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diff --git a/cvxgen/solver.c b/cvxgen/solver.c
new file mode 100644
index 0000000000000000000000000000000000000000..7ff93b0c4a8ed5235de38041a529fed4956cdbc7
--- /dev/null
+++ b/cvxgen/solver.c
@@ -0,0 +1,692 @@
+/* Produced by CVXGEN, 2016-01-17 08:15:52 -0500. */
+/* CVXGEN is Copyright (C) 2006-2012 Jacob Mattingley, jem@cvxgen.com. */
+/* The code in this file is Copyright (C) 2006-2012 Jacob Mattingley. */
+/* CVXGEN, or solvers produced by CVXGEN, cannot be used for commercial */
+/* applications without prior written permission from Jacob Mattingley. */
+
+/* Filename: solver.c. */
+/* Description: Main solver file. */
+#include "solver.h"
+double eval_gap(void) {
+ int i;
+ double gap;
+ gap = 0;
+ for (i = 0; i < 0; i++)
+ gap += work.z[i]*work.s[i];
+ return gap;
+}
+void set_defaults(void) {
+ settings.resid_tol = 1e-6;
+ settings.eps = 1e-4;
+ settings.max_iters = 25;
+ settings.refine_steps = 1;
+ settings.s_init = 1;
+ settings.z_init = 1;
+ settings.debug = 0;
+ settings.verbose = 1;
+ settings.verbose_refinement = 0;
+ settings.better_start = 1;
+ settings.kkt_reg = 1e-7;
+}
+void setup_pointers(void) {
+ work.y = work.x + 198;
+ work.s = work.x + 298;
+ work.z = work.x + 298;
+ vars.x_1 = work.x + 98;
+ vars.x_2 = work.x + 99;
+ vars.x_3 = work.x + 100;
+ vars.x_4 = work.x + 101;
+ vars.x_5 = work.x + 102;
+ vars.x_6 = work.x + 103;
+ vars.x_7 = work.x + 104;
+ vars.x_8 = work.x + 105;
+ vars.x_9 = work.x + 106;
+ vars.x_10 = work.x + 107;
+ vars.x_11 = work.x + 108;
+ vars.x_12 = work.x + 109;
+ vars.x_13 = work.x + 110;
+ vars.x_14 = work.x + 111;
+ vars.x_15 = work.x + 112;
+ vars.x_16 = work.x + 113;
+ vars.x_17 = work.x + 114;
+ vars.x_18 = work.x + 115;
+ vars.x_19 = work.x + 116;
+ vars.x_20 = work.x + 117;
+ vars.x_21 = work.x + 118;
+ vars.x_22 = work.x + 119;
+ vars.x_23 = work.x + 120;
+ vars.x_24 = work.x + 121;
+ vars.x_25 = work.x + 122;
+ vars.x_26 = work.x + 123;
+ vars.x_27 = work.x + 124;
+ vars.x_28 = work.x + 125;
+ vars.x_29 = work.x + 126;
+ vars.x_30 = work.x + 127;
+ vars.x_31 = work.x + 128;
+ vars.x_32 = work.x + 129;
+ vars.x_33 = work.x + 130;
+ vars.x_34 = work.x + 131;
+ vars.x_35 = work.x + 132;
+ vars.x_36 = work.x + 133;
+ vars.x_37 = work.x + 134;
+ vars.x_38 = work.x + 135;
+ vars.x_39 = work.x + 136;
+ vars.x_40 = work.x + 137;
+ vars.x_41 = work.x + 138;
+ vars.x_42 = work.x + 139;
+ vars.x_43 = work.x + 140;
+ vars.x_44 = work.x + 141;
+ vars.x_45 = work.x + 142;
+ vars.x_46 = work.x + 143;
+ vars.x_47 = work.x + 144;
+ vars.x_48 = work.x + 145;
+ vars.x_49 = work.x + 146;
+ vars.x_50 = work.x + 147;
