_H\n# define OSQP_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n/* Includes */\n# include "
},
{
"path": "osqp/include/polish.h",
"chars": 434,
"preview": "/* Solution polish based on assuming the active set */\n#ifndef POLISH_H\n# define POLISH_H\n\n# ifdef __cplusplus\nextern \"C"
},
{
"path": "osqp/include/proj.h",
"chars": 726,
"preview": "#ifndef PROJ_H\n# define PROJ_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"types.h\"\n\n\n/* "
},
{
"path": "osqp/include/scaling.h",
"chars": 778,
"preview": "#ifndef SCALING_H\n# define SCALING_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n// Functions to sca"
},
{
"path": "osqp/include/types.h",
"chars": 10256,
"preview": "#ifndef OSQP_TYPES_H\n# define OSQP_TYPES_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"gl"
},
{
"path": "osqp/include/util.h",
"chars": 4109,
"preview": "#ifndef UTIL_H\n# define UTIL_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif // ifdef __cplusplus\n\n# include \"types.h\"\n# inc"
},
{
"path": "osqp/lin_sys/CMakeLists.txt",
"chars": 773,
"preview": "# Add subdirectory for each linear systems solver\n\nif (NOT DEFINED EMBEDDED)\n# Include this directory for library handle"
},
{
"path": "osqp/lin_sys/direct/CMakeLists.txt",
"chars": 1499,
"preview": "# Add direct linear systems solvers\n\n# QDLDL (Default)\n# -------------------------\nadd_subdirectory(qdldl)\n\n# Need to ad"
},
{
"path": "osqp/lin_sys/direct/pardiso/CMakeLists.txt",
"chars": 338,
"preview": "set(pardiso_includes\n ${CMAKE_CURRENT_SOURCE_DIR}\n PARENT_SCOPE\n)\n\n# Set source files\nset(\n pardiso_sources\n "
},
{
"path": "osqp/lin_sys/direct/pardiso/pardiso_interface.c",
"chars": 9844,
"preview": "#include \"pardiso_interface.h\"\n\n#define MKL_INT c_int\n\n// Single Dynamic library interface\n#define MKL_INTERFACE_LP64 0"
},
{
"path": "osqp/lin_sys/direct/pardiso/pardiso_interface.h",
"chars": 4102,
"preview": "#ifndef PARDISO_H\n#define PARDISO_H\n\n#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n#include \"lin_alg.h\"\n#include \"kkt.h\"\n\n/**\n"
},
{
"path": "osqp/lin_sys/direct/pardiso/pardiso_loader.c",
"chars": 3126,
"preview": "#include \"lib_handler.h\"\n#include \"pardiso_loader.h\"\n\n#include \"glob_opts.h\"\n#include \"constants.h\"\n\n#ifdef IS_WINDOWS\n#"
},
{
"path": "osqp/lin_sys/direct/pardiso/pardiso_loader.h",
"chars": 645,
"preview": "#ifndef PARDISOLOADER_H\n#define PARDISOLOADER_H\n\n#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n\n\n/**\n * Tries to load a shared"
},
{
"path": "osqp/lin_sys/direct/qdldl/CMakeLists.txt",
"chars": 1448,
"preview": "# Add qdldl\nadd_subdirectory(qdldl_sources)\n\n\nif(NOT DEFINED EMBEDDED)\nset(\n amd_sources\n ${CMAKE_CURRENT_SOURCE_D"
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/LICENSE",
"chars": 1924,
"preview": "AMD, Copyright (c), 1996-2015, Timothy A. Davis,\nPatrick R. Amestoy, and Iain S. Duff. All Rights Reserved.\n\nAvailabili"
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/include/SuiteSparse_config.h",
"chars": 8928,
"preview": "/* ========================================================================== */\n/* === SuiteSparse_config ============="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/include/amd.h",
"chars": 17829,
"preview": "/* ========================================================================= */\n/* === AMD: approximate minimum degree "
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/include/amd_internal.h",
"chars": 8239,
"preview": "/* ========================================================================= */\n/* === amd_internal.h =================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/SuiteSparse_config.c",
"chars": 12320,
"preview": "/* ========================================================================== */\n/* === SuiteSparse_config ============="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_1.c",
"chars": 5712,
"preview": "/* ========================================================================= */\n/* === AMD_1 ==========================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_2.c",
"chars": 64841,
