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qld.cpp File Reference
#include <math.h>
#include <stdio.h>
Include dependency graph for qld.cpp:

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)
#define dabs(x)
#define min(a, b)
#define max(a, b)
#define dmin(a, b)
#define dmax(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

Functions

int ql0002_ ()
int ql0001_ (m, me, mmax, n, nmax, mnn, c, d, a, b, xl, xu, x, u, iout, ifail, iprint, war, lwar, iwar, liwar, eps1) integer *m
 if (fabs(c[*nmax+ *nmax *c_dim1])==0.e0)
 if (iwar[1]==1)
 for (j=1;j<=i__1;++j)
 if (inw2+lw > *lwar)
 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)
 if (info==1)
 if (diag > zero &&diag< 1e3)
 if (info< 0)
 if (nact==0)
 for (i=1;i<=i__1;++i)
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) integer *n
 for (k=1;k<=i__1;++k)
 if (!(*lql))
 if (k >=2)
 if (w[kdrop] >=zero)
 if (iact[kdrop]<= *meq)
 if (cvmax<= *vsmall)
 if (jfinc==0)
 if (jfinc !=ifinc)
 if (sum<=fdiffa)
 if (temp<=sum)
 if (iterc<= *maxit)
 if (knext > *m)
 if (k1 > *n)
 if (tempa<=temp)
 if (sumb > *vsmall)
 if (knext<= *m)
 printf ("info on inconsistent constraint\n")
 if (kdrop==0)
 if (itref<=0)
 if (itref==1)
 if (i > 1)
 if (lflag==3)
 if (iact[kdrop] > *mn)
 switch ((int) mflag)
 if (nu== *nact)
 if (w[is]==zero)

