/* * This file is part of qpOASES. * * qpOASES -- An Implementation of the Online Active Set Strategy. * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, * Christian Kirches et al. All rights reserved. * * qpOASES is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * qpOASES is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with qpOASES; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * */ /** * \file include/qpOASES/MessageHandling.hpp * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching) * \version 3.2 * \date 2007-2015 * * Declaration of the MessageHandling class including global return values. */ #ifndef QPOASES_MESSAGEHANDLING_HPP #define QPOASES_MESSAGEHANDLING_HPP #include #include #ifdef __DEBUG__ #include #endif #include BEGIN_NAMESPACE_QPOASES /** Default file to display messages. */ extern FILE* stdFile; /** * \brief Defines all symbols for global return values. * * The enumeration returnValueType defines all symbols for global return values. * Important: All return values are assumed to be nonnegative! * * \author Hans Joachim Ferreau */ enum returnValue { TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */ /* miscellaneous */ SUCCESSFUL_RETURN = 0, /**< Successful return. */ RET_DIV_BY_ZERO, /**< Division by zero. */ RET_INDEX_OUT_OF_BOUNDS, /**< Index out of bounds. */ RET_INVALID_ARGUMENTS, /**< At least one of the arguments is invalid. */ RET_ERROR_UNDEFINED, /**< Error number undefined. */ RET_WARNING_UNDEFINED, /**< Warning number undefined. */ RET_INFO_UNDEFINED, /**< Info number undefined. */ RET_EWI_UNDEFINED, /**< Error/warning/info number undefined. */ RET_AVAILABLE_WITH_LINUX_ONLY, /**< This function is available under Linux only. */ RET_UNKNOWN_BUG, /**< The error occurred is not yet known. */ RET_PRINTLEVEL_CHANGED, /**< Print level changed. (10) */ RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */ /* Indexlist */ RET_INDEXLIST_MUST_BE_REORDERD, /**< Index list has to be reordered. */ RET_INDEXLIST_EXCEEDS_MAX_LENGTH, /**< Index list exceeds its maximal physical length. */ RET_INDEXLIST_CORRUPTED, /**< Index list corrupted. */ RET_INDEXLIST_OUTOFBOUNDS, /**< Physical index is out of bounds. */ RET_INDEXLIST_ADD_FAILED, /**< Adding indices from another index set failed. */ RET_INDEXLIST_INTERSECT_FAILED, /**< Intersection with another index set failed. */ /* SubjectTo / Bounds / Constraints */ RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. (18) */ RET_ADDINDEX_FAILED, /**< Adding index to index set failed. */ RET_REMOVEINDEX_FAILED, /**< Removing index from index set failed. (20) */ RET_SWAPINDEX_FAILED, /**< Cannot swap between different indexsets. */ RET_NOTHING_TO_DO, /**< Nothing to do. */ RET_SETUP_BOUND_FAILED, /**< Setting up bound index failed. */ RET_SETUP_CONSTRAINT_FAILED, /**< Setting up constraint index failed. */ RET_MOVING_BOUND_FAILED, /**< Moving bound between index sets failed. */ RET_MOVING_CONSTRAINT_FAILED, /**< Moving constraint between index sets failed. */ RET_SHIFTING_FAILED, /**< Shifting of bounds/constraints failed. */ RET_ROTATING_FAILED, /**< Rotating of bounds/constraints failed. */ /* QProblem */ RET_QPOBJECT_NOT_SETUP, /**< The QP object has not been setup correctly, use another constructor. */ RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. (30) */ RET_NO_INIT_WITH_STANDARD_SOLVER, /**< Initialisation via extern QP solver is not yet implemented. */ RET_RESET_FAILED, /**< Reset failed. */ RET_INIT_FAILED, /**< Initialisation failed. */ RET_INIT_FAILED_TQ, /**< Initialisation failed due to TQ factorisation. */ RET_INIT_FAILED_CHOLESKY, /**< Initialisation failed due to Cholesky decomposition. */ RET_INIT_FAILED_HOTSTART, /**< Initialisation failed! QP could not be solved! */ RET_INIT_FAILED_INFEASIBILITY, /**< Initial QP could not be solved due to infeasibility! */ RET_INIT_FAILED_UNBOUNDEDNESS, /**< Initial QP could not be solved due to unboundedness! */ RET_INIT_FAILED_REGULARISATION, /**< Initialisation failed as Hessian matrix could not be regularised. */ RET_INIT_SUCCESSFUL, /**< Initialisation done. (40) */ RET_OBTAINING_WORKINGSET_FAILED, /**< Failed to obtain working set for auxiliary QP. */ RET_SETUP_WORKINGSET_FAILED, /**< Failed to setup working set for auxiliary QP. */ RET_SETUP_AUXILIARYQP_FAILED, /**< Failed to setup auxiliary QP for initialised homotopy. */ RET_NO_CHOLESKY_WITH_INITIAL_GUESS, /**< Externally computed Cholesky factor cannot be combined with an initial guess. */ RET_NO_EXTERN_SOLVER, /**< No extern QP solver available. */ RET_QP_UNBOUNDED, /**< QP is unbounded. */ RET_QP_INFEASIBLE, /**< QP is infeasible. */ RET_QP_NOT_SOLVED, /**< Problems occurred while solving QP with standard solver. */ RET_QP_SOLVED, /**< QP successfully solved. */ RET_UNABLE_TO_SOLVE_QP, /**< Problems occurred while solving QP. (50) */ RET_INITIALISATION_STARTED, /**< Starting problem initialisation... */ RET_HOTSTART_FAILED, /**< Unable to perform homotopy due to internal error. */ RET_HOTSTART_FAILED_TO_INIT, /**< Unable to initialise problem. */ RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, /**< Unable to perform homotopy as previous QP is not solved. */ RET_ITERATION_STARTED, /**< Iteration... */ RET_SHIFT_DETERMINATION_FAILED, /**< Determination of shift of the QP data failed. */ RET_STEPDIRECTION_DETERMINATION_FAILED, /**< Determination of step direction failed. */ RET_STEPLENGTH_DETERMINATION_FAILED, /**< Determination of step direction failed. */ RET_OPTIMAL_SOLUTION_FOUND, /**< Optimal solution of neighbouring QP found. */ RET_HOMOTOPY_STEP_FAILED, /**< Unable to perform homotopy step. (60) */ RET_HOTSTART_STOPPED_INFEASIBILITY, /**< Premature homotopy termination because QP is infeasible. */ RET_HOTSTART_STOPPED_UNBOUNDEDNESS, /**< Premature homotopy termination because QP is unbounded. */ RET_WORKINGSET_UPDATE_FAILED, /**< Unable to update working sets according to initial guesses. */ RET_MAX_NWSR_REACHED, /**< Maximum number of working set recalculations performed. */ RET_CONSTRAINTS_NOT_SPECIFIED, /**< Problem does comprise constraints! You also have to specify new constraints' bounds. */ RET_INVALID_FACTORISATION_FLAG, /**< Invalid factorisation flag. */ RET_UNABLE_TO_SAVE_QPDATA, /**< Unable to save QP data. */ RET_STEPDIRECTION_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ RET_STEPDIRECTION_FAILED_CHOLESKY, /**< Abnormal termination due to Cholesky factorisation. */ RET_CYCLING_DETECTED, /**< Cycling detected. (70) */ RET_CYCLING_NOT_RESOLVED, /**< Cycling cannot be resolved, QP probably infeasible. */ RET_CYCLING_RESOLVED, /**< Cycling probably resolved. */ RET_STEPSIZE, /**< For displaying performed stepsize. */ RET_STEPSIZE_NONPOSITIVE, /**< For displaying non-positive stepsize. */ RET_SETUPSUBJECTTOTYPE_FAILED, /**< Setup of SubjectToTypes failed. */ RET_ADDCONSTRAINT_FAILED, /**< Addition of constraint to working set failed. */ RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, /**< Addition of constraint to working set failed (due to QP infeasibility). */ RET_ADDBOUND_FAILED, /**< Addition of bound to working set failed. */ RET_ADDBOUND_FAILED_INFEASIBILITY, /**< Addition of bound to working set failed (due to QP infeasibility). */ RET_REMOVECONSTRAINT_FAILED, /**< Removal of constraint from working set failed. (80) */ RET_REMOVEBOUND_FAILED, /**< Removal of bound from working set failed. */ RET_REMOVE_FROM_ACTIVESET, /**< Removing from active set... */ RET_ADD_TO_ACTIVESET, /**< Adding to active set... */ RET_REMOVE_FROM_ACTIVESET_FAILED, /**< Removing from active set failed. */ RET_ADD_TO_ACTIVESET_FAILED, /**< Adding to active set failed. */ RET_CONSTRAINT_ALREADY_ACTIVE, /**< Constraint is already active. */ RET_ALL_CONSTRAINTS_ACTIVE, /**< All constraints are active, no further constraint can be added. */ RET_LINEARLY_DEPENDENT, /**< New bound/constraint is linearly dependent. */ RET_LINEARLY_INDEPENDENT, /**< New bound/constraint is linearly independent. */ RET_LI_RESOLVED, /**< Linear independence of active constraint matrix successfully resolved. (90) */ RET_ENSURELI_FAILED, /**< Failed to ensure linear independence of active constraint matrix. */ RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ RET_ENSURELI_FAILED_NOINDEX, /**< QP is infeasible. */ RET_ENSURELI_FAILED_CYCLING, /**< QP is infeasible. */ RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */ RET_ALL_BOUNDS_ACTIVE, /**< All bounds are active, no further bound can be added. */ RET_CONSTRAINT_NOT_ACTIVE, /**< Constraint is not active. */ RET_BOUND_NOT_ACTIVE, /**< Bound is