common.h

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/**
    @file
    @author  Alexander Sherikov
 
    @copyright 2017 Alexander Sherikov. Licensed under the Apache License,
    Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
 
    @brief
*/
 
#pragma once
 
#include "config.h"
 
#ifdef QPMAD_PEDANTIC_LICENSE
#    define EIGEN_MPL2_ONLY
#endif
 
#include <stdexcept>
#include <cmath>
#include <Eigen/Dense>
#include <Eigen/Sparse>
 
 
#include "exception.h"
 
 
#ifdef QPMAD_ENABLE_TRACING
#    define QPMAD_TRACE(info) std::cout << info << std::endl;
#else
#    define QPMAD_TRACE(info)
#endif
 
 
namespace qpmad
{
    typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE MatrixIndex;
 
    typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> QPMatrix;  /// @deprecated
    typedef Eigen::Matrix<double, Eigen::Dynamic, 1> QPVector;               /// @deprecated
 
 
    template <class t_VectorType>
    inline void dropElementWithoutResize(t_VectorType &vector, const MatrixIndex index, const MatrixIndex size)
    {
        if (size - index > 1)
        {
            vector.segment(index, size - index - 1) = vector.segment(index + 1, size - index - 1);
        }
    }
}  // namespace qpmad