Variables

t_cmache_ cmache_
int * me
int * mmax
int * n
int * nmax
int * mnn
doublereal * c = c_offset
doublereal * d
doublereal * a = a_offset
doublereal * b
doublereal * xl
doublereal * xu
doublereal * x
doublereal * u
integer * iout
integer * ifail = 0
integer * iprint
doublereal * war
integer * lwar
integer * iwar
integer * liwar
doublereal * eps1
static doublereal diag
static integer nact = 0
static integer info = 0
static doublereal zero = 0.
static integer i = *nact
static integer j
static integer idiag = 0
static integer maxit = (*m + *n) * 40
static doublereal qpeps = cmache_1.eps
static integer in = inw1
static integer mn = *m + *n
static integer lw
static doublereal ten = 10.
static logical lql = FALSE_
static integer inw1 = 1
static integer inw2 = inw1 + *mmax
 a_dim1 = *mmax
 a_offset = a_dim1 + 1
 c_dim1 = *nmax
 c_offset = c_dim1 + 1
cmache_1 eps = *eps1
if m
 i__1 = *m
L20 __pad0__
L30 __pad1__
L70 __pad2__
 return
L80 __pad3__
L81 __pad4__
L82 __pad5__
L40 __pad6__
L90 __pad7__
int * meq
doublereal * grad
doublereal * g = g_offset
integer * iact = knext
doublereal * vsmall
doublereal * w = sum / w[ir]
doublereal d__1
doublereal d__2 = w[ir] / temp
doublereal d__3 = (d__1 = w[ir - 1], abs(d__1))
doublereal d__4 = (d__2 = w[ir], abs(d__2))
static doublereal onha = 1.5
static doublereal xmag = zero
static doublereal suma = zero
static doublereal sumb = zero
static doublereal sumc = zero
static doublereal temp = fdiffa + onha * fdiff
static doublereal step = -res / sumy
static integer iwwn
static doublereal sumx = one
static doublereal sumy
static integer k = j
static doublereal fdiff = zero
static integer iflag
static integer jflag = 2
static integer kflag
static integer lflag = 1
static doublereal diagr = two
static integer ifinc = 3
static integer kfinc = max(10,*n)
static integer jfinc = -kfinc
static integer mflag = 1
static integer nflag = 1
static doublereal vfact = 1.
static doublereal tempa = sumb + abs(suma) * .2
static integer iterc = 1
static integer itref = 0
static doublereal cvmax
static doublereal ratio
static doublereal xmagr = .01
static integer kdrop = 0
static logical lower
static integer knext
static integer k1 = knext - *m
static doublereal ga = w[ir - 1] / sum
static doublereal gb = w[ir] / sum
static integer ia = iwa + knext
static integer id
static doublereal fdiffa = zero
static integer ii
static integer il = iws + 1
static integer kk
static integer jl
static integer ip = iww + 1
static integer ir = k
static integer nm
static integer is = iws + i
static integer iu = iws + *nact
static integer iw = iww + k1
static integer ju
static integer ix
static integer iz = iwz + k1
static integer nu = *nact
static integer iy
static doublereal parinc = ratio
static doublereal parnew = parinc
static integer ira = ir - 1
static integer irb
static integer iwa = iwx + *nmax
static doublereal one = 1.
static integer iwd = iww + *nmax
static integer iza = iwz + *nact * *n
static doublereal res = temp * res
static integer ipp = iww + *n
static integer iwr = iwz + *nmax * *nmax
static integer iws = iww - *n
static doublereal sum = fdiffa + fdiff
static integer iww = iwr + *nmax * (*nmax + 3) / 2
static integer iwx = iwd + *nmax
static integer iwy
static doublereal two = 2.
static integer iwz = *nmax
 g_dim1 = *nmax
 g_offset = g_dim1 + 1
L45 __pad8__
L70 __pad9__
L90 __pad10__
goto L170
L140 __pad11__
L150 __pad12__
goto L70
L165 __pad13__
L170 __pad14__
 i__2 = *n
L230 __pad15__
 else
L250 __pad16__
L280 __pad17__
L340 __pad18__
goto L930
L350 __pad19__
L380 __pad20__
goto L740
L390 __pad21__
L410 __pad22__
goto L910
L420 __pad23__
goto L440
L430 __pad24__
goto L800
L440 __pad25__
L450 __pad26__
L481 __pad27__
L510 __pad28__
L530 __pad29__
goto L710
L531 __pad30__
goto L549
L541 __pad31__
goto L550
L545 __pad32__
L549 __pad33__
L550 __pad34__
goto L860
L560 __pad35__
goto L570
L5 __pad36__
goto L640
L567 __pad37__
L570 __pad38__
L571 __pad39__
goto L775
L574 __pad40__
L580 __pad41__
L590 __pad42__
L601 __pad43__
L610 __pad44__
L630 __pad45__
L640 __pad46__
L650 __pad47__
L660 __pad48__
L680 __pad49__
L690 __pad50__
L700 __pad51__
L710 __pad52__
L730 __pad53__
L740 __pad54__
goto L770
L750 __pad55__
L761 __pad56__
L770 __pad57__
L775 __pad58__
L791 __pad59__
case __pad60__
L800 __pad61__
L810 __pad62__
L850 __pad63__
L860 __pad64__
L870 __pad65__
L880 __pad66__
goto L880
L900 __pad67__
case __pad68__
L910 __pad69__
L930 __pad70__

Macro Definition Documentation

◆ abs

#define abs ( x)
Value:
((x) >= 0 ? (x) : -(x))
x
doublereal * x
Definition qld.cpp:388

◆ cmache_1

#define cmache_1   cmache_

Referenced by if().

◆ dabs

#define dabs ( x)
Value:
(doublereal)abs(x)
doublereal
double doublereal
Definition qld.cpp:135
abs
#define abs(x)
Definition qld.cpp:267

◆ dmax

#define dmax ( a,
b )
Value:
(doublereal)max(a,b)
b
doublereal * b
Definition qld.cpp:388
a
doublereal * a
Definition qld.cpp:388
max
#define max(a, b)
Definition qld.cpp:270

◆ dmin

#define dmin ( a,
b )
Value:
(doublereal)min(a,b)
min
#define min(a, b)
Definition qld.cpp:269

◆ Extern

#define Extern   extern

◆ F2C_INCLUDE

#define F2C_INCLUDE

barf [ba:rf] 2.

