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Verified Commit 6b7bbcd7 authored by Justin Carpentier's avatar Justin Carpentier
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core: fix namespaces

parent df4b0232
Pipeline #17938 failed with stage
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include/eiquadprog/eiquadprog-fast.hpp
View file @ 6b7bbcd7
......@@ -57,12 +57,12 @@
#define DEFAULT_MAX_ITER 1000
#include "eiquadprog/eiquadprog-utils.hxx"
namespace eiquadprog {
namespace solvers {
#include "eiquadprog/eiquadprog-utils.hxx"
/**
* Possible states of the solver.
*/
......
include/eiquadprog/eiquadprog-rt.hpp
View file @ 6b7bbcd7
......@@ -20,6 +20,7 @@
#define __eiquadprog_rt_hpp__
#include <Eigen/Dense>
#include "eiquadprog/eiquadprog-utils.hxx"
#define OPTIMIZE_STEP_1_2 // compute s(x) = ci^T * x + ci0
#define OPTIMIZE_COMPUTE_D // use noalias
......@@ -71,7 +72,6 @@ namespace eiquadprog {
namespace solvers {
#include "eiquadprog/eiquadprog-utils.hxx"
/**
* Possible states of the solver.
*/
......
include/eiquadprog/eiquadprog-rt.hxx
View file @ 6b7bbcd7
......@@ -67,7 +67,7 @@ bool RtEiquadprog<nVars, nEqCon, nIneqCon>::add_constraint(
columns. The i - 1 element of d has to be updated to h. */
cc = d(j - 1);
ss = d(j);
h = distance(cc, ss);
h = utils::distance(cc, ss);
if (h == 0.0)
continue;
d(j) = 0.0;
......@@ -162,7 +162,7 @@ void RtEiquadprog<nVars, nEqCon, nIneqCon>::delete_constraint(
for (j = qq; j < iq; j++) {
cc = R(j, j);
ss = R(j + 1, j);
h = distance(cc, ss);
h = utils::distance(cc, ss);
if (h == 0.0)
continue;
cc = cc / h;
......@@ -249,7 +249,7 @@ RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
c2 = m_J.trace();
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("m_J", m_J, nVars);
utils::print_matrix("m_J", m_J, nVars);
#endif
/* c1 * c2 is an estimate for cond(Hess) */
......@@ -275,7 +275,7 @@ RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
f_value = 0.5 * g0.dot(x);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Unconstrained solution: " << f_value << std::endl;
print_vector("x", x, nVars);
utils::print_vector("x", x, nVars);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_1_UNCONSTR_MINIM);
......@@ -293,10 +293,10 @@ RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
update_r(R, r, d, iq);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, iq);
print_vector("z", z, nVars);
print_vector("r", r, iq);
print_vector("d", d, nVars);
utils::print_matrix("R", R, iq);
utils::print_vector("z", z, nVars);
utils::print_vector("r", r, iq);
utils::print_vector("d", d, nVars);
#endif
/* compute full step length t2: i.e., the minimum step in primal space s.t.
......@@ -378,7 +378,7 @@ l1:
}
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("x", x, nVars);
utils::print_vector("x", x, nVars);
#endif
/* step 1: choose a violated constraint */
for (i = nEqCon; i < iq; i++) {
......@@ -406,7 +406,7 @@ l1:
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_1_2);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("s", s, nIneqCon);
utils::print_vector("s", s, nIneqCon);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_1);
......@@ -454,7 +454,7 @@ l2: /* Step 2: check for feasibility and determine a new S-pair */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Trying with constraint " << ip << std::endl;
print_vector("np", np, nVars);
utils::print_vector("np", np, nVars);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2);
......@@ -475,11 +475,11 @@ l2a: /* Step 2a: determine step direction */
update_r(R, r, d, iq);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Step direction z" << std::endl;
print_vector("z", z, nVars);
print_vector("r", r, iq + 1);
print_vector("u", u, iq + 1);
print_vector("d", d, nVars);
print_vector("A", A, iq + 1);
utils::print_vector("z", z, nVars);
utils::print_vector("r", r, iq + 1);
utils::print_vector("u", u, iq + 1);
utils::print_vector("d", d, nVars);
utils::print_vector("A", A, iq + 1);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2A);
......@@ -532,9 +532,9 @@ l2a: /* Step 2a: determine step direction */
delete_constraint(R, m_J, A, u, iq, l);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << " in dual space: " << f_value << std::endl;
print_vector("x", x, nVars);
print_vector("z", z, nVars);
print_vector("A", A, iq + 1);
utils::print_vector("x", x, nVars);
utils::print_vector("z", z, nVars);
utils::print_vector("A", A, iq + 1);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2C);
goto l2a;