+ vars.x_51 = work.x + 148;
+ vars.x_52 = work.x + 149;
+ vars.x_53 = work.x + 150;
+ vars.x_54 = work.x + 151;
+ vars.x_55 = work.x + 152;
+ vars.x_56 = work.x + 153;
+ vars.x_57 = work.x + 154;
+ vars.x_58 = work.x + 155;
+ vars.x_59 = work.x + 156;
+ vars.x_60 = work.x + 157;
+ vars.x_61 = work.x + 158;
+ vars.x_62 = work.x + 159;
+ vars.x_63 = work.x + 160;
+ vars.x_64 = work.x + 161;
+ vars.x_65 = work.x + 162;
+ vars.x_66 = work.x + 163;
+ vars.x_67 = work.x + 164;
+ vars.x_68 = work.x + 165;
+ vars.x_69 = work.x + 166;
+ vars.x_70 = work.x + 167;
+ vars.x_71 = work.x + 168;
+ vars.x_72 = work.x + 169;
+ vars.x_73 = work.x + 170;
+ vars.x_74 = work.x + 171;
+ vars.x_75 = work.x + 172;
+ vars.x_76 = work.x + 173;
+ vars.x_77 = work.x + 174;
+ vars.x_78 = work.x + 175;
+ vars.x_79 = work.x + 176;
+ vars.x_80 = work.x + 177;
+ vars.x_81 = work.x + 178;
+ vars.x_82 = work.x + 179;
+ vars.x_83 = work.x + 180;
+ vars.x_84 = work.x + 181;
+ vars.x_85 = work.x + 182;
+ vars.x_86 = work.x + 183;
+ vars.x_87 = work.x + 184;
+ vars.x_88 = work.x + 185;
+ vars.x_89 = work.x + 186;
+ vars.x_90 = work.x + 187;
+ vars.x_91 = work.x + 188;
+ vars.x_92 = work.x + 189;
+ vars.x_93 = work.x + 190;
+ vars.x_94 = work.x + 191;
+ vars.x_95 = work.x + 192;
+ vars.x_96 = work.x + 193;
+ vars.x_97 = work.x + 194;
+ vars.x_98 = work.x + 195;
+ vars.x_99 = work.x + 196;
+ vars.x_100 = work.x + 197;
+}
+void setup_indexed_params(void) {
+ /* In CVXGEN, you can say */
+ /* parameters */
+ /* A[i] (5,3), i=1..4 */
+ /* end */
+ /* This function sets up A[2] to be a pointer to A_2, which is a length-15 */
+ /* vector of doubles. */
+ /* If you access parameters that you haven't defined in CVXGEN, the result */
+ /* is undefined. */
+ params.traj1[1] = params.traj1_1;
+ params.traj1[2] = params.traj1_2;
+ params.traj1[3] = params.traj1_3;
+ params.traj1[4] = params.traj1_4;
+ params.traj1[5] = params.traj1_5;
+ params.traj1[6] = params.traj1_6;
+ params.traj1[7] = params.traj1_7;
+ params.traj1[8] = params.traj1_8;
+ params.traj1[9] = params.traj1_9;
+ params.traj1[10] = params.traj1_10;
+ params.traj1[11] = params.traj1_11;
+ params.traj1[12] = params.traj1_12;
+ params.traj1[13] = params.traj1_13;
+ params.traj1[14] = params.traj1_14;
+ params.traj1[15] = params.traj1_15;
+ params.traj1[16] = params.traj1_16;
+ params.traj1[17] = params.traj1_17;
+ params.traj1[18] = params.traj1_18;
+ params.traj1[19] = params.traj1_19;
+ params.traj1[20] = params.traj1_20;
+ params.traj1[21] = params.traj1_21;
+ params.traj1[22] = params.traj1_22;
+ params.traj1[23] = params.traj1_23;
+ params.traj1[24] = params.traj1_24;
