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jcarpentjcarpent
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core: fix namespaces
1 parent df4b023 commit 6b7bbcd

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6 files changed

+103
-102
lines changed

6 files changed

+103
-102
lines changed

‎include/eiquadprog/eiquadprog-fast.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -57,12 +57,12 @@
5757

5858
#define DEFAULT_MAX_ITER 1000
5959

60+
#include "eiquadprog/eiquadprog-utils.hxx"
61+
6062
namespace eiquadprog {
6163

6264
namespace solvers {
6365

64-
#include "eiquadprog/eiquadprog-utils.hxx"
65-
6666
/**
6767
* Possible states of the solver.
6868
*/

‎include/eiquadprog/eiquadprog-rt.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -20,6 +20,7 @@
2020
#define __eiquadprog_rt_hpp__
2121

2222
#include <Eigen/Dense>
23+
#include "eiquadprog/eiquadprog-utils.hxx"
2324

2425
#define OPTIMIZE_STEP_1_2 // compute s(x) = ci^T * x + ci0
2526
#define OPTIMIZE_COMPUTE_D // use noalias
@@ -71,7 +72,6 @@ namespace eiquadprog {
7172

7273
namespace solvers {
7374

74-
#include "eiquadprog/eiquadprog-utils.hxx"
7575
/**
7676
* Possible states of the solver.
7777
*/

‎include/eiquadprog/eiquadprog-rt.hxx‎

Lines changed: 32 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -67,7 +67,7 @@ bool RtEiquadprog<nVars, nEqCon, nIneqCon>::add_constraint(
6767
columns. The i - 1 element of d has to be updated to h. */
6868
cc = d(j - 1);
6969
ss = d(j);
70-
h = distance(cc, ss);
70+
h = utils::distance(cc, ss);
7171
if (h == 0.0)
7272
continue;
7373
d(j) = 0.0;
@@ -162,7 +162,7 @@ void RtEiquadprog<nVars, nEqCon, nIneqCon>::delete_constraint(
162162
for (j = qq; j < iq; j++) {
163163
cc = R(j, j);
164164
ss = R(j + 1, j);
165-
h = distance(cc, ss);
165+
h = utils::distance(cc, ss);
166166
if (h == 0.0)
167167
continue;
168168
cc = cc / h;
@@ -249,7 +249,7 @@ RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
249249

250250
c2 = m_J.trace();
251251
#ifdef EIQGUADPROG_TRACE_SOLVER
252-
print_matrix("m_J", m_J, nVars);
252+
utils::print_matrix("m_J", m_J, nVars);
253253
#endif
254254

255255
/* c1 * c2 is an estimate for cond(Hess) */
@@ -275,7 +275,7 @@ RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
275275
f_value = 0.5 * g0.dot(x);
276276
#ifdef EIQGUADPROG_TRACE_SOLVER
277277
std::cerr << "Unconstrained solution: " << f_value << std::endl;
278-
print_vector("x", x, nVars);
278+
utils::print_vector("x", x, nVars);
279279
#endif
280280
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_1_UNCONSTR_MINIM);
281281

@@ -293,10 +293,10 @@ RtEiquadprog_status RtEiquadprog<nVars, nEqCon, nIneqCon>::solve_quadprog(
293293
update_r(R, r, d, iq);
294294

295295
#ifdef EIQGUADPROG_TRACE_SOLVER
296-
print_matrix("R", R, iq);
297-
print_vector("z", z, nVars);
298-
print_vector("r", r, iq);
299-
print_vector("d", d, nVars);
296+
utils::print_matrix("R", R, iq);
297+
utils::print_vector("z", z, nVars);
298+
utils::print_vector("r", r, iq);
299+
utils::print_vector("d", d, nVars);
300300
#endif
301301

302302
/* compute full step length t2: i.e., the minimum step in primal space s.t.
@@ -378,7 +378,7 @@ l1:
378378
}
379379

380380
#ifdef EIQGUADPROG_TRACE_SOLVER
381-
print_vector("x", x, nVars);
381+
utils::print_vector("x", x, nVars);
382382
#endif
383383
/* step 1: choose a violated constraint */
384384
for (i = nEqCon; i < iq; i++) {
@@ -406,7 +406,7 @@ l1:
406406
#endif
407407
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_1_2);
408408
#ifdef EIQGUADPROG_TRACE_SOLVER
409-
print_vector("s", s, nIneqCon);
409+
utils::print_vector("s", s, nIneqCon);
410410
#endif
411411

