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\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

#define abs

(

x

)

((x) >= 0 ? (x) : -(x))

Referenced by if().

#define cmache_1   cmache_

Referenced by if().

#define dabs

(

x

)

(doublereal)abs(x)

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

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

#define Extern   extern

#define F2C_INCLUDE

barf [ba:rf] 2.

"He suggested using FORTRAN, and everybody barfed."

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

#define F2C_proc_par_types   1

#define FALSE_   (0)

Referenced by if().

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

Referenced by if().

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

Referenced by if().

#define TRUE_   (1)

Referenced by if().

#define VOID   void

Typedef Documentation

typedef char* address

typedef VOID C_f

typedef VOID(* C_fp) ()

typedef doublereal(* D_fp) ()

typedef double doublereal

typedef doublereal E_f

typedef doublereal(*)(* E_fp) ()

typedef long flag

typedef long ftnint

typedef long ftnlen

typedef VOID H_f

typedef VOID(* H_fp) ()

typedef integer(* I_fp) ()

typedef int integer

typedef shortint(* J_fp) ()

typedef shortlogical(* K_fp) ()

typedef logical(* L_fp) ()

typedef long int logical

typedef long Long

typedef union Multitype Multitype

typedef struct Namelist Namelist

typedef real(* R_fp) ()

typedef float real

typedef int(* S_fp) ()

typedef short int shortint

typedef short int shortlogical

typedef int(* U_fp) ()

typedef struct Vardesc Vardesc

typedef VOID Z_f

typedef VOID(* Z_fp) ()

Function Documentation

for

(

j

= 1; j <= i__1; ++j

)

References in, and j.

for

(

i

= 1; i <= i__1; ++i

)

References Multitype::i, and j.

for

(

k

= 1; k <= i__1; ++k

)

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

if

(

fabs(c[*nmax+*nmax *c_dim1])

= = 0.e0

)

References c_dim1, cmache_1, and FALSE_.

if

(

iwar

[1] = = 1

)

References cmache_1, mmax, n, and TRUE_.

if	(	inw2+	lw,
		*	lwar
	)

References n, and ql0002_().

if

(

info

= = 1

)

if

(

diag

)

if

(

)

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

if

(

nact

= = 0

)

References nact.

if

(

!*

lql

)

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

if

(

k >=

2

)

References sumx.

if

(

w >=

zero[kdrop]

)

References L440.

if

(

iact<=*

meq[kdrop]

)

References L440, and nact.

if

(

cvmax<=*

vsmall

)

References jfinc.

if

(

jfinc

= = 0

)

if

(

jfinc!

= ifinc

)

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

if

(

sum<=

fdiffa

)

References fdiff.

if

(

temp<=

sum

)

if

(

iterc<=*

maxit

)

if	(	knext	,
		*	m
	)

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

if	(	k1	,
		*	n
	)

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

if

(

tempa<=

temp

)

References L570.

if	(	sumb	,
		*	vsmall
	)

if

(

knext<=*

m

)

References abs, and ia.

if

(

kdrop

= = 0

)

References parinc, and ratio.

if

(

itref<=

0

)

if

(

itref

= = 1

)

References L710.

if	(	i	,
		1
	)

if

(

lflag

= = 3

)

References L775.

if	(	iact	[kdrop],
		*	mn
	)

References ia, kdrop, and n.

if

(

nu

= = *nact

)

if

(

w

[is] = = zero

)

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

printf

(

"info on inconsistent constraint\n"

)

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

int ql0002_

(

)

Referenced by if().

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
	)

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

(

(int)

mflag

)

References L860.