+ params.traj1[25] = params.traj1_25;
+ params.traj1[26] = params.traj1_26;
+ params.traj1[27] = params.traj1_27;
+ params.traj1[28] = params.traj1_28;
+ params.traj1[29] = params.traj1_29;
+ params.traj1[30] = params.traj1_30;
+ params.traj1[31] = params.traj1_31;
+ params.traj1[32] = params.traj1_32;
+ params.traj1[33] = params.traj1_33;
+ params.traj1[34] = params.traj1_34;
+ params.traj1[35] = params.traj1_35;
+ params.traj1[36] = params.traj1_36;
+ params.traj1[37] = params.traj1_37;
+ params.traj1[38] = params.traj1_38;
+ params.traj1[39] = params.traj1_39;
+ params.traj1[40] = params.traj1_40;
+ params.traj1[41] = params.traj1_41;
+ params.traj1[42] = params.traj1_42;
+ params.traj1[43] = params.traj1_43;
+ params.traj1[44] = params.traj1_44;
+ params.traj1[45] = params.traj1_45;
+ params.traj1[46] = params.traj1_46;
+ params.traj1[47] = params.traj1_47;
+ params.traj1[48] = params.traj1_48;
+ params.traj1[49] = params.traj1_49;
+ params.traj1[50] = params.traj1_50;
+ params.traj1[51] = params.traj1_51;
+ params.traj1[52] = params.traj1_52;
+ params.traj1[53] = params.traj1_53;
+ params.traj1[54] = params.traj1_54;
+ params.traj1[55] = params.traj1_55;
+ params.traj1[56] = params.traj1_56;
+ params.traj1[57] = params.traj1_57;
+ params.traj1[58] = params.traj1_58;
+ params.traj1[59] = params.traj1_59;
+ params.traj1[60] = params.traj1_60;
+ params.traj1[61] = params.traj1_61;
+ params.traj1[62] = params.traj1_62;
+ params.traj1[63] = params.traj1_63;
+ params.traj1[64] = params.traj1_64;
+ params.traj1[65] = params.traj1_65;
+ params.traj1[66] = params.traj1_66;
+ params.traj1[67] = params.traj1_67;
+ params.traj1[68] = params.traj1_68;
+ params.traj1[69] = params.traj1_69;
+ params.traj1[70] = params.traj1_70;
+ params.traj1[71] = params.traj1_71;
+ params.traj1[72] = params.traj1_72;
+ params.traj1[73] = params.traj1_73;
+ params.traj1[74] = params.traj1_74;
+ params.traj1[75] = params.traj1_75;
+ params.traj1[76] = params.traj1_76;
+ params.traj1[77] = params.traj1_77;
+ params.traj1[78] = params.traj1_78;
+ params.traj1[79] = params.traj1_79;
+ params.traj1[80] = params.traj1_80;
+ params.traj1[81] = params.traj1_81;
+ params.traj1[82] = params.traj1_82;
+ params.traj1[83] = params.traj1_83;
+ params.traj1[84] = params.traj1_84;
+ params.traj1[85] = params.traj1_85;
+ params.traj1[86] = params.traj1_86;
+ params.traj1[87] = params.traj1_87;
+ params.traj1[88] = params.traj1_88;
+ params.traj1[89] = params.traj1_89;
+ params.traj1[90] = params.traj1_90;
+ params.traj1[91] = params.traj1_91;
+ params.traj1[92] = params.traj1_92;
+ params.traj1[93] = params.traj1_93;
+ params.traj1[94] = params.traj1_94;
