#include <math.h>#include <stdio.h>
Classes | |
| struct | complex |
| struct | doublecomplex |
| struct | cilist |
| struct | icilist |
| struct | olist |
| struct | cllist |
| struct | alist |
| struct | inlist |
| union | Multitype |
| struct | Vardesc |
| struct | Namelist |
| struct | t_cmache_ |
Macros | |
| #define | F2C_INCLUDE |
| barf [ba:rf] 2. | |
| #define | TRUE_ (1) |
| #define | FALSE_ (0) |
| #define | Extern extern |
| #define | VOID void |
| #define | abs(x) ((x) >= 0 ? (x) : -(x)) |
| #define | dabs(x) (doublereal)abs(x) |
| #define | min(a, b) ((a) <= (b) ? (a) : (b)) |
| #define | max(a, b) ((a) >= (b) ? (a) : (b)) |
| #define | dmin(a, b) (doublereal)min(a,b) |
| #define | dmax(a, b) (doublereal)max(a,b) |
| #define | F2C_proc_par_types 1 |
| #define | cmache_1 cmache_ |
Typedefs | |
| typedef int | integer |
| typedef char * | address |
| typedef short int | shortint |
| typedef float | real |
| typedef double | doublereal |
| typedef long int | logical |
| typedef short int | shortlogical |
| typedef long | flag |
| typedef long | ftnlen |
| typedef long | ftnint |
| typedef union Multitype | Multitype |
| typedef long | Long |
| typedef struct Vardesc | Vardesc |
| typedef struct Namelist | Namelist |
| typedef int(* | U_fp) () |
| typedef shortint(* | J_fp) () |
| typedef integer(* | I_fp) () |
| typedef real(* | R_fp) () |
| typedef doublereal(* | D_fp) () |
| typedef doublereal(*)(* | E_fp) () |
| typedef VOID(* | C_fp) () |
| typedef VOID(* | Z_fp) () |
| typedef logical(* | L_fp) () |
| typedef shortlogical(* | K_fp) () |
| typedef VOID(* | H_fp) () |
| typedef int(* | S_fp) () |
| typedef VOID | C_f |
| typedef VOID | H_f |
| typedef VOID | Z_f |
| typedef doublereal | E_f |
| #define cmache_1 cmache_ |
| #define dabs | ( | x | ) | (doublereal)abs(x) |
| #define Extern extern |
| #define F2C_INCLUDE |
barf [ba:rf] 2.
"He suggested using FORTRAN, and everybody barfed."
| #define F2C_proc_par_types 1 |
| #define FALSE_ (0) |
| #define TRUE_ (1) |
| #define VOID void |
| typedef char* address |
| typedef VOID(* C_fp) () |
| typedef doublereal(* D_fp) () |
| typedef double doublereal |
| typedef doublereal E_f |
| typedef doublereal(*)(* E_fp) () |
| typedef long flag |
| typedef long ftnint |
| typedef long ftnlen |
| typedef VOID(* H_fp) () |
| typedef integer(* I_fp) () |
| typedef int integer |
| typedef shortint(* J_fp) () |
| typedef shortlogical(* K_fp) () |
| typedef logical(* L_fp) () |
| typedef long int logical |
| typedef long Long |
| typedef real(* R_fp) () |
| typedef float real |
| typedef int(* S_fp) () |
| typedef short int shortint |
| typedef short int shortlogical |
| typedef int(* U_fp) () |
| typedef VOID(* Z_fp) () |
| if | ( | ! * | lql | ) |
| if | ( | cvmax<= * | vsmall | ) |
| if | ( | i | , |
| 1 | |||
| ) |
| if | ( | ) |
References L70.