"preview": "/* ========================================================================= */\n/* === AMD_2 ==========================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_aat.c",
"chars": 4854,
"preview": "/* ========================================================================= */\n/* === AMD_aat ========================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_control.c",
"chars": 1870,
"preview": "/* ========================================================================= */\n/* === AMD_control ====================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_defaults.c",
"chars": 1255,
"preview": "/* ========================================================================= */\n/* === AMD_defaults ===================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_info.c",
"chars": 4295,
"preview": "/* ========================================================================= */\n/* === AMD_info ========================"
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_order.c",
"chars": 6037,
"preview": "/* ========================================================================= */\n/* === AMD_order ======================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_post_tree.c",
"chars": 3703,
"preview": "/* ========================================================================= */\n/* === AMD_post_tree ==================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_postorder.c",
"chars": 5509,
"preview": "/* ========================================================================= */\n/* === AMD_postorder ==================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_preprocess.c",
"chars": 3808,
"preview": "/* ========================================================================= */\n/* === AMD_preprocess =================="
},
{
"path": "osqp/lin_sys/direct/qdldl/amd/src/amd_valid.c",
"chars": 2980,
"preview": "/* ========================================================================= */\n/* === AMD_valid ======================="
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_interface.c",
"chars": 11684,
"preview": "#include \"glob_opts.h\"\n\n#include \"qdldl.h\"\n#include \"qdldl_interface.h\"\n\n#ifndef EMBEDDED\n#include \"amd.h\"\n#endif\n\n#if E"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_interface.h",
"chars": 3729,
"preview": "#ifndef QDLDL_INTERFACE_H\n#define QDLDL_INTERFACE_H\n\n#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n#include \"types.h\"\n#include"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/.editorconfig",
"chars": 164,
"preview": "# https://editorconfig.org\n\nroot = true\n\n[*.{c, h, cpp, hpp}]\ncharset = utf-8\nindent_style = space\nindent_size = 2\nend_o"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/.gitignore",
"chars": 502,
"preview": "# Prerequisites\n*.d\n\n# Object files\n*.o\n*.ko\n*.obj\n*.elf\n\n# Linker output\n*.ilk\n*.map\n*.exp\n\n# Precompiled Headers\n*.gch"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/.travis.yml",
"chars": 1176,
"preview": "language: C\n\nmatrix:\n include:\n - os: linux\n - os: osx\n # Specify version to avoid bug (https://github.com/t"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/CHANGELOG.md",
"chars": 886,
"preview": "Version 0.1.4 (6 September 2019)\n---------------------------------\n* Fix to cmake when building `qdldl::qdldlstatic` \n"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/CMakeLists.txt",
"chars": 6222,
"preview": "# Minimum version required\ncmake_minimum_required (VERSION 3.2)\n\n# Project name\nproject (qdldl)\n\n# Set the output folder"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/LICENSE",
"chars": 11357,
"preview": " Apache License\n Version 2.0, January 2004\n "
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/README.md",
"chars": 4851,
"preview": "# QDLDL\nA free LDL factorisation routine for quasi-definite linear systems: `Ax=b`\n\n[![Build Status](https://travis-ci.o"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/appveyor.yml",
"chars": 996,
"preview": "# Not a .NET project. We build it in the test script\nbuild: false\n\nplatform:\n - x64\n - x86\n\nenvironment:\n CMAKE_PROJE"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/configure/cmake/cmake_uninstall.cmake.in",