+ params.traj1[95] = params.traj1_95;
+ params.traj1[96] = params.traj1_96;
+ params.traj1[97] = params.traj1_97;
+ params.traj1[98] = params.traj1_98;
+ params.traj1[99] = params.traj1_99;
+ params.traj1[100] = params.traj1_100;
+}
+void setup_indexed_optvars(void) {
+ /* In CVXGEN, you can say */
+ /* variables */
+ /* x[i] (5), i=2..4 */
+ /* end */
+ /* This function sets up x[3] to be a pointer to x_3, which is a length-5 */
+ /* vector of doubles. */
+ /* If you access variables that you haven't defined in CVXGEN, the result */
+ /* is undefined. */
+ vars.x[1] = vars.x_1;
+ vars.x[2] = vars.x_2;
+ vars.x[3] = vars.x_3;
+ vars.x[4] = vars.x_4;
+ vars.x[5] = vars.x_5;
+ vars.x[6] = vars.x_6;
+ vars.x[7] = vars.x_7;
+ vars.x[8] = vars.x_8;
+ vars.x[9] = vars.x_9;
+ vars.x[10] = vars.x_10;
+ vars.x[11] = vars.x_11;
+ vars.x[12] = vars.x_12;
+ vars.x[13] = vars.x_13;
+ vars.x[14] = vars.x_14;
+ vars.x[15] = vars.x_15;
+ vars.x[16] = vars.x_16;
+ vars.x[17] = vars.x_17;
+ vars.x[18] = vars.x_18;
+ vars.x[19] = vars.x_19;
+ vars.x[20] = vars.x_20;
+ vars.x[21] = vars.x_21;
+ vars.x[22] = vars.x_22;
+ vars.x[23] = vars.x_23;
+ vars.x[24] = vars.x_24;
+ vars.x[25] = vars.x_25;
+ vars.x[26] = vars.x_26;
+ vars.x[27] = vars.x_27;
+ vars.x[28] = vars.x_28;
+ vars.x[29] = vars.x_29;
+ vars.x[30] = vars.x_30;
+ vars.x[31] = vars.x_31;
+ vars.x[32] = vars.x_32;
+ vars.x[33] = vars.x_33;
+ vars.x[34] = vars.x_34;
+ vars.x[35] = vars.x_35;
+ vars.x[36] = vars.x_36;
+ vars.x[37] = vars.x_37;
+ vars.x[38] = vars.x_38;
+ vars.x[39] = vars.x_39;
+ vars.x[40] = vars.x_40;
+ vars.x[41] = vars.x_41;
+ vars.x[42] = vars.x_42;
+ vars.x[43] = vars.x_43;
+ vars.x[44] = vars.x_44;
+ vars.x[45] = vars.x_45;
+ vars.x[46] = vars.x_46;
+ vars.x[47] = vars.x_47;
+ vars.x[48] = vars.x_48;
+ vars.x[49] = vars.x_49;
+ vars.x[50] = vars.x_50;
+ vars.x[51] = vars.x_51;
+ vars.x[52] = vars.x_52;
+ vars.x[53] = vars.x_53;
+ vars.x[54] = vars.x_54;
+ vars.x[55] = vars.x_55;
+ vars.x[56] = vars.x_56;
+ vars.x[57] = vars.x_57;
+ vars.x[58] = vars.x_58;
+ vars.x[59] = vars.x_59;
+ vars.x[60] = vars.x_60;
+ vars.x[61] = vars.x_61;
+ vars.x[62] = vars.x_62;
+ vars.x[63] = vars.x_63;
+ vars.x[64] = vars.x_64;
+ vars.x[65] = vars.x_65;
+ vars.x[66] = vars.x_66;
+ vars.x[67] = vars.x_67;
+ vars.x[68] = vars.x_68;
+ vars.x[69] = vars.x_69;
+ vars.x[70] = vars.x_70;
+ vars.x[71] = vars.x_71;
+ vars.x[72] = vars.x_72;
+ vars.x[73] = vars.x_73;
+ vars.x[74] = vars.x_74;
+ vars.x[75] = vars.x_75;
+ vars.x[76] = vars.x_76;
+ vars.x[77] = vars.x_77;
+ vars.x[78] = vars.x_78;
+ vars.x[79] = vars.x_79;
+ vars.x[80] = vars.x_80;
+ vars.x[81] = vars.x_81;