......@@ -550,16 +550,16 @@ l2a: /* Step 2a: determine step direction */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << " in both spaces: " << f_value << std::endl;
print_vector("x", x, nVars);
print_vector("u", u, iq + 1);
print_vector("r", r, iq + 1);
print_vector("A", A, iq + 1);
utils::print_vector("x", x, nVars);
utils::print_vector("u", u, iq + 1);
utils::print_vector("r", r, iq + 1);
utils::print_vector("A", A, iq + 1);
#endif
if (t == t2) {
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Full step has taken " << t << std::endl;
print_vector("x", x, nVars);
utils::print_vector("x", x, nVars);
#endif
/* full step has taken */
/* add constraint ip to the active set*/
......@@ -567,8 +567,8 @@ l2a: /* Step 2a: determine step direction */
iaexcl(ip) = 0;
delete_constraint(R, m_J, A, u, iq, ip);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, nVars);
print_vector("A", A, iq);
utils::print_matrix("R", R, nVars);
utils::print_vector("A", A, iq);
#endif
for (i = 0; i < nIneqCon; i++)
iai(i) = i;
......@@ -583,8 +583,8 @@ l2a: /* Step 2a: determine step direction */
} else
iai(ip) = -1;
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, nVars);
print_vector("A", A, iq);
utils::print_matrix("R", R, nVars);
utils::print_vector("A", A, iq);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2C);
goto l1;
......@@ -600,10 +600,10 @@ l2a: /* Step 2a: determine step direction */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Partial step has taken " << t << std::endl;
print_vector("x", x, nVars);
print_matrix("R", R, nVars);
print_vector("A", A, iq);
print_vector("s", s, nIneqCon);
utils::print_vector("x", x, nVars);
utils::print_matrix("R", R, nVars);
utils::print_vector("A", A, iq);
utils::print_vector("s", s, nIneqCon);
#endif
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2C);
......
include/eiquadprog/eiquadprog-utils.hxx
View file @ 6b7bbcd7
......@@ -5,6 +5,7 @@
#include <iostream>
namespace eiquadprog {
namespace utils {
/// Compute sqrt(a^2 + b^2)
template <typename Scalar> inline Scalar distance(Scalar a, Scalar b) {
......@@ -22,14 +23,14 @@ template <typename Scalar> inline Scalar distance(Scalar a, Scalar b) {
}
template <class Derived>
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x, int n) {
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
std::cerr << name << x.transpose() << std::endl;
}
template <class Derived>
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x, int n) {
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
std::cerr << name << std::endl << x << std::endl;
}
} // namespace eiquadprog
}} // namespace eiquadprog::utils
#endif
src/eiquadprog-fast.cpp
View file @ 6b7bbcd7
......@@ -69,7 +69,7 @@ bool EiquadprogFast::add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d,
columns. The i - 1 element of d has to be updated to h. */
cc = d(j - 1);
ss = d(j);
h = distance(cc, ss);
h = utils::distance(cc, ss);
if (h == 0.0)
continue;
d(j) = 0.0;
......@@ -161,7 +161,7 @@ void EiquadprogFast::delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A,
for (j = qq; j < iq; j++) {
cc = R(j, j);
ss = R(j + 1, j);
h = distance(cc, ss);
h = utils::distance(cc, ss);
if (h == 0.0)
continue;
cc = cc / h;
......@@ -259,7 +259,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
c2 = m_J.trace();
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("m_J", m_J, nVars);
utils::print_matrix("m_J", m_J, nVars);
#endif
/* c1 * c2 is an estimate for cond(Hess) */
......@@ -287,7 +287,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
f_value = 0.5 * g0.dot(x);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Unconstrained solution: " << f_value << std::endl;
print_vector("x", x, nVars);
utils::print_vector("x", x, nVars);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1_UNCONSTR_MINIM);
......@@ -303,10 +303,10 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
update_r(R, r, d, iq);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, iq);
print_vector("z", z, nVars);
print_vector("r", r, iq);
print_vector("d", d, nVars);
utils::print_matrix("R", R, iq);
utils::print_vector("z", z, nVars);
utils::print_vector("r", r, iq);
utils::print_vector("d", d, nVars);
#endif
/* compute full step length t2: i.e.,
......@@ -391,7 +391,7 @@ l1:
START_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("x", x, nVars);
utils::print_vector("x", x, nVars);
#endif
/* step 1: choose a violated constraint */
for (i = nEqCon; i < iq; i++) {
......@@ -419,7 +419,7 @@ l1:
