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. More...
 
#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
 

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\)
 
 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
 
doublerealc = c_offset
 
doublereald
 
doublereala = a_offset
 
doublerealb
 
doublerealxl
 
doublerealxu
 
doublerealx
 
doublerealu
 
integeriout
 
integerifail = 0
 
integeriprint
 
doublerealwar
 
integerlwar
 
integeriwar
 
integerliwar
 
doublerealeps1
 
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
 
doublerealgrad
 
doublerealg = g_offset
 
integeriact = knext
 
doublerealvsmall
 
doublerealw = 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)    ((x) >= 0 ? (x) : -(x))

Referenced by if().

◆ cmache_1

#define cmache_1   cmache_

Referenced by if().

◆ dabs

#define dabs (   x)    (doublereal)abs(x)

◆ dmax

#define dmax (   a,
  b 
)    (doublereal)max(a,b)

◆ dmin

#define dmin (   a,
  b 
)    (doublereal)min(a,b)

◆ 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)

Referenced by if().

◆ max

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

Referenced by if().

◆ min

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

Referenced by if().

◆ 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 ( j  = 1; j <= i__1; ++j)

References in, and j.

◆ for() [2/3]

for ( i  = 1; i <= i__1; ++i)

References Multitype::i, and j.

◆ for() [3/3]

for ( k  = 1; k <= i__1; ++k)

References a_dim1, d__1, Multitype::i, i__2, ia, k, n, sum, and zero.

◆ if() [1/30]

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

References c_dim1, cmache_1, and FALSE_.

◆ if() [2/30]

if ( iwar  [1] = = 1)

References cmache_1, mmax, n, and TRUE_.

◆ if() [3/30]

if ( inw2 lw,
lwar 
)

References n, and ql0002_().

◆ if() [4/30]

if ( info  = = 1)

◆ if() [5/30]

if ( diag  )

◆ if() [6/30]

if ( )

References i__1, j, L70, mnn, and zero.

◆ if() [7/30]

if ( nact  = = 0)

References nact.

◆ if() [8/30]

if ( ! *  lql)

References abs, diag, g_dim1, gb, Multitype::i, i__1, i__2, id, j, L70, max, min, n, and zero.

◆ if() [9/30]

if ( k >=  2)

References sumx.

◆ if() [10/30]

if ( w >=  zero[kdrop])

References L440.

◆ if() [11/30]

if ( iact<= *  meq[kdrop])

References L440, and nact.

◆ if() [12/30]

if ( cvmax<= *  vsmall)

References jfinc.

◆ if() [13/30]

if ( jfinc  = = 0)

◆ if() [14/30]

if ( jfinc = ifinc)

References abs, fdiff, g_dim1, Multitype::i, i__1, i__2, id, ix, j, n, temp, and zero.

◆ if() [15/30]

if ( sum<=  fdiffa)

References fdiff.

◆ if() [16/30]

if ( temp<=  sum)

◆ if() [17/30]

if ( iterc<= *  maxit)

◆ if() [18/30]

if ( knext  ,
m 
)

References a_dim1, Multitype::i, i__2, iw, and n.

◆ if() [19/30]

if ( k1  ,
n 
)

References Multitype::i, i__2, is, iw, iz, k1, n, and one.

◆ if() [20/30]

if ( tempa<=  temp)

References L570.

◆ if() [21/30]

if ( sumb  ,
vsmall 
)

◆ if() [22/30]

if ( knext<= *  m)

References abs, and ia.

◆ if() [23/30]

if ( kdrop  = = 0)

References parinc, and ratio.

◆ if() [24/30]

if ( itref<=  0)

◆ if() [25/30]

if ( itref  = = 1)

References L710.

◆ if() [26/30]

if ( i  ,
 
)

◆ if() [27/30]

if ( lflag  = = 3)

References L775.

◆ if() [28/30]

if ( iact  [kdrop],
mn 
)

References ia, kdrop, and n.

◆ if() [29/30]

if ( nu  = = *nact)

◆ if() [30/30]

if ( w  [is] = zero)

References abs, Multitype::i, i__2, is, iz, k, max, n, sum, and temp.