+ vars.x[82] = vars.x_82;
+ vars.x[83] = vars.x_83;
+ vars.x[84] = vars.x_84;
+ vars.x[85] = vars.x_85;
+ vars.x[86] = vars.x_86;
+ vars.x[87] = vars.x_87;
+ vars.x[88] = vars.x_88;
+ vars.x[89] = vars.x_89;
+ vars.x[90] = vars.x_90;
+ vars.x[91] = vars.x_91;
+ vars.x[92] = vars.x_92;
+ vars.x[93] = vars.x_93;
+ vars.x[94] = vars.x_94;
+ vars.x[95] = vars.x_95;
+ vars.x[96] = vars.x_96;
+ vars.x[97] = vars.x_97;
+ vars.x[98] = vars.x_98;
+ vars.x[99] = vars.x_99;
+ vars.x[100] = vars.x_100;
+}
+void setup_indexing(void) {
+ setup_pointers();
+ setup_indexed_params();
+ setup_indexed_optvars();
+}
+void set_start(void) {
+ int i;
+ for (i = 0; i < 198; i++)
+ work.x[i] = 0;
+ for (i = 0; i < 100; i++)
+ work.y[i] = 0;
+ for (i = 0; i < 0; i++)
+ work.s[i] = (work.h[i] > 0) ? work.h[i] : settings.s_init;
+ for (i = 0; i < 0; i++)
+ work.z[i] = settings.z_init;
+}
+double eval_objv(void) {
+ int i;
+ double objv;
+ /* Borrow space in work.rhs. */
+ multbyP(work.rhs, work.x);
+ objv = 0;
+ for (i = 0; i < 198; i++)
+ objv += work.x[i]*work.rhs[i];
+ objv *= 0.5;
+ for (i = 0; i < 198; i++)
+ objv += work.q[i]*work.x[i];
+ objv += work.quad_309377593344[0]+work.quad_170383695872[0]+work.quad_112192413696[0]+work.quad_271369404416[0]+work.quad_974379421696[0]+work.quad_880958541824[0]+work.quad_572094451712[0]+work.quad_789148684288[0]+work.quad_448304680960[0]+work.quad_196635672576[0]+work.quad_489733091328[0]+work.quad_802233995264[0]+work.quad_865562517504[0]+work.quad_910621253632[0]+work.quad_321513025536[0]+work.quad_997344780288[0]+work.quad_448780910592[0]+work.quad_115901485056[0]+work.quad_782888361984[0]+work.quad_609463140352[0]+work.quad_88437858304[0]+work.quad_984663347200[0]+work.quad_230162866176[0]+work.quad_416382242816[0]+work.quad_380873158656[0]+work.quad_556464291840[0]+work.quad_266292043776[0]+work.quad_970572640256[0]+work.quad_39497891840[0]+work.quad_701607514112[0]+work.quad_181586403328[0]+work.quad_260463075328[0]+work.quad_382856859648[0]+work.quad_199224414208[0]+work.quad_511656841216[0]+work.quad_171214155776[0]+work.quad_70639910912[0]+work.quad_463249276928[0]+work.quad_244412502016[0]+work.quad_258282409984[0]+work.quad_321028120576[0]+work.quad_30674518016[0]+work.quad_824505257984[0]+work.quad_484111179776[0]+work.quad_675570683904[0]+work.quad_386911121408[0]+work.quad_932702867456[0]+work.quad_274526810112[0]+work.quad_96616189952[0]+work.quad_711864590336[0]+work.quad_200392192000[0]+work.quad_150270558208[0]+work.quad_598460686336[0]+work.quad_831592636416[0]+work.quad_874189471744[0]+work.quad_632352092160[0]+work.quad_969116119040[0]+work.quad_610911072256[0]+work.quad_606