"He suggested using FORTRAN, and everybody barfed."

  • From The Shogakukan DICTIONARY OF NEW ENGLISH (Second edition)

◆ F2C_proc_par_types

#define F2C_proc_par_types   1

◆ FALSE_

#define FALSE_   (0)

◆ max

#define max ( a,
b )
Value:
((a) >= (b) ? (a) : (b))

◆ min

#define min ( a,
b )
Value:
((a) <= (b) ? (a) : (b))

◆ TRUE_

#define TRUE_   (1)

Referenced by if().

◆ VOID

#define VOID   void

Typedef Documentation

◆ address

typedef char* address

◆ C_f

typedef VOID C_f

◆ C_fp

typedef VOID(* C_fp) ()

◆ D_fp

typedef doublereal(* D_fp) ()

◆ doublereal

typedef double doublereal

◆ E_f

typedef doublereal E_f

◆ E_fp

typedef doublereal(* E_fp) ()

◆ flag

typedef long flag

◆ ftnint

typedef long ftnint

◆ ftnlen

typedef long ftnlen

◆ H_f

typedef VOID H_f

◆ H_fp

typedef VOID(* H_fp) ()

◆ I_fp

typedef integer(* I_fp) ()

◆ integer

typedef int integer

◆ J_fp

typedef shortint(* J_fp) ()

◆ K_fp

typedef shortlogical(* K_fp) ()

◆ L_fp

typedef logical(* L_fp) ()

◆ logical

typedef long int logical

◆ Long

typedef long Long

◆ Multitype

typedef union Multitype Multitype

◆ Namelist

typedef struct Namelist Namelist

◆ R_fp

typedef real(* R_fp) ()

◆ real

typedef float real

◆ S_fp

typedef int(* S_fp) ()

◆ shortint

typedef short int shortint

◆ shortlogical

typedef short int shortlogical

◆ U_fp

typedef int(* U_fp) ()

◆ Vardesc

typedef struct Vardesc Vardesc

◆ Z_f

typedef VOID Z_f

◆ Z_fp

typedef VOID(* Z_fp) ()

Function Documentation

◆ for() [1/3]

for ( i = 1; i <= i__1; ++i)

References i, i__1, in, iwar, j, u, and war.

◆ for() [2/3]

for ( j = 1; j <= i__1; ++j)

References b, i__1, in, j, and war.

◆ for() [3/3]

for ( k = 1; k <= i__1; ++k)

References a, a_dim1, b, d__1, i, i__1, i__2, ia, info, iwa, k, meq, n, one, sum, w, and zero.

◆ if() [1/30]

if ( ! * lql)

References lql.

◆ if() [2/30]

if ( cvmax<= * vsmall)

References cvmax, and vsmall.

◆ if() [3/30]

if ( diag )

References diag, idiag, and zero.

◆ if() [4/30]

if ( fabs(c[*nmax+*nmax *c_dim1]) = = 0.e0)

References c, c_dim1, cmache_1, and nmax.

◆ if() [5/30]

if ( i ,
1  )

References i.

◆ if() [6/30]

if ( iact [kdrop],
* mn )

References ia, iact, kdrop, mn, and n.

◆ if() [7/30]

if ( iact<= * meq[kdrop])

References iact, kdrop, L440, and meq.

◆ if() [8/30]

if ( )

References info, and L70.

◆ if() [9/30]

if ( info = = 1)

References info.

◆ if() [10/30]

if ( inw2+ lw,
* lwar )

References inw2, lw, and lwar.

◆ if() [11/30]

if ( iterc<= * maxit)

References iterc, and maxit.

◆ if() [12/30]

if ( itref<= 0)

References itref.

◆ if() [13/30]

if ( itref = = 1)

References itref.

◆ if() [14/30]

if ( iwar [1] = = 1)

References iwar, lql, and TRUE_.

◆ if() [15/30]

if ( jfinc ! = ifinc)

References ifinc, and jfinc.

◆ if() [16/30]

if ( jfinc = = 0)

References jfinc.

◆ if() [17/30]

if ( k >= 2)

References k.