412412
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_1);
@@ -454,7 +454,7 @@ l2: /* Step 2: check for feasibility and determine a new S-pair */
454454

455455
#ifdef EIQGUADPROG_TRACE_SOLVER
456456
std::cerr << "Trying with constraint " << ip << std::endl;
457-
print_vector("np", np, nVars);
457+
utils::print_vector("np", np, nVars);
458458
#endif
459459
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2);
460460

@@ -475,11 +475,11 @@ l2a: /* Step 2a: determine step direction */
475475
update_r(R, r, d, iq);
476476
#ifdef EIQGUADPROG_TRACE_SOLVER
477477
std::cerr << "Step direction z" << std::endl;
478-
print_vector("z", z, nVars);
479-
print_vector("r", r, iq + 1);
480-
print_vector("u", u, iq + 1);
481-
print_vector("d", d, nVars);
482-
print_vector("A", A, iq + 1);
478+
utils::print_vector("z", z, nVars);
479+
utils::print_vector("r", r, iq + 1);
480+
utils::print_vector("u", u, iq + 1);
481+
utils::print_vector("d", d, nVars);
482+
utils::print_vector("A", A, iq + 1);
483483
#endif
484484
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2A);
485485

@@ -532,9 +532,9 @@ l2a: /* Step 2a: determine step direction */
532532
delete_constraint(R, m_J, A, u, iq, l);
533533
#ifdef EIQGUADPROG_TRACE_SOLVER
534534
std::cerr << " in dual space: " << f_value << std::endl;
535-
print_vector("x", x, nVars);
536-
print_vector("z", z, nVars);
537-
print_vector("A", A, iq + 1);
535+
utils::print_vector("x", x, nVars);
536+
utils::print_vector("z", z, nVars);
537+
utils::print_vector("A", A, iq + 1);
538538
#endif
539539
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2C);
540540
goto l2a;
@@ -550,25 +550,25 @@ l2a: /* Step 2a: determine step direction */
550550

551551
#ifdef EIQGUADPROG_TRACE_SOLVER
552552
std::cerr << " in both spaces: " << f_value << std::endl;
553-
print_vector("x", x, nVars);
554-
print_vector("u", u, iq + 1);
555-
print_vector("r", r, iq + 1);
556-
print_vector("A", A, iq + 1);
553+
utils::print_vector("x", x, nVars);
554+
utils::print_vector("u", u, iq + 1);
555+
utils::print_vector("r", r, iq + 1);
556+
utils::print_vector("A", A, iq + 1);
557557
#endif
558558

559559
if (t == t2) {
560560
#ifdef EIQGUADPROG_TRACE_SOLVER
561561
std::cerr << "Full step has taken " << t << std::endl;
562-
print_vector("x", x, nVars);
562+
utils::print_vector("x", x, nVars);
563563
#endif
564564
/* full step has taken */
565565
/* add constraint ip to the active set*/
566566
if (!add_constraint(R, m_J, d, iq, R_norm)) {
567567
iaexcl(ip) = 0;
568568
delete_constraint(R, m_J, A, u, iq, ip);
569569
#ifdef EIQGUADPROG_TRACE_SOLVER
570-
print_matrix("R", R, nVars);
571-
print_vector("A", A, iq);
570+
utils::print_matrix("R", R, nVars);
571+
utils::print_vector("A", A, iq);
572572
#endif
573573
for (i = 0; i < nIneqCon; i++)
574574
iai(i) = i;
@@ -583,8 +583,8 @@ l2a: /* Step 2a: determine step direction */
583583
} else
584584
iai(ip) = -1;
585585
#ifdef EIQGUADPROG_TRACE_SOLVER
586-
print_matrix("R", R, nVars);
587-
print_vector("A", A, iq);
586+
utils::print_matrix("R", R, nVars);
587+
utils::print_vector("A", A, iq);
588588
#endif
589589
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2C);
590590
goto l1;
@@ -600,10 +600,10 @@ l2a: /* Step 2a: determine step direction */
600600