707699712[0]+work.quad_449159319552[0]+work.quad_700922720256[0]+work.quad_911067136000[0]+work.quad_304706789376[0]+work.quad_530900680704[0]+work.quad_307691851776[0]+work.quad_875119529984[0]+work.quad_330167877632[0]+work.quad_106008100864[0]+work.quad_586821791744[0]+work.quad_62270459904[0]+work.quad_705160380416[0]+work.quad_566627430400[0]+work.quad_833211822080[0]+work.quad_28799266816[0]+work.quad_442252132352[0]+work.quad_713742774272[0]+work.quad_447903891456[0]+work.quad_655034785792[0]+work.quad_576686788608[0]+work.quad_288749699072[0]+work.quad_866096066560[0]+work.quad_345799389184[0]+work.quad_335292588032[0]+work.quad_292534816768[0]+work.quad_832380674048[0]+work.quad_934938374144[0]+work.quad_265476059136[0]+work.quad_478224822272[0]+work.quad_901249572864[0]+work.quad_216942473216[0]+work.quad_227493912576[0]+work.quad_458072092672[0]+work.quad_912331198464[0]+work.quad_307004768256[0]+work.quad_284125421568[0]+work.quad_704038281216[0]+work.quad_401987686400[0]+work.quad_592084643840[0]+work.quad_8875266048[0]+work.quad_270270570496[0];
+ return objv;
+}
+void fillrhs_aff(void) {
+ int i;
+ double *r1, *r2, *r3, *r4;
+ r1 = work.rhs;
+ r2 = work.rhs + 198;
+ r3 = work.rhs + 198;
+ r4 = work.rhs + 198;
+ /* r1 = -A^Ty - G^Tz - Px - q. */
+ multbymAT(r1, work.y);
+ multbymGT(work.buffer, work.z);
+ for (i = 0; i < 198; i++)
+ r1[i] += work.buffer[i];
+ multbyP(work.buffer, work.x);
+ for (i = 0; i < 198; i++)
+ r1[i] -= work.buffer[i] + work.q[i];
+ /* r2 = -z. */
+ for (i = 0; i < 0; i++)
+ r2[i] = -work.z[i];
+ /* r3 = -Gx - s + h. */
+ multbymG(r3, work.x);
+ for (i = 0; i < 0; i++)
+ r3[i] += -work.s[i] + work.h[i];
+ /* r4 = -Ax + b. */
+ multbymA(r4, work.x);
+ for (i = 0; i < 100; i++)
+ r4[i] += work.b[i];
+}
+void fillrhs_cc(void) {
+ int i;
+ double *r2;
+ double *ds_aff, *dz_aff;
+ double mu;
+ double alpha;
+ double sigma;
+ double smu;
+ double minval;
+ r2 = work.rhs + 198;
+ ds_aff = work.lhs_aff + 198;
+ dz_aff = work.lhs_aff + 198;
+ mu = 0;
+ for (i = 0; i < 0; i++)
+ mu += work.s[i]*work.z[i];
+ /* Don't finish calculating mu quite yet. */
+ /* Find min(min(ds./s), min(dz./z)). */
+ minval = 0;
+ for (i = 0; i < 0; i++)
+ if (ds_aff[i] < minval*work.s[i])
+ minval = ds_aff[i]/work.s[i];
+ for (i = 0; i < 0; i++)
+ if (dz_aff[i] < minval*work.z[i])
+ minval = dz_aff[i]/work.z[i];
+ /* Find alpha. */
+ if (-1 < minval)
+ alpha = 1;
+ else
+ alpha = -1/minval;
+ sigma = 0;
+ for (i = 0; i < 0; i++)
+ sigma += (work.s[i] + alpha*ds_aff[i])*
+ (work.z[i] + alpha*dz_aff[i]);
+ sigma /= mu;
+ sigma = sigma*sigma*sigma;
+ /* Finish calculating mu now. */
+ smu = sigma*mu;