◆ if() [18/30]

if ( k1 ,
* n )

References k1, and n.

◆ if() [19/30]

if ( kdrop = = 0)

References kdrop.

◆ if() [20/30]

if ( knext ,
* m )

References knext, and m.

◆ if() [21/30]

if ( knext<= * m)

References ia, knext, m, sumc, and w.

◆ if() [22/30]

if ( lflag = = 3)

References lflag.

◆ if() [23/30]

if ( nact = = 0)

References nact.

◆ if() [24/30]

if ( nu = = *nact)

References nact, and nu.

◆ if() [25/30]

if ( sum<= fdiffa)

References fdiffa, and sum.

◆ if() [26/30]

if ( sumb ,
* vsmall )

References sumb, and vsmall.

◆ if() [27/30]

if ( temp<= sum)

References sum, and temp.

◆ if() [28/30]

if ( tempa<= temp)

References L570, temp, and tempa.

◆ if() [29/30]

if ( w [is] = = zero)

References is, w, and zero.

◆ if() [30/30]

if ( w >= zero[kdrop])

References kdrop, L440, w, and zero.

◆ printf()

printf ( "info on inconsistent constraint\n" )

◆ ql0001_()

int ql0001_ ( m ,
me ,
mmax ,
n ,
nmax ,
mnn ,
c ,
d ,
a ,
b ,
xl ,
xu ,
x ,
u ,
iout ,
ifail ,
iprint ,
war ,
lwar ,
iwar ,
liwar ,
eps1  )

References a, b, c, d, eps1, ifail, iout, iprint, iwar, liwar, lwar, m, me, mmax, mnn, n, nmax, u, war, x, xl, and xu.

◆ ql0002_() [1/3]

int ql0002_ ( )

References a, b, c, d, eps1, ifail, iwar, liwar, lwar, m, me, mmax, mnn, n, nmax, u, war, x, xl, and xu.

◆ ql0002_() [2/3]

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 )

References a, a_offset, c, c_offset, d, diag, ifail, info, inw1, inw2, iwar, lql, lw, m, maxit, me, mmax, mn, mnn, n, nact, nmax, qpeps, war, x, xl, and xu.

◆ ql0002_() [3/3]

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  )

References a, b, diag, g, grad, iact, info, lql, lw, m, maxit, meq, mmax, mn, mnn, n, nact, nmax, vsmall, w, x, xl, and xu.

◆ switch()

switch ( (int) mflag)

References mflag.