◆ printf()

printf ( "info on inconsistent constraint\  )

◆ 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   
)

◆ ql0002_() [1/3]

int ql0002_ ( )

Referenced by if().

◆ 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 
)

◆ 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   
)

◆ switch()

switch ( (int)  mflag)

References L860.

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

◆ a_dim1

a_dim1 = *mmax

Referenced by for(), and if().

◆ a_offset

a_offset = a_dim1 + 1

◆ b

◆ c

◆ c_dim1

c_dim1 = *nmax

Referenced by if().

◆ c_offset

c_offset = c_dim1 + 1

◆ cmache_

t_cmache_ cmache_

◆ cvmax

doublereal cvmax
static

◆ d

d

◆ d__1

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

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:
{
c_offset
Definition: qld.cpp:432
c_dim1
Definition: qld.cpp:431
i__1
Definition: qld.cpp:470
int integer
Definition: qld.cpp:131
a_offset
Definition: qld.cpp:428
a_dim1
Definition: qld.cpp:427

Referenced by if().

◆ diagr

diagr = two
static

◆ else

else
Initial value:
{
goto L280

◆ eps

cmache_1 eps = *eps1

◆ eps1

doublereal* eps1

◆ fdiff

fdiff = zero
static

Referenced by if().

◆ fdiffa

fdiffa = zero
static

◆ g

g = g_offset

◆ g_dim1

g_dim1 = *nmax

Referenced by if().

◆ g_offset

g_offset = g_dim1 + 1

◆ ga

ga = w[ir - 1] / sum
static

◆ gb

gb = w[ir] / sum
static

Referenced by if().

◆ grad

grad

◆ i

static integer i = *nact
static

Referenced by Optimization::Solver::PLDPSolver::BackwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::BackwardSubstitution(), PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities(), PatternGeneratorJRL::RelativeFeetInequalities::CallMethod(), PatternGeneratorJRL::Polynome::Compute(), PatternGeneratorJRL::RigidBodySystem::compute_dyn_cjerk(), 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(), Optimization::Solver::PLDPSolver::ForwardSubstitution(), Optimization::Solver::PLDPSolverHerdt::ForwardSubstitution(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FreePolynomes(), PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::GetStrategyForPCStages(), PatternGeneratorJRL::StepOverSpline::GetValueSpline(), PatternGeneratorJRL::StepOverClampedCubicSpline::GetValueSpline(), PatternGeneratorJRL::RigidBodySystem::initialize(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::InitializeSystem(), invertMatrix(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview(), 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::StepOverSpline::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::PreviewControl::ReadPrecomputedFile(), PatternGeneratorJRL::RelativeFeetInequalities::RelativeFeetInequalities(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetNumberOfIntervals(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::SetParameters(), PatternGeneratorJRL::StepOverClampedCubicSpline::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 if().

◆ i__2

i__2 = *n

Referenced by for(), and if().

◆ ia

ia = iwa + knext
static

Referenced by for(), and if().

◆ iact

iact[kdrop - 1] = knext

◆ id

integer id
static

Referenced by if().

◆ idiag

idiag = 0
static

◆ ifail

* ifail = 0

◆ ifinc

ifinc = 3
static

◆ iflag

integer iflag
static

◆ ii

integer ii
static

◆ il

il = iws + 1
static

◆ in

◆ info

◆ inw1

inw1 = 1
static

◆ inw2

inw2 = inw1 + *mmax
static

◆ iout

integer* iout

◆ ip

ip = iww + 1
static

◆ ipp

ipp = iww + *n
static

◆ iprint

integer * iprint

◆ 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

◆ itref

itref = 0
static

◆ iu

iu = iws + *nact
static

◆ iw

iw = iww + k1
static

Referenced by if().

◆ iwa

iwa = iwx + *nmax
static

◆ iwar

iwar

◆ 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

Referenced by if().

◆ iy

integer iy
static

◆ iz

iz = iwz + k1
static

Referenced by if().