"chars": 1003,
"preview": "if(NOT EXISTS \"@CMAKE_BINARY_DIR@/install_manifest.txt\")\n message(FATAL_ERROR \"Cannot find install manifest: @CMAKE_BIN"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/configure/qdldl_types.h.in",
"chars": 571,
"preview": "#ifndef QDLDL_TYPES_H\n# define QDLDL_TYPES_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif /* ifdef __cplusplus */\n\n#include"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/examples/example.c",
"chars": 4513,
"preview": "#include \"qdldl.h\"\n#include <stdlib.h>\n#include <stdio.h>\n\nvoid print_arrayi(const QDLDL_int* data, QDLDL_int n,char* va"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/include/.gitignore",
"chars": 14,
"preview": "qdldl_types.h\n"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/include/qdldl.h",
"chars": 6397,
"preview": "#ifndef QDLDL_H\n#define QDLDL_H\n\n// Include qdldl type options\n#include \"qdldl_types.h\"\n\n# ifdef __cplusplus\nextern \"C\" "
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/src/qdldl.c",
"chars": 7618,
"preview": "#include \"qdldl.h\"\n\n#define QDLDL_UNKNOWN (-1)\n#define QDLDL_USED (1)\n#define QDLDL_UNUSED (0)\n\n/* Compute the eliminati"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/CMakeLists.txt",
"chars": 550,
"preview": "set(test_headers\n\t${CMAKE_CURRENT_SOURCE_DIR}/test_basic.h\n\t${CMAKE_CURRENT_SOURCE_DIR}/test_identity.h\n\t${CMAKE_CURRENT"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/minunit.h",
"chars": 438,
"preview": "/* QDLDL TESTER MODULE */\n\n/* THE CODE FOR MINIMAL UNIT TESTING HAS BEEN TAKEN FROM\n http://www.jera.com/techinfo/jtns"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/qdldl_tester.c",
"chars": 4495,
"preview": "/* QDLDL TESTER MODULE */\n\n/* THE CODE FOR MINIMAL UNIT TESTING HAS BEEN TAKEN FROM\n http://www.jera.com/techinfo/jtns"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_basic.h",
"chars": 871,
"preview": "static char* test_basic()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 1, 2, 4, 5, 6, 8, 10, 12, 14, 17};\n QDLDL_int Ai["
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_identity.h",
"chars": 511,
"preview": "static char* test_identity()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 1, 2, 3, 4};\n QDLDL_int Ai[] = {0, 1, 2, 3};\n"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_osqp_kkt.h",
"chars": 1030,
"preview": "static char* test_osqp_kkt()\n{\n // Unordered A\n QDLDL_int Ap[] = {0, 1, 2, 5, 6, 7, 8, 12};\n QDLDL_int Ai[] = {0, 1"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_rank_deficient.h",
"chars": 401,
"preview": "static char* test_rank_deficient()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 1, 3};\n QDLDL_int Ai[] = {0, 0, 1};\n Q"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_singleton.h",
"chars": 470,
"preview": "static char* test_singleton()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 1};\n QDLDL_int Ai[] = {0};\n QDLDL_float Ax["
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_sym_structure.h",
"chars": 388,
"preview": "static char* test_sym_structure()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 2, 4};\n QDLDL_int Ai[] = {0, 1, 0, 1};\n "
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_tril_structure.h",
"chars": 371,
"preview": "static char* test_tril_structure()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 2, 3};\n QDLDL_int Ai[] = {0, 1, 1};\n Q"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_two_by_two.h",
"chars": 491,
"preview": "static char* test_two_by_two()\n{\n //A matrix data\n QDLDL_int Ap[] = {0,1,3};\n QDLDL_int Ai[] = {0, 0, 1};\n QDLDL_f"
},
{
"path": "osqp/lin_sys/direct/qdldl/qdldl_sources/tests/test_zero_on_diag.h",
"chars": 593,
"preview": "static char* test_zero_on_diag()\n{\n //A matrix data\n QDLDL_int Ap[] = {0, 1, 2, 5};\n QDLDL_int Ai[] = {0 ,0, 0, 1, "
},
{
"path": "osqp/lin_sys/lib_handler.c",
"chars": 4190,
"preview": "#include \"lib_handler.h\"\n#include <ctype.h> // Needed for tolower functions\n\n#include \"constants.h\"\n#include \"util.h\"\n\ns"
},
{
"path": "osqp/lin_sys/lib_handler.h",