Variable Documentation

◆ __pad0__

L20 __pad0__

◆ __pad10__

L90 __pad10__

◆ __pad11__

L140 __pad11__

◆ __pad12__

L150 __pad12__

◆ __pad13__

L165 __pad13__

◆ __pad14__

L170 __pad14__

◆ __pad15__

L230 __pad15__

◆ __pad16__

L250 __pad16__

◆ __pad17__

L280 __pad17__

◆ __pad18__

L340 __pad18__

◆ __pad19__

L350 __pad19__

◆ __pad1__

L30 __pad1__

◆ __pad20__

L380 __pad20__

◆ __pad21__

L390 __pad21__

◆ __pad22__

L410 __pad22__

◆ __pad23__

L420 __pad23__

◆ __pad24__

L430 __pad24__

◆ __pad25__

L440 __pad25__

◆ __pad26__

L450 __pad26__

◆ __pad27__

L481 __pad27__

◆ __pad28__

L510 __pad28__

◆ __pad29__

L530 __pad29__

◆ __pad2__

L70 __pad2__

◆ __pad30__

L531 __pad30__

◆ __pad31__

L541 __pad31__

◆ __pad32__

L545 __pad32__

◆ __pad33__

L549 __pad33__

◆ __pad34__

L550 __pad34__

◆ __pad35__

L560 __pad35__

◆ __pad36__

L5 __pad36__

◆ __pad37__

L567 __pad37__

◆ __pad38__

L570 __pad38__

◆ __pad39__

L571 __pad39__

◆ __pad3__

L80 __pad3__

◆ __pad40__

L574 __pad40__

◆ __pad41__

L580 __pad41__

◆ __pad42__

L590 __pad42__

◆ __pad43__

L601 __pad43__

◆ __pad44__

L610 __pad44__

◆ __pad45__

L630 __pad45__

◆ __pad46__

L640 __pad46__

◆ __pad47__

L650 __pad47__

◆ __pad48__

L660 __pad48__

◆ __pad49__

L680 __pad49__

◆ __pad4__

L81 __pad4__

◆ __pad50__

L690 __pad50__

◆ __pad51__

L700 __pad51__

◆ __pad52__

L710 __pad52__

◆ __pad53__

L730 __pad53__

◆ __pad54__

L740 __pad54__

◆ __pad55__

L750 __pad55__

◆ __pad56__

L761 __pad56__

◆ __pad57__

L770 __pad57__

◆ __pad58__

L775 __pad58__

◆ __pad59__

L791 __pad59__

◆ __pad5__

L82 __pad5__

◆ __pad60__

case __pad60__

◆ __pad61__

L800 __pad61__

◆ __pad62__

L810 __pad62__

◆ __pad63__

L850 __pad63__

◆ __pad64__

L860 __pad64__

◆ __pad65__

L870 __pad65__

◆ __pad66__

L880 __pad66__

◆ __pad67__

L900 __pad67__

◆ __pad68__

case __pad68__

◆ __pad69__

L910 __pad69__

◆ __pad6__

L40 __pad6__

◆ __pad70__

L930 __pad70__

◆ __pad7__

L90 __pad7__

◆ __pad8__

L45 __pad8__

◆ __pad9__

L70 __pad9__

◆ a

doublereal * a = a_offset

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), for(), ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ a_dim1

a_dim1 = *mmax

Referenced by for().

◆ a_offset

a_offset = a_dim1 + 1

Referenced by ql0002_().

◆ b

doublereal * b

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), for(), for(), PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ c

c = c_offset

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), if(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ c_dim1

c_dim1 = *nmax

Referenced by if().

◆ c_offset

c_offset = c_dim1 + 1

Referenced by ql0002_().

◆ cmache_

t_cmache_ cmache_

◆ cvmax

doublereal cvmax
static

Referenced by if().

◆ d

d

Referenced by ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ d__1

d__1
Initial value:
{
integer a_dim1, a_offset, g_dim1, g_offset, i__1, i__2, i__3, i__4
a_dim1
a_dim1
Definition qld.cpp:427
integer
int integer
Definition qld.cpp:131
i__1
i__1
Definition qld.cpp:470
i__2
i__2
Definition qld.cpp:939
a_offset
a_offset
Definition qld.cpp:428
g_dim1
g_dim1
Definition qld.cpp:723
g_offset
g_offset
Definition qld.cpp:724

Referenced by for().

◆ d__2

d__2 = w[ir] / temp

◆ d__3

d__3 = (d__1 = w[ir - 1], abs(d__1))

◆ d__4

d__4 = (d__2 = w[ir], abs(d__2))

◆ diag

* diag
static
Initial value:
{
integer c_dim1, c_offset, a_dim1, a_offset, i__1
c_dim1
c_dim1
Definition qld.cpp:431
c_offset
c_offset
Definition qld.cpp:432

Referenced by if(), ql0002_(), and ql0002_().

◆ diagr

diagr = two
static

◆ else

else
Initial value:
{
goto L280

◆ eps

cmache_1 eps = *eps1

◆ eps1

doublereal* eps1

Referenced by ql0001_(), ql0001_(), and ql0002_().

◆ fdiff

fdiff = zero
static

◆ fdiffa

fdiffa = zero
static

Referenced by if().

◆ g

g = g_offset

Referenced by ql0002_().

◆ g_dim1

g_dim1 = *nmax

◆ g_offset

g_offset = g_dim1 + 1

◆ ga

ga = w[ir - 1] / sum
static

◆ gb

gb = w[ir] / sum
static

◆ grad

grad

Referenced by ql0002_().

