qpOASES  3.2.2
An Implementation of the Online Active Set Strategy
qrecipe_data.hpp
1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
6  * Christian Kirches et al. All rights reserved.
7  *
8  * qpOASES is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU Lesser General Public
10  * License as published by the Free Software Foundation; either
11  * version 2.1 of the License, or (at your option) any later version.
12  *
13  * qpOASES is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16  * See the GNU Lesser General Public License for more details.
17  *
18  * You should have received a copy of the GNU Lesser General Public
19  * License along with qpOASES; if not, write to the Free Software
20  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21  *
22  */
23 
24 
35 USING_NAMESPACE_QPOASES
36 
37 
38 #define NV 180
39 #define NC 91
40 
41 
42 const real_t Inf = INFTY;
43 
44 sparse_int_t H_cp[] = { 0, 4, 8, 12, 16, 20, 20, 20, 20, 20, 20,
45  24, 28, 32, 36, 40, 40, 40, 40, 40, 40,
46  44, 48, 52, 56, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60,
47  64, 68, 72, 76, 80, 80, 80, 80, 80, 80,
48  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
49  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
50  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
51  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
52  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
53  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
54  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
55  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
56  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
57  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
58  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
59  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
60  80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
61  80, 80, 80, 80, 80, 80 };
62 
63 sparse_int_t H_ri[] = {
64  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
65  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
66  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
67  0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38};
68 
69 real_t H_val[] = {10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1,
70  1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1,
71  10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1, 10, 1,
72  1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10};
73 
74 sparse_int_t A_cp[] = {
75  0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120,
76  130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270,
77  280, 290, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312,
78  313, 314, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 331,
79  333, 335, 337, 339, 341, 343, 345, 347, 349, 351, 353, 355, 357, 359, 361,
80  363, 365, 367, 369, 371, 373, 383, 393, 403, 405, 408, 410, 413, 415, 418,
81  420, 422, 424, 426, 428, 430, 432, 434, 436, 438, 440, 442, 444, 446, 448,
82  450, 452, 454, 456, 458, 460, 462, 472, 482, 492, 494, 497, 499, 502, 504,
83  507, 509, 511, 513, 515, 517, 519, 521, 523, 525, 527, 529, 531, 533, 535,
84  537, 539, 541, 543, 545, 547, 549, 551, 561, 571, 581, 583, 586, 588, 591,
85  593, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609,
86  610, 611, 612, 613, 614, 615, 616, 617, 618, 628, 638, 648, 650, 653, 655,
87  658, 660, 663};
88 
89 sparse_int_t A_ri[] = {0, 14, 35, 36, 71, 72, 85, 86, 87, 88, 1, 14, 35, 36, 71, 72, 85,
90  86, 87, 88, 2, 14, 35, 36, 71, 72, 85, 86, 87, 88, 3, 14, 35, 36, 71, 72,
91  85, 86, 87, 88, 4, 14, 35, 36, 71, 72, 85, 86, 87, 88, 5, 14, 35, 36, 71,
92  72, 85, 86, 87, 88, 6, 14, 35, 36, 71, 72, 85, 86, 87, 88, 7, 14, 35, 36,
93  71, 72, 85, 86, 87, 88, 8, 14, 35, 36, 71, 72, 85, 86, 87, 88, 9, 14, 35,
94  36, 71, 72, 85, 86, 87, 88, 0, 15, 37, 38, 69, 70, 79, 80, 81, 82, 1, 15,
95  37, 38, 69, 70, 79, 80, 81, 82, 2, 15, 37, 38, 69, 70, 79, 80, 81, 82, 3,
96  15, 37, 38, 69, 70, 79, 80, 81, 82, 4, 15, 37, 38, 69, 70, 79, 80, 81, 82,
97  5, 15, 37, 38, 69, 70, 79, 80, 81, 82, 6, 15, 37, 38, 69, 70, 79, 80, 81,
98  82, 7, 15, 37, 38, 69, 70, 79, 80, 81, 82, 8, 15, 37, 38, 69, 70, 79, 80,
99  81, 82, 9, 15, 37, 38, 69, 70, 79, 80, 81, 82, 0, 16, 39, 40, 67, 68, 73,
100  74, 75, 76, 1, 16, 39, 40, 67, 68, 73, 74, 75, 76, 2, 16, 39, 40, 67, 68,
101  73, 74, 75, 76, 3, 16, 39, 40, 67, 68, 73, 74, 75, 76, 4, 16, 39, 40, 67,
102  68, 73, 74, 75, 76, 5, 16, 39, 40, 67, 68, 73, 74, 75, 76, 6, 16, 39, 40,
103  67, 68, 73, 74, 75, 76, 7, 16, 39, 40, 67, 68, 73, 74, 75, 76, 8, 16, 39,
104  40, 67, 68, 73, 74, 75, 76, 9, 16, 39, 40, 67, 68, 73, 74, 75, 76, 10, 11,
105  12, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 47, 48, 49, 50, 51,
106  52, 53, 54, 55, 56, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62, 52, 63, 53,
107  64, 54, 65, 55, 66, 46, 56, 45, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62,
108  52, 63, 53, 64, 54, 65, 55, 66, 46, 56, 45, 57, 10, 14, 71, 72, 85, 86, 87,