"chars": 920,
"preview": "#ifndef LIB_HANDLER_H\n#define LIB_HANDLER_H\n\n#include \"glob_opts.h\"\n\n#ifdef IS_WINDOWS\n#include <windows.h>\ntypedef HINS"
},
{
"path": "osqp/src/CMakeLists.txt",
"chars": 1067,
"preview": "# Add the OSQP sources\nset(\n osqp_src\n \"${CMAKE_CURRENT_SOURCE_DIR}/auxil.c\"\n \"${CMAKE_CURRENT_SOURCE_DIR}/erro"
},
{
"path": "osqp/src/auxil.c",
"chars": 32029,
"preview": "#include \"osqp.h\" // For OSQP rho update\n#include \"auxil.h\"\n#include \"proj.h\"\n#include \"lin_alg.h\"\n#include \"constants.h"
},
{
"path": "osqp/src/cs.c",
"chars": 8535,
"preview": "#include \"cs.h\"\n\n\nstatic void* csc_malloc(c_int n, c_int size) {\n return c_malloc(n * size);\n}\n\nstatic void* csc_calloc"
},
{
"path": "osqp/src/ctrlc.c",
"chars": 1531,
"preview": "/*\n * Implements signal handling (ctrl-c) for OSQP.\n *\n * Under Windows, we use SetConsoleCtrlHandler.\n * Under Unix sys"
},
{
"path": "osqp/src/error.c",
"chars": 601,
"preview": "#include \"error.h\"\n\nconst char *OSQP_ERROR_MESSAGE[] = {\n \"Problem data validation.\",\n \"Solver settings validation.\",\n"
},
{
"path": "osqp/src/kkt.c",
"chars": 6862,
"preview": "#include \"kkt.h\"\n\n#ifndef EMBEDDED\n\n\ncsc* form_KKT(const csc *P,\n const csc *A,\n c_int "
},
{
"path": "osqp/src/lin_alg.c",
"chars": 8570,
"preview": "#include \"lin_alg.h\"\n\n\n/* VECTOR FUNCTIONS ----------------------------------------------------------*/\n\n\nvoid vec_add_s"
},
{
"path": "osqp/src/lin_sys.c",
"chars": 2088,
"preview": "#include \"lin_sys.h\"\n\n#include \"qdldl_interface.h\" // Include only this solver in the same directory\n\nconst char *LINSYS"
},
{
"path": "osqp/src/osqp.c",
"chars": 47669,
"preview": "#include \"osqp.h\"\n#include \"auxil.h\"\n#include \"util.h\"\n#include \"scaling.h\"\n#include \"glob_opts.h\"\n#include \"error.h\"\n\n\n"
},
{
"path": "osqp/src/polish.c",
"chars": 10760,
"preview": "#include \"polish.h\"\n#include \"lin_alg.h\"\n#include \"util.h\"\n#include \"auxil.h\"\n#include \"lin_sys.h\"\n#include \"kkt.h\"\n#inc"
},
{
"path": "osqp/src/proj.c",
"chars": 660,
"preview": "#include \"proj.h\"\n\n\nvoid project(OSQPWorkspace *work, c_float *z) {\n c_int i, m;\n\n m = work->data->m;\n\n for (i = 0; i"
},
{
"path": "osqp/src/scaling.c",
"chars": 5469,
"preview": "#include \"scaling.h\"\n\n#if EMBEDDED != 1\n\n\n// Set values lower than threshold SCALING_REG to 1\nvoid limit_scaling(c_float"
},
{
"path": "osqp/src/util.c",
"chars": 11521,
"preview": "#include \"util.h\"\n\n/***************\n* Versioning *\n***************/\nconst char* osqp_version(void) {\n return OSQP_VERS"
},
{
"path": "osqp/tests/.gitignore",
"chars": 94,
"preview": "# Data Files\n# -------------------------------------------------------------------\n**/*data.h\n"
},
{
"path": "osqp/tests/CMakeLists.txt",
"chars": 426,
"preview": "# Add subdirectories of all the tests\nadd_subdirectory(basic_qp)\nadd_subdirectory(basic_qp2)\nadd_subdirectory(lin_alg)\na"
},
{
"path": "osqp/tests/README.md",
"chars": 112,
"preview": "# C unittests\n\nRun\n\n```python\npython generate_tests_data.py\n```\n\nto generate the tests data for each unit test.\n"
},
{
"path": "osqp/tests/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "osqp/tests/basic_qp/CMakeLists.txt",
"chars": 498,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
},
{
"path": "osqp/tests/basic_qp/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "osqp/tests/basic_qp/generate_problem.py",
"chars": 833,
"preview": "import numpy as np\nfrom scipy import sparse\nimport utils.codegen_utils as cu\n\nP = sparse.triu([[4., 1.], [1., 2.]], form"
},
{
"path": "osqp/tests/basic_qp/test_basic_qp.h",
"chars": 30346,
"preview": "#include \"osqp.h\" // OSQP API\n#include \"auxil.h\" // Needed for cold_start()\n#include \"cs.h\" // CSC data struct"
},
{
"path": "osqp/tests/basic_qp2/CMakeLists.txt",
"chars": 471,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
},
{
"path": "osqp/tests/basic_qp2/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "osqp/tests/basic_qp2/generate_problem.py",
"chars": 1020,
"preview": "import numpy as np\nfrom scipy import sparse\nimport utils.codegen_utils as cu\n\nP = sparse.triu([[11., 0.], [0., 0.]], for"