+ /* Fill-in the rhs. */
+ for (i = 0; i < 198; i++)
+ work.rhs[i] = 0;
+ for (i = 198; i < 298; i++)
+ work.rhs[i] = 0;
+ for (i = 0; i < 0; i++)
+ r2[i] = work.s_inv[i]*(smu - ds_aff[i]*dz_aff[i]);
+}
+void refine(double *target, double *var) {
+ int i, j;
+ double *residual = work.buffer;
+ double norm2;
+ double *new_var = work.buffer2;
+ for (j = 0; j < settings.refine_steps; j++) {
+ norm2 = 0;
+ matrix_multiply(residual, var);
+ for (i = 0; i < 298; i++) {
+ residual[i] = residual[i] - target[i];
+ norm2 += residual[i]*residual[i];
+ }
+#ifndef ZERO_LIBRARY_MODE
+ if (settings.verbose_refinement) {
+ if (j == 0)
+ printf("Initial residual before refinement has norm squared %.6g.\n", norm2);
+ else
+ printf("After refinement we get squared norm %.6g.\n", norm2);
+ }
+#endif
+ /* Solve to find new_var = KKT \ (target - A*var). */
+ ldl_solve(residual, new_var);
+ /* Update var += new_var, or var += KKT \ (target - A*var). */
+ for (i = 0; i < 298; i++) {
+ var[i] -= new_var[i];
+ }
+ }
+#ifndef ZERO_LIBRARY_MODE
+ if (settings.verbose_refinement) {
+ /* Check the residual once more, but only if we're reporting it, since */
+ /* it's expensive. */
+ norm2 = 0;
+ matrix_multiply(residual, var);
+ for (i = 0; i < 298; i++) {
+ residual[i] = residual[i] - target[i];
+ norm2 += residual[i]*residual[i];
+ }
+ if (j == 0)
+ printf("Initial residual before refinement has norm squared %.6g.\n", norm2);
+ else
+ printf("After refinement we get squared norm %.6g.\n", norm2);
+ }
+#endif
+}
+double calc_ineq_resid_squared(void) {
+ /* Calculates the norm ||-Gx - s + h||. */
+ double norm2_squared;
+ int i;
+ /* Find -Gx. */
+ multbymG(work.buffer, work.x);
+ /* Add -s + h. */
+ for (i = 0; i < 0; i++)
+ work.buffer[i] += -work.s[i] + work.h[i];
+ /* Now find the squared norm. */
+ norm2_squared = 0;
+ for (i = 0; i < 0; i++)
+ norm2_squared += work.buffer[i]*work.buffer[i];
+ return norm2_squared;
+}
+double calc_eq_resid_squared(void) {
+ /* Calculates the norm ||-Ax + b||. */
+ double norm2_squared;
+ int i;
+ /* Find -Ax. */
+ multbymA(work.buffer, work.x);
+ /* Add +b. */
+ for (i = 0; i < 100; i++)
+ work.buffer[i] += work.b[i];
+ /* Now find the squared norm. */
+ norm2_squared = 0;
+ for (i = 0; i < 100; i++)
+ norm2_squared += work.buffer[i]*work.buffer[i];
+ return norm2_squared;
+}
+void better_start(void) {
+ /* Calculates a better starting point, using a similar approach to CVXOPT. */
+ /* Not yet speed optimized. */
+ int i;
+ double *x, *s, *z, *y;
+ double alpha;
+ work.block_33[0] = -1;
+ /* Make sure sinvz is 1 to make hijacked KKT system ok. */
+ for (i = 0; i < 0; i++)
+ work.s_inv_z[i] = 1;