109  88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74,
110  75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78,
111  44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65, 30, 66, 29,
112  46, 28, 45, 44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65,
113  30, 66, 29, 46, 28, 45, 10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69,
114  70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90,
115  36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78, 27, 44, 26, 43, 25, 42,
116  24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28, 27, 44, 26,
117  43, 25, 42, 24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28,
118  10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83,
119  84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38,
120  83, 84, 39, 78, 40, 77, 78, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 27,
121  26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 10, 14, 71, 72, 85, 86, 87, 88, 89,
122  90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76,
123  77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78};
124 
125 real_t A_val[] = {
126 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.8678200000000004e+01,
127  9.3617050000000006e+01, 1.6000000000000000e+01, 8.1999999999999993e+00,
128  9.9000000000000000e+01, 8.0000000000000000e+01, 1.2000000000000000e+01,
129  9.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
130  8.0062830000000005e+01, 9.9224010000000007e+01, 1.0000000000000000e+02,
131  2.1100000000000001e+01, 1.0000000000000000e+02, 1.0000000000000000e+02,
132  1.1400000000000000e+02, 1.1680000000000000e+02, -1.0000000000000000e+00,
133  1.0000000000000000e+00, 7.4697360000000003e+01, 8.3801220000000001e+01,
134 -8.1999999999999993e+00, 2.0000000000000000e+00, 9.0000000000000000e+01,
135  2.3999999999999999e+00, -1.2000000000000000e+01, -1.4800000000000001e+01,
136 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.9194209999999998e+01,
137  9.0175110000000004e+01, 4.3000000000000000e+01, 8.0000000000000000e+00,
138  1.0000000000000000e+02, 9.5000000000000000e+01, 9.0000000000000000e+00,
139  2.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
140  7.8568219999999997e+01, 8.5996200000000002e+01, -1.2500000000000000e+01,
141  1.0000000000000000e+00, 9.6500000000000000e+01, 4.0000000000000000e+00,
142 -1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
143  1.0000000000000000e+00, 8.2922240000000002e+01, 8.6963380000000001e+01,
144  6.5000000000000000e+01, 1.2500000000000000e+01, 1.0000000000000000e+02,
145  9.8000000000000000e+01, 4.9000000000000000e+01, 3.7000000000000000e+01,
146 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.2592740000000006e+01,
147  9.3147599999999997e+01, -1.2000000000000000e+01, 1.0000000000000000e+00,
148  9.6500000000000000e+01, 4.0000000000000000e+00, -1.8000000000000000e+01,
149 -2.1899999999999999e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
150  7.6506460000000004e+01, 7.8210250000000002e+01, 7.9000000000000000e+01,
151  1.2000000000000000e+01, 1.0000000000000000e+02, 9.5000000000000000e+01,
152  6.8000000000000000e+01, 6.1000000000000000e+01, -1.0000000000000000e+00,
153  1.0000000000000000e+00, 8.8357460000000003e+01, 9.4257840000000002e+01,
154  1.2500000000000000e+02, 6.1299999999999997e+01, 1.0000000000000000e+02,
155  1.0000000000000000e+02, 1.4500000000000000e+02, 1.4500000000000000e+02,
156 -1.0000000000000000e+00, 1.0000000000000000e+00, 9.0590469999999996e+01,
157  1.0582863000000000e+02, 6.2000000000000002e+00, 6.0000000000000000e+00,
158  9.7000000000000000e+01, 2.8500000000000000e+01, 4.0000000000000000e+00,
159  3.6000000000000001e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
160  8.8678200000000004e+01, 9.3617050000000006e+01, 1.6000000000000000e+01,
161  8.1999999999999993e+00, 9.9000000000000000e+01, 8.0000000000000000e+01,
162  1.2000000000000000e+01, 9.0000000000000000e+00, -1.0000000000000000e+00,
163  1.0000000000000000e+00, 8.0062830000000005e+01, 9.9224010000000007e+01,
164  1.0000000000000000e+02, 2.1100000000000001e+01, 1.0000000000000000e+02,
165  1.0000000000000000e+02, 1.1400000000000000e+02, 1.1680000000000000e+02,
166 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.4697360000000003e+01,
167  8.3801220000000001e+01, -8.1999999999999993e+00, 2.0000000000000000e+00,
168  9.0000000000000000e+01, 2.3999999999999999e+00, -1.2000000000000000e+01,
169 -1.4800000000000001e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
170  7.9194209999999998e+01, 9.0175110000000004e+01, 4.3000000000000000e+01,
171  8.0000000000000000e+00, 1.0000000000000000e+02, 9.5000000000000000e+01,
172  9.0000000000000000e+00, 2.0000000000000000e+00, -1.0000000000000000e+00,
173  1.0000000000000000e+00, 7.8568219999999997e+01, 8.5996200000000002e+01,
174 -1.2500000000000000e+01, 1.0000000000000000e+00, 9.6500000000000000e+01,
175  4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
176 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.2922240000000002e+01,