},
{
"path": "osqp/tests/basic_qp2/test_basic_qp2.h",
"chars": 6308,
"preview": "#include \"osqp.h\" // OSQP API\n#include \"minunit.h\" // Basic testing script header\n\n\n#include \"basic_qp2/data.h\"\n\n\nsta"
},
{
"path": "osqp/tests/custom_memory/custom_memory.c",
"chars": 983,
"preview": "# include \"custom_memory.h\"\n# include <stdlib.h>\n# include <stdio.h>\n\n//Make a global counter and track the net numbe"
},
{
"path": "osqp/tests/custom_memory/custom_memory.h",
"chars": 588,
"preview": "#ifndef OSQP_CUSTOM_MEMORY_H\n\n#define OSQP_CUSTOM_MEMORY_H\n\n# ifdef __cplusplus\nextern \"C\" {\n# endif /* ifdef __cplusplu"
},
{
"path": "osqp/tests/demo/CMakeLists.txt",
"chars": 239,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
},
{
"path": "osqp/tests/demo/test_demo.h",
"chars": 1641,
"preview": "#include \"osqp.h\" // OSQP API\n#include \"minunit.h\" // Basic testing script header\n\nstatic const char* test_demo_solve"
},
{
"path": "osqp/tests/generate_tests_data.py",
"chars": 391,
"preview": "# Code to generate the unittests for OSQP C code\n\nimport basic_qp.generate_problem\nimport basic_qp2.generate_problem\nimp"
},
{
"path": "osqp/tests/lin_alg/CMakeLists.txt",
"chars": 469,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
},
{
"path": "osqp/tests/lin_alg/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "osqp/tests/lin_alg/generate_problem.py",
"chars": 5390,
"preview": "import numpy as np\nfrom scipy import sparse\nimport scipy.sparse.linalg as sla\nimport utils.codegen_utils as cu\n\n# Set nu"
},
{
"path": "osqp/tests/lin_alg/test_lin_alg.h",
"chars": 11954,
"preview": "#include <stdio.h>\n#include \"osqp.h\"\n#include \"minunit.h\"\n\n#include \"lin_alg/data.h\"\n\nstatic const char* test_constr_spa"
},
{
"path": "osqp/tests/minunit.h",
"chars": 437,
"preview": "/* OSQP TESTER MODULE */\n\n/* THE CODE FOR MINIMAL UNIT TESTING HAS BEEN TAKEN FROM\n http://www.jera.com/techinfo/jtns/"
},
{
"path": "osqp/tests/non_cvx/CMakeLists.txt",
"chars": 469,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
},
{
"path": "osqp/tests/non_cvx/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "osqp/tests/non_cvx/generate_problem.py",
"chars": 421,
"preview": "import numpy as np\nfrom scipy import sparse\nimport utils.codegen_utils as cu\n\nP = sparse.triu([[2., 5.], [5., 1.]], form"
},
{
"path": "osqp/tests/non_cvx/test_non_cvx.h",
"chars": 1808,
"preview": "#include \"osqp.h\" // OSQP API\n#include \"minunit.h\" // Basic testing script header\n\n\n#include \"non_cvx/data.h\"\n\n\nstati"
},
{
"path": "osqp/tests/osqp_tester.c",
"chars": 1308,
"preview": "/* OSQP TESTER MODULE */\n\n/* THE CODE FOR MINIMAL UNIT TESTING HAS BEEN TAKEN FROM\n http://www.jera.com/techinfo/jtns/"
},
{
"path": "osqp/tests/osqp_tester.h",
"chars": 1161,
"preview": "// Utilities for testing\n\n#ifndef EMBEDDED\n\nc_float* csc_to_dns(csc *M)\n{\n c_int i, j = 0; // Predefine row index and c"
},
{
"path": "osqp/tests/primal_dual_infeasibility/CMakeLists.txt",
"chars": 491,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
},
{
"path": "osqp/tests/primal_dual_infeasibility/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "osqp/tests/primal_dual_infeasibility/generate_problem.py",
"chars": 928,
"preview": "import numpy as np\nfrom scipy import sparse\nimport utils.codegen_utils as cu\n\nP = sparse.diags([1., 0.], format='csc')\nq"
},
{
"path": "osqp/tests/primal_dual_infeasibility/test_primal_dual_infeasibility.h",
"chars": 6572,
"preview": "#include \"osqp.h\"\n#include \"cs.h\"\n#include \"util.h\"\n#include \"minunit.h\"\n\n#include \"primal_dual_infeasibility/data.h\"\n\n\n"
},
{
"path": "osqp/tests/primal_infeasibility/CMakeLists.txt",
"chars": 482,
"preview": "get_directory_property(headers\n DIRECTORY ${PROJECT_SOURCE_DIR}/tests\n DEF"
}
]
// ... and 151 more files (download for full content)
About this extraction
This page contains the full source code of the ZJU-FAST-Lab/CMPCC GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 351 files (3.5 MB), approximately 935.8k tokens, and a symbol index with 505 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.