Variable Documentation

L20 __pad0__

L90 __pad10__

L140 __pad11__

L150 __pad12__

L165 __pad13__

L170 __pad14__

L230 __pad15__

L250 __pad16__

L280 __pad17__

L340 __pad18__

L350 __pad19__

L30 __pad1__

L380 __pad20__

L390 __pad21__

L410 __pad22__

L420 __pad23__

L430 __pad24__

L440 __pad25__

L450 __pad26__

L481 __pad27__

L510 __pad28__

L530 __pad29__

L70 __pad2__

L531 __pad30__

L541 __pad31__

L545 __pad32__

L549 __pad33__

L550 __pad34__

L560 __pad35__

L5 __pad36__

L567 __pad37__

L570 __pad38__

L571 __pad39__

L80 __pad3__

L574 __pad40__

L580 __pad41__

L590 __pad42__

L601 __pad43__

L610 __pad44__

L630 __pad45__

L640 __pad46__

L650 __pad47__

L660 __pad48__

L680 __pad49__

L81 __pad4__

L690 __pad50__

L700 __pad51__

L710 __pad52__

L730 __pad53__

L740 __pad54__

L750 __pad55__

L761 __pad56__

L770 __pad57__

L775 __pad58__

L791 __pad59__

L82 __pad5__

case __pad60__

L800 __pad61__

L810 __pad62__

L850 __pad63__

L860 __pad64__

L870 __pad65__

L880 __pad66__

L900 __pad67__

case __pad68__

L910 __pad69__

L40 __pad6__

L930 __pad70__

L90 __pad7__

L45 __pad8__

L70 __pad9__

doublereal * a = a_offset

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem().

a_dim1 = *mmax

Referenced by for(), and if().

a_offset = a_dim1 + 1

doublereal * b

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

c = c_offset

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

c_dim1 = *nmax

Referenced by if().

c_offset = c_dim1 + 1

t_cmache_ cmache_

doublereal cvmax

static

d

d__1

Initial value:

{
  
  integer a_dim1, a_offset, g_dim1, g_offset, i__1, i__2, i__3, i__4

Referenced by for().

d__2 = w[ir] / temp

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

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

* diag

static

Initial value:

{

  
  integer c_dim1, c_offset, a_dim1, a_offset, i__1

Referenced by if().

diagr = two

static

else

Initial value:

{
      goto L280

cmache_1 eps = *eps1

doublereal* eps1

fdiff = zero

static

Referenced by if().

fdiffa = zero

static

g = g_offset

g_dim1 = *nmax

Referenced by if().

g_offset = g_dim1 + 1

ga = w[ir - 1] / sum

static

gb = w[ir] / sum

static

Referenced by if().

grad

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::BSplinesFoot::Compute(), PatternGeneratorJRL::RigidBodySystem::compute_dyn_cjerk(), PatternGeneratorJRL::RelativeFeetInequalities::compute_linear_system(), PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), PatternGeneratorJRL::Bsplines::ComputeBasisFunctionsRecursively(), PatternGeneratorJRL::Bsplines::ComputeBsplines(), PatternGeneratorJRL::Polynome::ComputeDerivative(), Optimization::Solver::PLDPSolver::ComputeInitialSolution(), Optimization::Solver::PLDPSolverHerdt::ComputeInitialSolution(), PatternGeneratorJRL::Polynome::ComputeJerk(), PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem(), PatternGeneratorJRL::PreviewControl::ComputeOptimalWeights(), PatternGeneratorJRL::Polynome::ComputeSecDerivative(), PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer(), PatternGeneratorJRL::Bsplines::DerivativeBsplines(), 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(), PatternGeneratorJRL::Bsplines::Nij_t(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), 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::StepOverSpline::print(), PatternGeneratorJRL::PreviewControl::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::Bsplines::PrintControlPoints(), PatternGeneratorJRL::Bsplines::PrintKnotVector(), 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::BSplinesFoot::SetParameters(), PatternGeneratorJRL::StepOverSpline::SetParameters(), PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters(), PatternGeneratorJRL::BSplinesFoot::SetParametersWithInitFinalPose(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetPolynomialDegrees(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase(), Optimization::Solver::PLDPSolver::SolveProblem(), Optimization::Solver::PLDPSolverHerdt::SolveProblem(), Optimization::Solver::PLDPSolver::StoreCurrentZMPSolution(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne(), PatternGeneratorJRL::RigidBodySystem::update(), Optimization::Solver::PLDPSolver::WriteCurrentZMPSolution(), Optimization::Solver::PLDPSolverHerdt::WriteCurrentZMPSolution(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPPreviewControlWithMultiBodyZMP().

i__1 = *m

Referenced by if().

i__2 = *n

Referenced by for(), and if().

ia = iwa + knext

static

Referenced by for(), and if().

iact[kdrop-1] = knext

integer id

static

Referenced by if().

idiag = 0

static

* ifail = 0

ifinc = 3

static

integer iflag

static

integer ii

static

il = iws + 1

static

in = inw1

static

Referenced by for(), and PatternGeneratorJRL::PreviewControl::ReadPrecomputedFile().