not active. */ RET_HESSIAN_NOT_SPD, /**< Projected Hessian matrix not positive definite. */ RET_HESSIAN_INDEFINITE, /**< Hessian matrix is indefinite. (100) */ RET_MATRIX_SHIFT_FAILED, /**< Unable to update matrices or to transform vectors. */ RET_MATRIX_FACTORISATION_FAILED, /**< Unable to calculate new matrix factorisations. */ RET_PRINT_ITERATION_FAILED, /**< Unable to print information on current iteration. */ RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, /**< No global message output file initialised. */ RET_DISABLECONSTRAINTS_FAILED, /**< Unable to disbable constraints. */ RET_ENABLECONSTRAINTS_FAILED, /**< Unable to enbable constraints. */ RET_ALREADY_ENABLED, /**< Bound or constraint is already enabled. */ RET_ALREADY_DISABLED, /**< Bound or constraint is already disabled. */ RET_NO_HESSIAN_SPECIFIED, /**< No Hessian matrix has been specified. */ RET_USING_REGULARISATION, /**< Using regularisation as Hessian matrix is not positive definite. (110) */ RET_EPS_MUST_BE_POSITVE, /**< Eps for regularisation must be sufficiently positive. */ RET_REGSTEPS_MUST_BE_POSITVE, /**< Maximum number of regularisation steps must be non-negative. */ RET_HESSIAN_ALREADY_REGULARISED, /**< Hessian has been already regularised. */ RET_CANNOT_REGULARISE_IDENTITY, /**< Identity Hessian matrix cannot be regularised. */ RET_CANNOT_REGULARISE_SPARSE, /**< Sparse matrix cannot be regularised as diagonal entry is missing. */ RET_NO_REGSTEP_NWSR, /**< No additional regularisation step could be performed due to limits. */ RET_FEWER_REGSTEPS_NWSR, /**< Fewer additional regularisation steps have been performed due to limits. */ RET_CHOLESKY_OF_ZERO_HESSIAN, /**< Cholesky decomposition of (unregularised) zero Hessian matrix. */ RET_ZERO_HESSIAN_ASSUMED, /**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */ RET_CONSTRAINTS_ARE_NOT_SCALED, /**< (no longer in use) (120) */ RET_INITIAL_BOUNDS_STATUS_NYI, /**< (no longer in use) */ RET_ERROR_IN_CONSTRAINTPRODUCT, /**< Error in user-defined constraint product function. */ RET_FIX_BOUNDS_FOR_LP, /**< All initial bounds must be fixed when solving an (unregularised) LP. */ RET_USE_REGULARISATION_FOR_LP, /**< Set options.enableRegularisation=BT_TRUE for solving LPs. */ /* SQProblem */ RET_UPDATEMATRICES_FAILED, /**< Unable to update QP matrices. */ RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED, /**< Unable to update matrices as previous QP is not solved. */ /* Utils */ RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */ RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */ RET_UNABLE_TO_READ_FILE, /**< Unable to read from file. */ RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. (130) */ /* Options */ RET_OPTIONS_ADJUSTED, /**< Options needed to be adjusted for consistency reasons. */ /* SolutionAnalysis */ RET_UNABLE_TO_ANALYSE_QPROBLEM, /**< Unable to analyse (S)QProblem(B) object. */ /* Benchmark */ RET_NWSR_SET_TO_ONE, /**< Maximum number of working set changes was set to 1. */ RET_UNABLE_TO_READ_BENCHMARK, /**< Unable to read benchmark data. */ RET_BENCHMARK_ABORTED, /**< Benchmark aborted. */ RET_INITIAL_QP_SOLVED, /**< Initial QP solved. */ RET_QP_SOLUTION_STARTED, /**< Solving QP... */ RET_BENCHMARK_SUCCESSFUL, /**< Benchmark terminated successfully. */ /* Sparse matrices */ RET_NO_DIAGONAL_AVAILABLE, /**< Sparse matrix does not have entries on full diagonal. */ RET_DIAGONAL_NOT_INITIALISED, /**< Diagonal data of sparse matrix has not been initialised. (140) */ /* Dropping of infeasible constraints */ RET_ENSURELI_DROPPED, /**< Linear independence resolved by dropping blocking constraint. */ /* Schur complement computations */ RET_KKT_MATRIX_SINGULAR, /**< KKT matrix is singular. */ RET_QR_FACTORISATION_FAILED, /**< QR factorization of Schur complement failed. */ RET_INERTIA_CORRECTION_FAILED, /**< Inertia correction failed after KKT matrix had too many negative eigenvalues. */ RET_NO_SPARSE_SOLVER, /**< No factorization routine for the KKT matrix installed. */ /* Simple exitflags */ RET_SIMPLE_STATUS_P1, /**< QP problem could not be solved within given number of iterations. */ RET_SIMPLE_STATUS_P0, /**< QP problem solved. */ RET_SIMPLE_STATUS_M1, /**< QP problem could not be solved due to an internal error. */ RET_SIMPLE_STATUS_M2, /**< QP