◆ i

integer i = *nact
static

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::StepOverClampedCubicSpline::GetValueSpline(), PatternGeneratorJRL::StepOverSpline::GetValueSpline(), if(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::InitializeSystem(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::operator<<, PatternGeneratorJRL::operator<<(), PatternGeneratorJRL::rigid_body_state_s::operator=(), PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx(), PatternGeneratorJRL::PreviewControl::PreviewControl(), PatternGeneratorJRL::Polynome::print(), PatternGeneratorJRL::PreviewControl::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::StepOverSpline::print(), PatternGeneratorJRL::PreviewControl::ReadPrecomputedFile(), PatternGeneratorJRL::RelativeFeetInequalities::RelativeFeetInequalities(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetNumberOfIntervals(), PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::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

i__1 = *m

Referenced by for(), for(), and for().

◆ i__2

i__2 = *n

Referenced by for().

◆ ia

ia = iwa + knext
static

Referenced by for(), if(), and if().

◆ iact

iact[kdrop - 1] = knext

Referenced by if(), if(), and ql0002_().

◆ id

integer id
static

◆ idiag

idiag = 0
static

Referenced by if().

◆ ifail

* ifail = 0

Referenced by ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ ifinc

ifinc = 3
static

Referenced by if().

◆ iflag

integer iflag
static

◆ ii

integer ii
static

◆ il

il = iws + 1
static

◆ in

in = inw1
static

Referenced by for(), and for().

◆ info

* info = 0
static

Referenced by for(), PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur(), if(), if(), ql0002_(), and ql0002_().

◆ inw1

inw1 = 1
static

Referenced by ql0002_().

◆ inw2

inw2 = inw1 + *mmax
static

Referenced by if(), and ql0002_().

◆ iout

integer* iout

Referenced by ql0001_(), and ql0001_().

◆ ip

ip = iww + 1
static

◆ ipp

ipp = iww + *n
static

◆ iprint

integer * iprint

Referenced by ql0001_(), and ql0001_().

◆ ir

ir = k
static

◆ ira

ira = ir - 1
static

◆ irb

integer irb
static

◆ is

is = iws + i
static

Referenced by if().

◆ iterc

iterc = 1
static

Referenced by if().

◆ itref

itref = 0
static

Referenced by if(), and if().

◆ iu

iu = iws + *nact
static

◆ iw

iw = iww + k1
static

◆ iwa

iwa = iwx + *nmax
static

Referenced by for().

◆ iwar

iwar

Referenced by for(), if(), ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ iwd

iwd = iww + *nmax
static

◆ iwr

iwr = iwz + *nmax * *nmax
static

◆ iws

iws = iww - *n
static

◆ iww

iww = iwr + *nmax * (*nmax + 3) / 2
static

◆ iwwn

integer iwwn
static

◆ iwx

iwx = iwd + *nmax
static

◆ iwy

integer iwy
static

◆ iwz

iwz = *nmax
static

◆ ix

integer ix
static

◆ iy

integer iy
static

◆ iz

iz = iwz + k1
static

◆ iza

iza = iwz + *nact * *n
static

◆ j

integer j
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::AnalyticalZMPCOGTrajectory::operator<<, PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::StepOverSpline::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::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().

◆ jfinc

jfinc = -kfinc
static

Referenced by if(), and if().

◆ jflag

jflag = 2
static

◆ jl

integer jl
static

◆ ju

integer ju
static

◆ k

k = j
static

Referenced by Optimization::Solver::PLDPSolver::BackwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::BackwardSubstitution(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), for(), Optimization::Solver::PLDPSolver::ForwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::ForwardSubstitution(), if(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), and Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx().

◆ k1

k1 = knext - *m
static

Referenced by if().

◆ kdrop

kdrop = 0
static

Referenced by if(), if(), if(), and if().

◆ kfinc

kfinc = max(10,*n)
static

◆ kflag

integer kflag
static

◆ kk

integer kk
static

◆ knext

integer knext
static

Referenced by if(), and if().

◆ L170

goto L170

◆ L440

goto L440

Referenced by if(), and if().

◆ L549

goto L549

◆ L550

goto L550

◆ L570

goto L570

Referenced by if().