* info = 0

static

Referenced by PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur().

inw1 = 1

static

inw2 = inw1 + *mmax

static

integer* iout

ip = iww + 1

static

ipp = iww + *n

static

integer * iprint

ir = k

static

ira = ir - 1

static

integer irb

static

is = iws + i

static

Referenced by if().

iterc = 1

static

itref = 0

static

iu = iws + *nact

static

iw = iww + k1

static

Referenced by if().

iwa = iwx + *nmax

static

iwar

iwd = iww + *nmax

static

iwr = iwz + *nmax * *nmax

static

iws = iww - *n

static

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

static

integer iwwn

static

iwx = iwd + *nmax

static

integer iwy

static

iwz = *nmax

static

integer ix

static

Referenced by if().

integer iy

static

iz = iwz + k1

static

Referenced by if().

iza = iwz + *nact * *n

static

static integer j

static

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities(), PatternGeneratorJRL::RigidBodySystem::compute_dyn_cjerk(), PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMAcceleration(), 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 = -kfinc

static

Referenced by if().

jflag = 2

static

integer jl

static

integer ju

static

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 = knext - *m

static

Referenced by if().

kdrop = 0

static

Referenced by if().

kfinc = max(10,*n)

static

integer kflag

static

integer kk

static

integer knext

static

goto L170

goto L440

Referenced by if().

goto L549

goto L550

goto L570

Referenced by if().

goto L640

goto L70

Referenced by if().

goto L710

Referenced by if().

goto L740

goto L770

goto L775

Referenced by if().

goto L800

goto L860

Referenced by switch().

goto L880

goto L910

goto L930

lflag = 1

static

if liwar

Initial value:

{
      goto L81

logical lower

static

logical * lql = FALSE_

static

integer * lw

static

integer* lwar

if m

Initial value:

{
      goto L20

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

static

int * me

int * meq

mflag = 1

static

int * mmax

Referenced by if().

int * mn = *m + *n

static

int * mnn

Initial value:

{
      goto L82

Referenced by if().

int * n

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

if nact = 0

static

Referenced by if().

nflag = 1

static

integer nm

static

int * nmax

nu = *nact

static

one = 1.

static

Referenced by if().

onha = 1.5

static

parinc = ratio

static

Referenced by if().

parnew = parinc

static

qpeps = cmache_1.eps

static

doublereal ratio

static

Referenced by if().

res = temp * res

static

Referenced by PatternGeneratorJRL::RigidBodySystem::update().

return

Referenced by PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom2DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom3DataPoint(), PatternGeneratorJRL::BSplinesFoot::ComputeControlPointFrom4DataPoint(), PatternGeneratorJRL::BSplinesFoot::SetParameters(), and PatternGeneratorJRL::BSplinesFoot::SetParametersWithInitFinalPose().

step = -res / sumy

static

sum = fdiffa + fdiff

static

Referenced by for(), and if().

suma = zero

static

sumb = zero

static

sumc = zero

static

sumx = one

static

Referenced by if().

doublereal sumy

static

temp = fdiffa + onha * fdiff

static

Referenced by if().

tempa = sumb + abs(suma) * .2

static

ten = 10.

static

two = 2.

static

u

vfact = 1.

static

doublereal* vsmall

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

Referenced by sb02ox().

war

doublereal * x

Referenced by PatternGeneratorJRL::PreviewControl::OneIterationOfPreview(), PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase(), and PatternGeneratorJRL::PatternGeneratorInterface::~PatternGeneratorInterface().

doublereal * xl

xmag = zero

static

xmagr = .01

static

doublereal * xu

static doublereal zero = 0.

static

Referenced by for(), and if().