177  8.6963380000000001e+01, 6.5000000000000000e+01, 1.2500000000000000e+01,
178  1.0000000000000000e+02, 9.8000000000000000e+01, 4.9000000000000000e+01,
179  3.7000000000000000e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
180  8.2592740000000006e+01, 9.3147599999999997e+01, -1.2000000000000000e+01,
181  1.0000000000000000e+00, 9.6500000000000000e+01, 4.0000000000000000e+00,
182 -1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
183  1.0000000000000000e+00, 7.6506460000000004e+01, 7.8210250000000002e+01,
184  7.9000000000000000e+01, 1.2000000000000000e+01, 1.0000000000000000e+02,
185  9.5000000000000000e+01, 6.8000000000000000e+01, 6.1000000000000000e+01,
186 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.8357460000000003e+01,
187  9.4257840000000002e+01, 1.2500000000000000e+02, 6.1299999999999997e+01,
188  1.0000000000000000e+02, 1.0000000000000000e+02, 1.4500000000000000e+02,
189  1.4500000000000000e+02, -1.0000000000000000e+00, 1.0000000000000000e+00,
190  9.0590469999999996e+01, 1.0582863000000000e+02, 6.2000000000000002e+00,
191  6.0000000000000000e+00, 9.7000000000000000e+01, 2.8500000000000000e+01,
192  4.0000000000000000e+00, 3.6000000000000001e+00, -1.0000000000000000e+00,
193  1.0000000000000000e+00, 8.8678200000000004e+01, 9.3617050000000006e+01,
194  1.6000000000000000e+01, 8.1999999999999993e+00, 9.9000000000000000e+01,
195  8.0000000000000000e+01, 1.2000000000000000e+01, 9.0000000000000000e+00,
196 -1.0000000000000000e+00, 1.0000000000000000e+00, 8.0062830000000005e+01,
197  9.9224010000000007e+01, 1.0000000000000000e+02, 2.1100000000000001e+01,
198  1.0000000000000000e+02, 1.0000000000000000e+02, 1.1400000000000000e+02,
199  1.1680000000000000e+02, -1.0000000000000000e+00, 1.0000000000000000e+00,
200  7.4697360000000003e+01, 8.3801220000000001e+01, -8.1999999999999993e+00,
201  2.0000000000000000e+00, 9.0000000000000000e+01, 2.3999999999999999e+00,
202 -1.2000000000000000e+01, -1.4800000000000001e+01, -1.0000000000000000e+00,
203  1.0000000000000000e+00, 7.9194209999999998e+01, 9.0175110000000004e+01,
204  4.3000000000000000e+01, 8.0000000000000000e+00, 1.0000000000000000e+02,
205  9.5000000000000000e+01, 9.0000000000000000e+00, 2.0000000000000000e+00,
206 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.8568219999999997e+01,
207  8.5996200000000002e+01, -1.2500000000000000e+01, 1.0000000000000000e+00,
208  9.6500000000000000e+01, 4.0000000000000000e+00, -1.8000000000000000e+01,
209 -2.1899999999999999e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
210  8.2922240000000002e+01, 8.6963380000000001e+01, 6.5000000000000000e+01,
211  1.2500000000000000e+01, 1.0000000000000000e+02, 9.8000000000000000e+01,
212  4.9000000000000000e+01, 3.7000000000000000e+01, -1.0000000000000000e+00,
213  1.0000000000000000e+00, 8.2592740000000006e+01, 9.3147599999999997e+01,
214 -1.2000000000000000e+01, 1.0000000000000000e+00, 9.6500000000000000e+01,
215  4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
216 -1.0000000000000000e+00, 1.0000000000000000e+00, 7.6506460000000004e+01,
217  7.8210250000000002e+01, 7.9000000000000000e+01, 1.2000000000000000e+01,
218  1.0000000000000000e+02, 9.5000000000000000e+01, 6.8000000000000000e+01,
219  6.1000000000000000e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
220  8.8357460000000003e+01, 9.4257840000000002e+01, 1.2500000000000000e+02,
221  6.1299999999999997e+01, 1.0000000000000000e+02, 1.0000000000000000e+02,
222  1.4500000000000000e+02, 1.4500000000000000e+02, -1.0000000000000000e+00,
223  1.0000000000000000e+00, 9.0590469999999996e+01, 1.0582863000000000e+02,
224  6.2000000000000002e+00, 6.0000000000000000e+00, 9.7000000000000000e+01,
225  2.8500000000000000e+01, 4.0000000000000000e+00, 3.6000000000000001e+00,
226 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
227 -1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
228  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
229  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
230  1.0000000000000000e+00, 1.0000000000000000e+00, -1.2000000000000000e-01,
231 -3.8000000000000000e-01, -5.0000000000000000e-01, 1.0000000000000000e+00,
232  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
233  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
234  1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
235  1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
236  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
237 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
238  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
239 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
240  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
241 -1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
242 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
243 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
244  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
245 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