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1_2);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("s", s, nIneqCon);
utils::print_vector("s", s, nIneqCon);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1);
......@@ -466,7 +466,7 @@ l2: /* Step 2: check for feasibility and determine a new S-pair */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Trying with constraint " << ip << std::endl;
print_vector("np", np, nVars);
utils::print_vector("np", np, nVars);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2);
......@@ -487,11 +487,11 @@ l2a: /* Step 2a: determine step direction */
update_r(R, r, d, iq);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Step direction z" << std::endl;
print_vector("z", z, nVars);
print_vector("r", r, iq + 1);
print_vector("u", u, iq + 1);
print_vector("d", d, nVars);
print_vector("A", A, iq + 1);
utils::print_vector("z", z, nVars);
utils::print_vector("r", r, iq + 1);
utils::print_vector("u", u, iq + 1);
utils::print_vector("d", d, nVars);
utils::print_vector("A", A, iq + 1);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2A);
......@@ -544,9 +544,9 @@ l2a: /* Step 2a: determine step direction */
delete_constraint(R, m_J, A, u, nEqCon, iq, l);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << " in dual space: " << f_value << std::endl;
print_vector("x", x, nVars);
print_vector("z", z, nVars);
print_vector("A", A, iq + 1);
utils::print_vector("x", x, nVars);
utils::print_vector("z", z, nVars);
utils::print_vector("A", A, iq + 1);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2C);
goto l2a;
......@@ -562,16 +562,16 @@ l2a: /* Step 2a: determine step direction */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << " in both spaces: " << f_value << std::endl;
print_vector("x", x, nVars);
print_vector("u", u, iq + 1);
print_vector("r", r, iq + 1);
print_vector("A", A, iq + 1);
utils::print_vector("x", x, nVars);
utils::print_vector("u", u, iq + 1);
utils::print_vector("r", r, iq + 1);
utils::print_vector("A", A, iq + 1);
#endif
if (t == t2) {
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Full step has taken " << t << std::endl;
print_vector("x", x, nVars);
utils::print_vector("x", x, nVars);
#endif
/* full step has taken */
/* add constraint ip to the active set*/
......@@ -579,8 +579,8 @@ l2a: /* Step 2a: determine step direction */
iaexcl(ip) = 0;
delete_constraint(R, m_J, A, u, nEqCon, iq, ip);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, nVars);
print_vector("A", A, iq);
utils::print_matrix("R", R, nVars);
utils::print_vector("A", A, iq);
#endif
for (i = 0; i < nIneqCon; i++)
iai(i) = static_cast<VectorXi::Scalar>(i);
......@@ -595,8 +595,8 @@ l2a: /* Step 2a: determine step direction */
} else
iai(ip) = -1;
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, nVars);
print_vector("A", A, iq);
utils::print_matrix("R", R, nVars);
utils::print_vector("A", A, iq);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2C);
goto l1;
......@@ -609,10 +609,10 @@ l2a: /* Step 2a: determine step direction */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Partial step has taken " << t << std::endl;
print_vector("x", x, nVars);
print_matrix("R", R, nVars);
print_vector("A", A, iq);
print_vector("s", s, nIneqCon);
utils::print_vector("x", x, nVars);
utils::print_matrix("R", R, nVars);
utils::print_vector("A", A, iq);
utils::print_vector("s", s, nIneqCon);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2C);
......
src/eiquadprog.cpp
View file @ 6b7bbcd7
......@@ -101,7 +101,7 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
chol.matrixU().solveInPlace(J);
c2 = J.trace();
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("J", J, n);
utils::print_matrix("J", J, n);
#endif
/* c1 * c2 is an estimate for cond(G) */
......@@ -117,7 +117,7 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
f_value = 0.5 * g0.dot(x);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Unconstrained solution: " << f_value << std::endl;
print_vector("x", x, n);
utils::print_vector("x", x, n);
#endif
/* Add equality constraints to the working set A */
......@@ -128,10 +128,10 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
update_z(z, J, d, iq);
update_r(R, r, d, iq);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, iq);
print_vector("z", z, n);
print_vector("r", r, iq);
print_vector("d", d, n);
utils::print_matrix("R", R, iq);
utils::print_vector("z", z, n);
utils::print_vector("r", r, iq);
utils::print_vector("d", d, n);
#endif
/* compute full step length t2: i.e., the minimum step in primal space s.t.