601601
#ifdef EIQGUADPROG_TRACE_SOLVER
602602
std::cerr << "Partial step has taken " << t << std::endl;
603-
print_vector("x", x, nVars);
604-
print_matrix("R", R, nVars);
605-
print_vector("A", A, iq);
606-
print_vector("s", s, nIneqCon);
603+
utils::print_vector("x", x, nVars);
604+
utils::print_matrix("R", R, nVars);
605+
utils::print_vector("A", A, iq);
606+
utils::print_vector("s", s, nIneqCon);
607607
#endif
608608
STOP_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_STEP_2C);
609609

‎include/eiquadprog/eiquadprog-utils.hxx‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,7 @@
55
#include <iostream>
66

77
namespace eiquadprog {
8+
namespace utils {
89

910
/// Compute sqrt(a^2 + b^2)
1011
template <typename Scalar> inline Scalar distance(Scalar a, Scalar b) {
@@ -22,14 +23,14 @@ template <typename Scalar> inline Scalar distance(Scalar a, Scalar b) {
2223
}
2324

2425
template <class Derived>
25-
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x, int n) {
26+
void print_vector(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
2627
std::cerr << name << x.transpose() << std::endl;
2728
}
2829
template <class Derived>
29-
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x, int n) {
30+
void print_matrix(const char *name, Eigen::MatrixBase<Derived> &x, int /*n*/) {
3031
std::cerr << name << std::endl << x << std::endl;
3132
}
3233

33-
} // namespace eiquadprog
34+
}} // namespace eiquadprog::utils
3435

3536
#endif

‎src/eiquadprog-fast.cpp‎

Lines changed: 32 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -69,7 +69,7 @@ bool EiquadprogFast::add_constraint(MatrixXd &R, MatrixXd &J, VectorXd &d,
6969
columns. The i - 1 element of d has to be updated to h. */
7070
cc = d(j - 1);
7171
ss = d(j);
72-
h = distance(cc, ss);
72+
h = utils::distance(cc, ss);
7373
if (h == 0.0)
7474
continue;
7575
d(j) = 0.0;
@@ -161,7 +161,7 @@ void EiquadprogFast::delete_constraint(MatrixXd &R, MatrixXd &J, VectorXi &A,
161161
for (j = qq; j < iq; j++) {
162162
cc = R(j, j);
163163
ss = R(j + 1, j);
164-
h = distance(cc, ss);
164+
h = utils::distance(cc, ss);
165165
if (h == 0.0)
166166
continue;
167167
cc = cc / h;
@@ -259,7 +259,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
259259

260260
c2 = m_J.trace();
261261
#ifdef EIQGUADPROG_TRACE_SOLVER
262-
print_matrix("m_J", m_J, nVars);
262+
utils::print_matrix("m_J", m_J, nVars);
263263
#endif
264264

265265
/* c1 * c2 is an estimate for cond(Hess) */
@@ -287,7 +287,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
287287
f_value = 0.5 * g0.dot(x);
288288
#ifdef EIQGUADPROG_TRACE_SOLVER
289289
std::cerr << "Unconstrained solution: " << f_value << std::endl;
290-
print_vector("x", x, nVars);
290+
utils::print_vector("x", x, nVars);
291291
#endif
292292
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1_UNCONSTR_MINIM);
293293

@@ -303,10 +303,10 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
303303
update_r(R, r, d, iq);
304304

305305
#ifdef EIQGUADPROG_TRACE_SOLVER
306-
print_matrix("R", R, iq);
307-
print_vector("z", z, nVars);
308-
print_vector("r", r, iq);
309-
print_vector("d", d, nVars);
306+
utils::print_matrix("R", R, iq);
307+
utils::print_vector("z", z, nVars);
308+
utils::print_vector("r", r, iq);
309+
utils::print_vector("d", d, nVars);
310310
#endif
311311

312312
/* compute full step length t2: i.e.,
@@ -391,7 +391,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
391391
START_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1);
392392

393393
#ifdef EIQGUADPROG_TRACE_SOLVER
394-
print_vector("x", x, nVars);
394+
utils::print_vector("x", x, nVars);
395395
#endif
396396
/* step 1: choose a violated constraint */
397397
for (i = nEqCon; i < iq; i++) {
@@ -419,7 +419,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
419419
#endif
420420
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1_2);
421421
#ifdef EIQGUADPROG_TRACE_SOLVER
422-
print_vector("s", s, nIneqCon);
422+
utils::print_vector("s", s, nIneqCon);
423423
#endif
424424

425425
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_1);
@@ -466,7 +466,7 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
466466