246  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
247 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
248  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
249  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
250 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
251 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
252 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
253 -9.3000000000000000e+01, -8.9000000000000000e+01, 1.0000000000000000e+00,
254 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
255 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
256 -1.0000000000000000e+01, -8.9000000000000000e+01, -8.5000000000000000e+01,
257  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
258 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
259 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.1000000000000000e+01,
260 -8.8000000000000000e+01, -1.0000000000000000e+00, 5.0000000000000000e-01,
261 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
262 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
263  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
264  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
265  5.0000000000000000e-01, 1.0000000000000000e+00, -1.0000000000000000e+00,
266  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
267 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
268  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
269 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
270  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
271 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
272  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
273 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
274  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
275 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
276  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
277 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
278  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
279 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
280  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
281 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
282 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
283 -8.9000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
284 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
285 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
286 -8.9000000000000000e+01, -8.5000000000000000e+01, 1.0000000000000000e+00,
287 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
288 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
289 -1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
290 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
291  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
292  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
293  5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
294 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
295  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
296 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
297  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
298 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
299  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
300 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
301  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
302 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
303  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
304 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
305  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
306 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
307  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
308 -1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
309  1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
310 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
311 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
312 -1.0000000000000000e+01, -9.3000000000000000e+01, -8.9000000000000000e+01,
313  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
314 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
315 -1.0000000000000000e+01, -1.0000000000000000e+01, -8.9000000000000000e+01,
316 -8.5000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
317 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
318 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
319 -9.1000000000000000e+01, -8.8000000000000000e+01, -1.0000000000000000e+00,
320  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
321  5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
322 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
323 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
324  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
325 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
326 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
327 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
