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 ================================================ { "configurations": [ { "browse": { "databaseFilename": "", "limitSymbolsToIncludedHeaders": true }, "includePath": [ "/home/ji/ros_ws/simulator/devel/include/**", "/opt/ros/noetic/include/**", "/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": { "*.ipp": "cpp", "alignedvector3": "cpp", "csignal": "cpp", "*.tcc": "cpp", "codecvt": "cpp", "forward_list": "cpp", "filesystem": "cpp", "regex": "cpp", "future": "cpp", "valarray": "cpp" } } ================================================ 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) ![](figs/1.gif) ![](figs/2.gif) ### 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\d+)\.(?P\d+)\.(?P\d+)(\.(?P[a-z]+)(?P\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 ${linsys_solvers_includes}) # Declare include directories for the cmake exported target target_include_directories(osqpstatic PUBLIC "$" "$/${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 ${linsys_solvers_includes}) # Declare include directories for the cmake exported target target_include_directories(osqp PUBLIC "$" "$/${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 $) 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, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. "You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License. "Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files. 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You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. 8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. 9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. 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 comment syntax for the file format. We also recommend that a 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 [![Build status of the master branch on Linux/OSX](https://img.shields.io/travis/oxfordcontrol/osqp/master.svg?label=Linux%20%2F%20OSX%20build)](https://travis-ci.org/oxfordcontrol/osqp) [![Build status of the master branch on Windows](https://img.shields.io/appveyor/ci/bstellato/osqp/master.svg?label=Windows%20build)](https://ci.appveyor.com/project/bstellato/osqp/branch/master) [![Code coverage](https://coveralls.io/repos/github/oxfordcontrol/osqp/badge.svg?branch=master)](https://coveralls.io/github/oxfordcontrol/osqp?branch=master) ![License](https://img.shields.io/badge/License-Apache%202.0-brightgreen.svg) ![PyPI - downloads](https://img.shields.io/pypi/dm/osqp.svg?label=Pypi%20downloads) ![Conda - downloads](https://img.shields.io/conda/dn/conda-forge/osqp.svg?label=Conda%20downloads) [**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() 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 %} {% 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 `_ and cite the accompanying papers: .. glossary:: Main paper Main algorithm description, derivation and benchmark available in this `paper `__. .. 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 `__. .. 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 `_. .. 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 `_ 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 `_ 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. 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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 ... \endif and \cond # ... \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: # # # # where is the value of the INPUT_FILTER tag, and 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 + S # (what the is depends on the OS and browser, but it is typically # , /