| if | ( | info | = = 1 | ) |
| if | ( | inw2+ | lw, |
| * | lwar | ||
| ) |
| if | ( | iterc<= * | maxit | ) |
| if | ( | itref<= | 0 | ) |
| if | ( | itref | = = 1 | ) |
| if | ( | jfinc | = = 0 | ) |
| if | ( | k >= | 2 | ) |
| if | ( | k1 | , |
| * | n | ||
| ) |
| if | ( | kdrop | = = 0 | ) |
| if | ( | knext | , |
| * | m | ||
| ) |
| if | ( | lflag | = = 3 | ) |
| if | ( | nact | = = 0 | ) |
| if | ( | sum<= | fdiffa | ) |
| if | ( | sumb | , |
| * | vsmall | ||
| ) |
| if | ( | temp<= | sum | ) |
| printf | ( | "info on inconsistent constraint\n" | ) |
| int ql0001_ | ( | m | , |
| me | , | ||
| mmax | , | ||
| n | , | ||
| nmax | , | ||
| mnn | , | ||
| c | , | ||
| d | , | ||
| a | , | ||
| b | , | ||
| xl | , | ||
| xu | , | ||
| x | , | ||
| u | , | ||
| iout | , | ||
| ifail | , | ||
| iprint | , | ||
| war | , | ||
| lwar | , | ||
| iwar | , | ||
| liwar | , | ||
| eps1 | |||
| ) |
| int ql0002_ | ( | ) |
| ql0002_ | ( | n | , |
| m | , | ||
| me | , | ||
| mmax | , | ||
| & | mn, | ||
| mnn | , | ||
| nmax | , | ||
| & | lql, | ||
| & | a[a_offset], | ||
| & | war[inw1], | ||
| & | d[1], | ||
| & | c[c_offset], | ||
| & | xl[1], | ||
| & | xu[1], | ||
| & | x[1], | ||
| & | nact, | ||
| & | iwar[1], | ||
| & | maxit, | ||
| & | qpeps, | ||
| & | info, | ||
| & | diag, | ||
| & | war[inw2], | ||
| & | lw | ||
| ) |
| int ql0002_ | ( | n | , |
| m | , | ||
| meq | , | ||
| mmax | , | ||
| mn | , | ||
| mnn | , | ||
| nmax | , | ||
| lql | , | ||
| a | , | ||
| b | , | ||
| grad | , | ||
| g | , | ||
| xl | , | ||
| xu | , | ||
| x | , | ||
| nact | , | ||
| iact | , | ||
| maxit | , | ||
| vsmall | , | ||
| info | , | ||
| diag | , | ||
| w | , | ||
| lw | |||
| ) |
| switch | ( | (int) | mflag | ) |
| L20 __pad0__ |
| L90 __pad10__ |
| L140 __pad11__ |
| L150 __pad12__ |
| L165 __pad13__ |
| L170 __pad14__ |
| L230 __pad15__ |
| L250 __pad16__ |
| L280 __pad17__ |
| L340 __pad18__ |
| L350 __pad19__ |
| L30 __pad1__ |
| L380 __pad20__ |
| L390 __pad21__ |
| L410 __pad22__ |
| L420 __pad23__ |
| L430 __pad24__ |
| L440 __pad25__ |
| L450 __pad26__ |
| L481 __pad27__ |
| L510 __pad28__ |
| L530 __pad29__ |
| L70 __pad2__ |
| L531 __pad30__ |
| L541 __pad31__ |
| L545 __pad32__ |
| L549 __pad33__ |
| L550 __pad34__ |
| L560 __pad35__ |
| L5 __pad36__ |
| L567 __pad37__ |
| L570 __pad38__ |
| L571 __pad39__ |
| L80 __pad3__ |
| L574 __pad40__ |
| L580 __pad41__ |
| L590 __pad42__ |
| L601 __pad43__ |
| L610 __pad44__ |
| L630 __pad45__ |
| L640 __pad46__ |
| L650 __pad47__ |
| L660 __pad48__ |
| L680 __pad49__ |
| L81 __pad4__ |
| L690 __pad50__ |
| L700 __pad51__ |
| L710 __pad52__ |
| L730 __pad53__ |
| L740 __pad54__ |
| L750 __pad55__ |
| L761 __pad56__ |
| L770 __pad57__ |
| L775 __pad58__ |
| L791 __pad59__ |
| L82 __pad5__ |
| case __pad60__ |
| L800 __pad61__ |
| L810 __pad62__ |
| L850 __pad63__ |
| L860 __pad64__ |
| L870 __pad65__ |
| L880 __pad66__ |
| L900 __pad67__ |
| case __pad68__ |
| L910 __pad69__ |
| L40 __pad6__ |
| L930 __pad70__ |
| L90 __pad7__ |
| L45 __pad8__ |
| L70 __pad9__ |
| doublereal * a = a_offset |
Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), and for().
| a_offset = a_dim1 + 1 |
| doublereal * b |
| c = c_offset |
| c_offset = c_dim1 + 1 |
| t_cmache_ cmache_ |
|
static |
| d |
| d__1 |
Referenced by for().