◆ L640

goto L640

◆ L70

goto L70

Referenced by if().

◆ L710

goto L710

◆ L740

goto L740

◆ L770

goto L770

◆ L775

goto L775

◆ L800

goto L800

◆ L860

goto L860

◆ L880

goto L880

◆ L910

goto L910

◆ L930

goto L930

◆ lflag

lflag = 1
static

Referenced by if().

◆ liwar

if liwar
Initial value:
{
goto L81

Referenced by ql0001_(), ql0001_(), and ql0002_().

◆ lower

logical lower
static

◆ lql

logical * lql = FALSE_
static

Referenced by if(), if(), ql0002_(), and ql0002_().

◆ lw

integer * lw
static

Referenced by if(), ql0002_(), and ql0002_().

◆ lwar

integer* lwar

Referenced by if(), ql0001_(), ql0001_(), and ql0002_().

◆ m

if m
Initial value:
{
goto L20

Referenced by if(), if(), ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ maxit

integer * maxit = (*m + *n) * 40
static

Referenced by if(), ql0002_(), and ql0002_().

◆ me

int * me

Referenced by ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ meq

int * meq

Referenced by for(), if(), and ql0002_().

◆ mflag

mflag = 1
static

Referenced by switch().

◆ mmax

int * mmax

Referenced by ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ mn

int * mn = *m + *n
static

Referenced by if(), ql0002_(), and ql0002_().

◆ mnn

int * mnn
Initial value:
{
goto L82

Referenced by ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ n

int * n

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), for(), PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur(), if(), if(), ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ nact

if nact = 0
static

Referenced by if(), if(), ql0002_(), and ql0002_().

◆ nflag

nflag = 1
static

◆ nm

integer nm
static

◆ nmax

int * nmax

Referenced by if(), ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ nu

nu = *nact
static

Referenced by if().

◆ one

one = 1.
static

Referenced by for().

◆ onha

onha = 1.5
static

◆ parinc

parinc = ratio
static

◆ parnew

parnew = parinc
static

◆ qpeps

qpeps = cmache_1.eps
static

Referenced by ql0002_().

◆ ratio

doublereal ratio
static

◆ res

res = temp * res
static

Referenced by invertMatrix().

◆ return

return

◆ step

step = -res / sumy
static

◆ sum

sum = fdiffa + fdiff
static

Referenced by for(), if(), and if().

◆ suma

suma = zero
static

◆ sumb

sumb = zero
static

Referenced by if().

◆ sumc

sumc = zero
static

Referenced by if().

◆ sumx

sumx = one
static

◆ sumy

doublereal sumy
static

◆ temp

temp = fdiffa + onha * fdiff
static

Referenced by if(), and if().

◆ tempa

tempa = sumb + abs(suma) * .2
static

Referenced by if().

◆ ten

ten = 10.
static

◆ two

two = 2.
static

◆ u

u

Referenced by for(), ql0001_(), ql0001_(), and ql0002_().

◆ vfact

vfact = 1.
static

◆ vsmall

doublereal* vsmall

Referenced by if(), if(), and ql0002_().

◆ w

w[is - 1] = sum / w[ir]

Referenced by for(), if(), if(), if(), ql0002_(), and sb02ox().

◆ war

war

Referenced by for(), for(), ql0001_(), ql0001_(), ql0002_(), and ql0002_().

◆ x

doublereal * x

Referenced by PatternGeneratorJRL::PreviewControl::OneIterationOfPreview(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), ql0001_(), ql0001_(), ql0002_(), ql0002_(), ql0002_(), PatternGeneratorJRL::PatternGeneratorInterface::setCoMPerturbationForce(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase(), and PatternGeneratorJRL::PatternGeneratorInterface::setVelocityReference().

◆ xl

doublereal * xl

Referenced by ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ xmag

xmag = zero
static

◆ xmagr

xmagr = .01
static

◆ xu

doublereal * xu

Referenced by ql0001_(), ql0001_(), ql0002_(), ql0002_(), and ql0002_().

◆ zero

doublereal zero = 0.
static

Referenced by for(), if(), if(), and if().