467467
#ifdef EIQGUADPROG_TRACE_SOLVER
468468
std::cerr << "Trying with constraint " << ip << std::endl;
469-
print_vector("np", np, nVars);
469+
utils::print_vector("np", np, nVars);
470470
#endif
471471
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2);
472472

@@ -487,11 +487,11 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
487487
update_r(R, r, d, iq);
488488
#ifdef EIQGUADPROG_TRACE_SOLVER
489489
std::cerr << "Step direction z" << std::endl;
490-
print_vector("z", z, nVars);
491-
print_vector("r", r, iq + 1);
492-
print_vector("u", u, iq + 1);
493-
print_vector("d", d, nVars);
494-
print_vector("A", A, iq + 1);
490+
utils::print_vector("z", z, nVars);
491+
utils::print_vector("r", r, iq + 1);
492+
utils::print_vector("u", u, iq + 1);
493+
utils::print_vector("d", d, nVars);
494+
utils::print_vector("A", A, iq + 1);
495495
#endif
496496
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2A);
497497

@@ -544,9 +544,9 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
544544
delete_constraint(R, m_J, A, u, nEqCon, iq, l);
545545
#ifdef EIQGUADPROG_TRACE_SOLVER
546546
std::cerr << " in dual space: " << f_value << std::endl;
547-
print_vector("x", x, nVars);
548-
print_vector("z", z, nVars);
549-
print_vector("A", A, iq + 1);
547+
utils::print_vector("x", x, nVars);
548+
utils::print_vector("z", z, nVars);
549+
utils::print_vector("A", A, iq + 1);
550550
#endif
551551
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2C);
552552
goto l2a;
@@ -562,25 +562,25 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
562562

563563
#ifdef EIQGUADPROG_TRACE_SOLVER
564564
std::cerr << " in both spaces: " << f_value << std::endl;
565-
print_vector("x", x, nVars);
566-
print_vector("u", u, iq + 1);
567-
print_vector("r", r, iq + 1);
568-
print_vector("A", A, iq + 1);
565+
utils::print_vector("x", x, nVars);
566+
utils::print_vector("u", u, iq + 1);
567+
utils::print_vector("r", r, iq + 1);
568+
utils::print_vector("A", A, iq + 1);
569569
#endif
570570

571571
if (t == t2) {
572572
#ifdef EIQGUADPROG_TRACE_SOLVER
573573
std::cerr << "Full step has taken " << t << std::endl;
574-
print_vector("x", x, nVars);
574+
utils::print_vector("x", x, nVars);
575575
#endif
576576
/* full step has taken */
577577
/* add constraint ip to the active set*/
578578
if (!add_constraint(R, m_J, d, iq, R_norm)) {
579579
iaexcl(ip) = 0;
580580
delete_constraint(R, m_J, A, u, nEqCon, iq, ip);
581581
#ifdef EIQGUADPROG_TRACE_SOLVER
582-
print_matrix("R", R, nVars);
583-
print_vector("A", A, iq);
582+
utils::print_matrix("R", R, nVars);
583+
utils::print_vector("A", A, iq);
584584
#endif
585585
for (i = 0; i < nIneqCon; i++)
586586
iai(i) = static_cast<VectorXi::Scalar>(i);
@@ -595,8 +595,8 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
595595
} else
596596
iai(ip) = -1;
597597
#ifdef EIQGUADPROG_TRACE_SOLVER
598-
print_matrix("R", R, nVars);
599-
print_vector("A", A, iq);
598+
utils::print_matrix("R", R, nVars);
599+
utils::print_vector("A", A, iq);
600600
#endif
601601
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2C);
602602
goto l1;
@@ -609,10 +609,10 @@ EiquadprogFast_status EiquadprogFast::solve_quadprog(
609609

610610
#ifdef EIQGUADPROG_TRACE_SOLVER
611611
std::cerr << "Partial step has taken " << t << std::endl;
612-
print_vector("x", x, nVars);
613-
print_matrix("R", R, nVars);
614-
print_vector("A", A, iq);
615-
print_vector("s", s, nIneqCon);
612+
utils::print_vector("x", x, nVars);
613+
utils::print_matrix("R", R, nVars);
614+
utils::print_vector("A", A, iq);
615+
utils::print_vector("s", s, nIneqCon);
616616
#endif
617617
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_STEP_2C);
618618

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