◆ iza

iza = iwz + *nact * *n
static

◆ j

static integer j
static

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities(), PatternGeneratorJRL::RigidBodySystem::compute_dyn_cjerk(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed(), Optimization::Solver::PLDPSolver::ComputeInitialSolution(), Optimization::Solver::PLDPSolverHerdt::ComputeInitialSolution(), PatternGeneratorJRL::PreviewControl::ComputeOptimalWeights(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMPSpeed(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), for(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfCOGPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials(), if(), PatternGeneratorJRL::RigidBodySystem::initialize(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::InitializeSystem(), PatternGeneratorJRL::operator<<(), PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver(), Optimization::Solver::PLDPSolver::PrecomputeiPuPx(), Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx(), PatternGeneratorJRL::StepOverSpline::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::SetParameters(), PatternGeneratorJRL::StepOverClampedCubicSpline::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(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPPreviewControlWithMultiBodyZMP(), and PatternGeneratorJRL::RelativeFeetInequalities::~RelativeFeetInequalities().

◆ jfinc

jfinc = -kfinc
static

Referenced by if().

◆ jflag

jflag = 2
static

◆ jl

integer jl
static

◆ ju

integer ju
static

◆ k

◆ k1

k1 = knext - *m
static

Referenced by if().

◆ kdrop

kdrop = 0
static

Referenced by if().

◆ kfinc

kfinc = max(10,*n)
static

◆ kflag

integer kflag
static

◆ kk

integer kk
static

◆ knext

integer knext
static

◆ L170

goto L170

◆ L440

goto L440

Referenced by 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

Referenced by if().

◆ L740

goto L740

◆ L770

goto L770

◆ L775

goto L775

Referenced by if().

◆ L800

goto L800

◆ L860

goto L860

Referenced by switch().

◆ L880

goto L880

◆ L910

goto L910

◆ L930

goto L930

◆ lflag

lflag = 1
static

◆ liwar

if liwar
Initial value:
{
goto L81

◆ lower

logical lower
static

◆ lql

logical * lql = FALSE_
static

◆ lw

integer * lw
static

◆ lwar

integer* lwar

◆ m

if m
Initial value:
{
goto L20

◆ maxit

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

◆ me

int * me

◆ meq

int * meq

◆ mflag

mflag = 1
static

◆ mmax

int * mmax

Referenced by if().

◆ mn

int * mn = *m + *n
static

◆ mnn

int * mnn
Initial value:
{
goto L82

Referenced by if().

◆ n

◆ nact

if nact = 0
static

Referenced by if().

◆ nflag

nflag = 1
static

◆ nm

integer nm
static

◆ nmax

int * nmax

◆ nu

nu = *nact
static

◆ one

one = 1.
static

Referenced by if().

◆ onha

onha = 1.5
static

◆ parinc

parinc = ratio
static

Referenced by if().

◆ parnew

parnew = parinc
static

◆ qpeps

qpeps = cmache_1.eps
static

◆ ratio

doublereal ratio
static

Referenced by if().

◆ res

res = temp * res
static

Referenced by invertMatrix().

◆ return

return

◆ step

step = -res / sumy
static

◆ sum

sum = fdiffa + fdiff
static

Referenced by for(), and if().

◆ suma

suma = zero
static

◆ sumb

sumb = zero
static

◆ sumc

sumc = zero
static

◆ sumx

sumx = one
static

Referenced by if().

◆ sumy

doublereal sumy
static

◆ temp

temp = fdiffa + onha * fdiff
static

Referenced by if().

◆ tempa

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

◆ ten

ten = 10.
static

◆ two

two = 2.
static

◆ u

u

◆ vfact

vfact = 1.
static

◆ vsmall

doublereal* vsmall

◆ w

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

Referenced by sb02ox().

◆ war

war

◆ x

◆ xl

doublereal * xl

◆ xmag

xmag = zero
static

◆ xmagr

xmagr = .01
static

◆ xu

doublereal * xu

◆ zero

static doublereal zero = 0.
static

Referenced by for(), and if().