328 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
329 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
330 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
331 -1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
332  1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
333 -8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
334 -1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
335 -8.9000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
336 -4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
337 -5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
338 -8.9000000000000000e+01, -8.5000000000000000e+01, 1.0000000000000000e+00,
339 -1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
340 -9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
341 -1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
342 -1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
343  1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
344  5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
345  5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
346 -1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01};
347 
348 real_t g[] = {+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
349  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
350  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
351  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
352  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
353  +0e+00, +0e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00,
354  -2e+00, +0e+00, -2e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
355  +2e-03, +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03,
356  -2e-03, -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00,
357  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +2e-03,
358  +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +1e-03, +2e-03, +2e-03, +2e-03,
359  +0e+00, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -1e-03, -2e-03,
360  -2e-03, -2e-03, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
361  +0e+00, +0e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
362  +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03, -2e-03,
363  -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00, +0e+00,
364  +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +1e-01, +1e-01,
365  +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +0e+00,
366  -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01,
367  -1e-01, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
368  +0e+00};
369 
370 real_t lb[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
371  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
372  0, 0, 0, -Inf, 0, -Inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5,
373  10, 5, 0, 10, 0, 2, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
374  0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0,
375  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0,
376  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
377  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
378 
379 real_t ub[] = {Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
380  Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
381  Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
382  Inf, Inf, 0, 92, 39, 87, 29, 0, 20, 0, 28, 20, 71, Inf, 130, 45, 53, 55, 75,
383  112, 0, 73, 480, 154, 121, 50, 30, 77, 20, 0, 18, 0, 5, 20, 71, Inf, Inf,
384  Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, 130, 55, 93, 60, 75, 115, 0, 67,
385  480, 154, 121, 50, 20, 37, 15, 0, 15, 0, 8, 20, 71, Inf, Inf, Inf, Inf, Inf,
386  Inf, Inf, Inf, Inf, Inf, 130, 55, 93, 60, 75, 105, 0, 67, 4980, 154, 110,
387  50, 20, 37, 15, 0, 25, 0, 8, 20, 71, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
388  Inf, Inf, 20, 20, 20, 20, 0, 20, 0, 20, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
389  0, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf};
390 
391 real_t lbA[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
392  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
393  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -Inf, -Inf,
394  -Inf, -Inf, -Inf, -Inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
395  0};
396 
397 real_t ubA[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
398  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
399  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
400  0, 0, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf, Inf,
401  Inf, Inf, Inf, Inf};
402 
403 long H_nnz = (long) sizeof(H_val) / (long) sizeof(real_t);
404 long A_nnz = (long) sizeof(A_val) / (long) sizeof(real_t);
USING_NAMESPACE_QPOASES
#define USING_NAMESPACE_QPOASES
Definition: Types.hpp:113
INFTY
const real_t INFTY
Definition: Constants.hpp:61
real_t
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition: Types.hpp:171
sparse_int_t
int_t sparse_int_t
Definition: Types.hpp:199
Generated on Thu Feb 12 2026 17:11:42 for qpOASES by   doxygen 1.8.13