|
static |
|
static |
| else |
| doublereal* eps1 |
|
static |
|
static |
| g = g_offset |
| g_dim1 = *nmax |
| g_offset = g_dim1 + 1 |
| grad |
Referenced by Optimization::Solver::PLDPSolver::BackwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::BackwardSubstitution(), PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities(), PatternGeneratorJRL::RelativeFeetInequalities::CallMethod(), PatternGeneratorJRL::Polynome::Compute(), PatternGeneratorJRL::RelativeFeetInequalities::compute_linear_system(), PatternGeneratorJRL::Polynome::ComputeDerivative(), Optimization::Solver::PLDPSolver::ComputeInitialSolution(), Optimization::Solver::PLDPSolverHerdt::ComputeInitialSolution(), PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), PatternGeneratorJRL::PreviewControl::ComputeOptimalWeights(), PatternGeneratorJRL::Polynome::ComputeSecDerivative(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer(), PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull(), PatternGeneratorJRL::FootConstraintsAsLinearSystem::FindSimilarConstraints(), for(), for(), Optimization::Solver::PLDPSolver::ForwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::ForwardSubstitution(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FreePolynomes(), PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur(), PatternGeneratorJRL::StepOverSpline::GetValueSpline(), PatternGeneratorJRL::StepOverClampedCubicSpline::GetValueSpline(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::InitializeSystem(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), PatternGeneratorJRL::operator<<(), PatternGeneratorJRL::rigid_body_state_s::operator=(), PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx(), PatternGeneratorJRL::PreviewControl::PreviewControl(), PatternGeneratorJRL::StepOverSpline::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::PreviewControl::print(), PatternGeneratorJRL::Polynome::print(), PatternGeneratorJRL::PreviewControl::ReadPrecomputedFile(), PatternGeneratorJRL::RelativeFeetInequalities::RelativeFeetInequalities(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetNumberOfIntervals(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::SetParameters(), PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetPolynomialDegrees(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase(), Optimization::Solver::PLDPSolver::SolveProblem(), Optimization::Solver::PLDPSolverHerdt::SolveProblem(), Optimization::Solver::PLDPSolver::StoreCurrentZMPSolution(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne(), Optimization::Solver::PLDPSolver::WriteCurrentZMPSolution(), Optimization::Solver::PLDPSolverHerdt::WriteCurrentZMPSolution(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPPreviewControlWithMultiBodyZMP().
| i__1 = *m |
|
static |
|
static |
Referenced by if().
| * ifail = 0 |
|
static |
|
static |
|
static |
|
static |
|
static |
Referenced by for(), and PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur().
|
static |
| integer* iout |
|
static |
| integer * iprint |
|
static |
|
static |
|
static |
|
static |
|
static |
| iwar |
Referenced by for().
|
static |
|
static |
|
static |
|
static |
|
static |
|
static |
Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed(), Optimization::Solver::PLDPSolver::ComputeInitialSolution(), Optimization::Solver::PLDPSolverHerdt::ComputeInitialSolution(), PatternGeneratorJRL::PreviewControl::ComputeOptimalWeights(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMPSpeed(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), for(), for(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfCOGPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::InitializeSystem(), PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx(), PatternGeneratorJRL::StepOverSpline::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::SetParameters(), PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetStartingTimeIntervalsAndHeightVariation(), Optimization::Solver::PLDPSolver::SolveProblem(), Optimization::Solver::PLDPSolverHerdt::SolveProblem(), Optimization::Solver::PLDPSolver::StoreCurrentZMPSolution(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertCoefficientsFromCOGTrajectoryToZMPOne(), Optimization::Solver::PLDPSolver::WriteCurrentZMPSolution(), Optimization::Solver::PLDPSolverHerdt::WriteCurrentZMPSolution(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPPreviewControlWithMultiBodyZMP().
|
static |
|
static |
|
static |
|
static |
|
static |
Referenced by Optimization::Solver::PLDPSolver::BackwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::BackwardSubstitution(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), for(), Optimization::Solver::PLDPSolver::ForwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::ForwardSubstitution(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), and Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx().
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static |
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static |
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static |
|
static |
| goto L170 |
| goto L549 |
| goto L550 |
| goto L570 |
Referenced by if().
| goto L640 |
| goto L70 |
Referenced by if().
| goto L710 |
| goto L740 |
| goto L770 |
| goto L775 |
| goto L800 |
| goto L860 |
| goto L880 |
| goto L910 |
| goto L930 |
|
static |
| if liwar |
|
static |
|
static |
| integer* lwar |
| if m |
| int * me |
| int * meq |
Referenced by for().
|
static |
| int * mmax |
| int * mnn |
| int * n |
|
static |
|
static |
|
static |
| int * nmax |
Referenced by if().
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static |
|
static |
Referenced by for().
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static |
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static |
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static |
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static |
|
static |
|
static |
Referenced by invertMatrix().
| return |
|
static |
|
static |
|
static |
|
static |
|
static |
|
static |
| u |
Referenced by for().
|
static |
| doublereal* vsmall |
| doublereal * x |
| doublereal * xl |
|
static |
|
static |
| doublereal * xu |
|
static |
Referenced by for().