problem is infeasible (and thus could not be solved). */ RET_SIMPLE_STATUS_M3 /**< QP problem is unbounded (and thus could not be solved). (150) */ }; /** * \brief Handles all kind of error messages, warnings and other information. * * This class handles all kinds of messages (errors, warnings, infos) initiated * by qpOASES modules and stores the corresponding global preferences. * * \author Hans Joachim Ferreau (thanks to Leonard Wirsching) * \version 3.2 * \date 2007-2015 */ class MessageHandling { /* * INTERNAL DATA STRUCTURES */ public: /** * \brief Data structure for entries in global message list. * * Data structure for entries in global message list. * * \author Hans Joachim Ferreau */ typedef struct { returnValue key; /**< Global return value. */ const char* data; /**< Corresponding message. */ VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed. * If this value is set to VS_HIDDEN, no message is printed! */ } ReturnValueList; /* * PUBLIC MEMBER FUNCTIONS */ public: /** Default constructor. */ MessageHandling( ); /** Constructor which takes the desired output file. */ MessageHandling( FILE* _outputFile /**< Output file. */ ); /** Constructor which takes the desired visibility states. */ MessageHandling( VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */ VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */ VisibilityStatus _infoVisibility /**< Visibility status for info messages. */ ); /** Constructor which takes the desired output file and desired visibility states. */ MessageHandling( FILE* _outputFile, /**< Output file. */ VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */ VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */ VisibilityStatus _infoVisibility /**< Visibility status for info messages. */ ); /** Copy constructor (deep copy). */ MessageHandling( const MessageHandling& rhs /**< Rhs object. */ ); /** Destructor. */ ~MessageHandling( ); /** Assignment operator (deep copy). */ MessageHandling& operator=( const MessageHandling& rhs /**< Rhs object. */ ); /** Prints an error message(a simplified macro THROWERROR is also provided). \n * Errors are defined as abnormal events which cause an immediate termination of the current (sub) function. * Errors of a sub function should be commented by the calling function by means of a warning message * (if this error does not cause an error of the calling function, either)! * \return Error number returned by sub function call */ returnValue throwError( returnValue Enumber, /**< Error number returned by sub function call. */ const char* additionaltext, /**< Additional error text (0, if none). */ const char* functionname, /**< Name of function which caused the error. */ const char* filename, /**< Name of file which caused the error. */ const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */ VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to stdFile. * If GLOBAL visibility status of the message is set to VS_HIDDEN, * no message is printed, anyway! */ ); /** Prints a warning message (a simplified macro THROWWARNING is also provided). * Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function. * \return Warning number returned by sub function call */ returnValue throwWarning( returnValue Wnumber, /**< Warning number returned by sub function call. */ const char* additionaltext, /**< Additional warning text (0, if none). */ const char* functionname, /**< Name of function which caused the warning. */ const char* filename, /**< Name of file which caused the warning. */ const unsigned long linenumber, /**< Number of line which caused the warning. */ VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to stdFile. * If GLOBAL visibility status of the message is set to VS_HIDDEN, * no message is printed, anyway! */ ); /** Prints a info message (a simplified macro THROWINFO is also provided). * \return Info number returned by sub function call */ returnValue throwInfo( returnValue Inumber, /**< Info number returned by sub function call. */ const char* additionaltext, /**< Additional warning text (0, if none). */ const char* functionname, /**< Name of function which submitted the info. */ const char* filename, /**< Name of file which submitted the info. */ const unsigned long linenumber, /**< Number of line which submitted the