......@@ -165,7 +165,7 @@ double solve_quadprog(LLT<MatrixXd, Lower> &chol, double c1, VectorXd &g0,
l1:
iter++;
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("x", x, n);
utils::print_vector("x", x, n);
#endif
/* step 1: choose a violated constraint */
for (i = me; i < iq; i++) {
......@@ -184,7 +184,7 @@ l1:
psi += std::min(0.0, sum);
}
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("s", s, mi);
utils::print_vector("s", s, mi);
#endif
if (std::abs(psi) <= static_cast<double>(mi) *
......@@ -221,7 +221,7 @@ l2: /* Step 2: check for feasibility and determine a new S-pair */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Trying with constraint " << ip << std::endl;
print_vector("np", np, n);
utils::print_vector("np", np, n);
#endif
l2a: /* Step 2a: determine step direction */
......@@ -234,11 +234,11 @@ l2a: /* Step 2a: determine step direction */
update_r(R, r, d, iq);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Step direction z" << std::endl;
print_vector("z", z, n);
print_vector("r", r, iq + 1);
print_vector("u", u, iq + 1);
print_vector("d", d, n);
print_vector("A", A, iq + 1);
utils::print_vector("z", z, n);
utils::print_vector("r", r, iq + 1);
utils::print_vector("u", u, iq + 1);
utils::print_vector("d", d, n);
utils::print_vector("A", A, iq + 1);
#endif
/* Step 2b: compute step length */
......@@ -287,9 +287,9 @@ l2a: /* Step 2a: determine step direction */
delete_constraint(R, J, A, u, p, iq, l);
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << " in dual space: " << f_value << std::endl;
print_vector("x", x, n);
print_vector("z", z, n);
print_vector("A", A, iq + 1);
utils::print_vector("x", x, n);
utils::print_vector("z", z, n);
utils::print_vector("A", A, iq + 1);
#endif
goto l2a;
}
......@@ -304,16 +304,16 @@ l2a: /* Step 2a: determine step direction */
u(iq) += t;
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << " in both spaces: " << f_value << std::endl;
print_vector("x", x, n);
print_vector("u", u, iq + 1);
print_vector("r", r, iq + 1);
print_vector("A", A, iq + 1);
utils::print_vector("x", x, n);
utils::print_vector("u", u, iq + 1);
utils::print_vector("r", r, iq + 1);
utils::print_vector("A", A, iq + 1);
#endif
if (t == t2) {
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Full step has taken " << t << std::endl;
print_vector("x", x, n);
utils::print_vector("x", x, n);
#endif
/* full step has taken */
/* add constraint ip to the active set*/
......@@ -321,8 +321,8 @@ l2a: /* Step 2a: determine step direction */
iaexcl(ip) = 0;
delete_constraint(R, J, A, u, p, iq, ip);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, n);
print_vector("A", A, iq);
utils::print_matrix("R", R, n);
utils::print_vector("A", A, iq);
#endif
for (i = 0; i < m; i++)
iai(i) = static_cast<VectorXi::Scalar>(i);
......@@ -336,8 +336,8 @@ l2a: /* Step 2a: determine step direction */
} else
iai(ip) = -1;
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, n);
print_vector("A", A, iq);
utils::print_matrix("R", R, n);
utils::print_vector("A", A, iq);
#endif
goto l1;
}
......@@ -345,20 +345,20 @@ l2a: /* Step 2a: determine step direction */
/* a patial step has taken */
#ifdef EIQGUADPROG_TRACE_SOLVER
std::cerr << "Partial step has taken " << t << std::endl;
print_vector("x", x, n);
utils::print_vector("x", x, n);
#endif
/* drop constraint l */
iai(l) = static_cast<VectorXi::Scalar>(l);
delete_constraint(R, J, A, u, p, iq, l);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_matrix("R", R, n);
print_vector("A", A, iq);
utils::print_matrix("R", R, n);
utils::print_vector("A", A, iq);
#endif
s(ip) = CI.col(ip).dot(x) + ci0(ip);
#ifdef EIQGUADPROG_TRACE_SOLVER
print_vector("s", s, mi);
utils::print_vector("s", s, mi);
#endif
goto l2a;
}
......@@ -387,7 +387,7 @@ bool add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d, size_t &iq,
The i - 1 element of d has to be updated to h. */
cc = d(j - 1);
ss = d(j);
h = distance(cc, ss);
h = utils::distance(cc, ss);
if (h == 0.0)
continue;
d(j) = 0.0;
......@@ -465,7 +465,7 @@ void delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A, VectorXd &u,
for (j = qq; j < iq; j++) {
cc = R(j, j);
ss = R(j + 1, j);
h = distance(cc, ss);
h = utils::distance(cc, ss);
if (h == 0.0)
continue;
cc = cc / h;
......
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