info. */ VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to stdFile. * If GLOBAL visibility status of the message is set to VS_HIDDEN, * no message is printed, anyway! */ ); /** Resets all preferences to default values. * \return SUCCESSFUL_RETURN */ returnValue reset( ); /** Prints a complete list of all messages to output file. * \return SUCCESSFUL_RETURN */ returnValue listAllMessages( ); /** Returns visibility status for error messages. * \return Visibility status for error messages. */ inline VisibilityStatus getErrorVisibilityStatus( ) const; /** Returns visibility status for warning messages. * \return Visibility status for warning messages. */ inline VisibilityStatus getWarningVisibilityStatus( ) const; /** Returns visibility status for info messages. * \return Visibility status for info messages. */ inline VisibilityStatus getInfoVisibilityStatus( ) const; /** Returns pointer to output file. * \return Pointer to output file. */ inline FILE* getOutputFile( ) const; /** Returns error count value. * \return Error count value. */ inline int_t getErrorCount( ) const; /** Changes visibility status for error messages. */ inline void setErrorVisibilityStatus( VisibilityStatus _errorVisibility /**< New visibility status for error messages. */ ); /** Changes visibility status for warning messages. */ inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */ ); /** Changes visibility status for info messages. */ inline void setInfoVisibilityStatus( VisibilityStatus _infoVisibility /**< New visibility status for info messages. */ ); /** Changes output file for messages. */ inline void setOutputFile( FILE* _outputFile /**< New output file for messages. */ ); /** Changes error count. * \return SUCCESSFUL_RETURN \n * RET_INVALID_ARGUMENT */ inline returnValue setErrorCount( int_t _errorCount /**< New error count value. */ ); /** Provides message text corresponding to given \a returnValue. * \return String containing message text. */ static const char* getErrorCodeMessage( const returnValue _returnValue ); /* * PROTECTED MEMBER FUNCTIONS */ protected: /** Prints a info message to stdFile (auxiliary function). * \return Error/warning/info number returned by sub function call */ returnValue throwMessage( returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */ const char* additionaltext, /**< Additional warning text (0, if none). */ const char* functionname, /**< Name of function which caused the error/warning/info. */ const char* filename, /**< Name of file which caused the error/warning/info. */ const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */ VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to stdFile. * If GLOBAL visibility status of the message is set to VS_HIDDEN, * no message is printed, anyway! */ const char* RETstring /**< Leading string of error/warning/info message. */ ); /* * PROTECTED MEMBER VARIABLES */ protected: VisibilityStatus errorVisibility; /**< Error messages visible? */ VisibilityStatus warningVisibility; /**< Warning messages visible? */ VisibilityStatus infoVisibility; /**< Info messages visible? */ FILE* outputFile; /**< Output file for messages. */ int_t errorCount; /**< Counts number of errors (for nicer output only). */ }; #ifndef __FILE__ /** Ensures that __FILE__ macro is defined. */ #define __FILE__ 0 #endif #ifndef __LINE__ /** Ensures that __LINE__ macro is defined. */ #define __LINE__ 0 #endif /** Define __FUNC__ macro providing current function for debugging. */ /*#define __FUNC__ 0*/ #define __FUNC__ ("(no function name provided)") /*#define __FUNC__ __func__*/ /*#define __FUNC__ __FUNCTION__*/ /** Short version of throwError with default values, only returnValue is needed */ #define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) /** Short version of throwWarning with default values, only returnValue is needed */ #define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) /** Short version of throwInfo with default values, only returnValue is needed */ #define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) /** Returns a pointer to global message handler. * \return Pointer to global message handler. */ MessageHandling* getGlobalMessageHandler( ); END_NAMESPACE_QPOASES #include #endif /* QPOASES_MESSAGEHANDLING_HPP */ /* * end of file */