+ fill_KKT();
+ ldl_factor();
+ fillrhs_start();
+ /* Borrow work.lhs_aff for the solution. */
+ ldl_solve(work.rhs, work.lhs_aff);
+ /* Don't do any refinement for now. Precision doesn't matter too much. */
+ x = work.lhs_aff;
+ s = work.lhs_aff + 198;
+ z = work.lhs_aff + 198;
+ y = work.lhs_aff + 198;
+ /* Just set x and y as is. */
+ for (i = 0; i < 198; i++)
+ work.x[i] = x[i];
+ for (i = 0; i < 100; i++)
+ work.y[i] = y[i];
+ /* Now complete the initialization. Start with s. */
+ /* Must have alpha > max(z). */
+ alpha = -1e99;
+ for (i = 0; i < 0; i++)
+ if (alpha < z[i])
+ alpha = z[i];
+ if (alpha < 0) {
+ for (i = 0; i < 0; i++)
+ work.s[i] = -z[i];
+ } else {
+ alpha += 1;
+ for (i = 0; i < 0; i++)
+ work.s[i] = -z[i] + alpha;
+ }
+ /* Now initialize z. */
+ /* Now must have alpha > max(-z). */
+ alpha = -1e99;
+ for (i = 0; i < 0; i++)
+ if (alpha < -z[i])
+ alpha = -z[i];
+ if (alpha < 0) {
+ for (i = 0; i < 0; i++)
+ work.z[i] = z[i];
+ } else {
+ alpha += 1;
+ for (i = 0; i < 0; i++)
+ work.z[i] = z[i] + alpha;
+ }
+}
+void fillrhs_start(void) {
+ /* Fill rhs with (-q, 0, h, b). */
+ int i;
+ double *r1, *r2, *r3, *r4;
+ r1 = work.rhs;
+ r2 = work.rhs + 198;
+ r3 = work.rhs + 198;
+ r4 = work.rhs + 198;
+ for (i = 0; i < 198; i++)
+ r1[i] = -work.q[i];
+ for (i = 0; i < 0; i++)
+ r2[i] = 0;
+ for (i = 0; i < 0; i++)
+ r3[i] = work.h[i];
+ for (i = 0; i < 100; i++)
+ r4[i] = work.b[i];
+}
+long solve(void) {
+ int i;
+ int iter;
+ double *dx, *ds, *dy, *dz;
+ double minval;
+ double alpha;
+ work.converged = 0;
+ setup_pointers();
+ pre_ops();
+#ifndef ZERO_LIBRARY_MODE
+ if (0)
+ printf("iter objv gap |Ax-b| |Gx+s-h| step\n");
+#endif
+ fillq();
+ fillh();
+ fillb();
+ if (settings.better_start)
+ better_start();
+ else
+ set_start();
+ for (iter = 0; iter < settings.max_iters; iter++) {
+ for (i = 0; i < 0; i++) {
+ work.s_inv[i] = 1.0 / work.s[i];
+ work.s_inv_z[i] = work.s_inv[i]*work.z[i];
+ }
+ work.block_33[0] = 0;
+ fill_KKT();
+ ldl_factor();
+ /* Affine scaling directions. */
+ fillrhs_aff();
+ ldl_solve(work.rhs, work.lhs_aff);
+ refine(work.rhs, work.lhs_aff);
+ /* Centering plus corrector directions. */
+ fillrhs_cc();
+ ldl_solve(work.rhs, work.lhs_cc);
+ refine(work.rhs, work.lhs_cc);
+ /* Add the two together and store in aff. */
+ for (i = 0; i < 298; i++)
+ work.lhs_aff[i] += work.lhs_cc[i];
+ /* Rename aff to reflect its new meaning. */
+ dx = work.lhs_aff;
+ ds = work.lhs_aff + 198;
+ dz = work.lhs_aff + 198;
+ dy = work.lhs_aff + 198;
+ /* Find min(min(ds./s), min(dz./z)). */
+ minval = 0;
+ for (i = 0; i < 0; i++)
+ if (ds[i] < minval*work.s[i])
+ minval = ds[i]/work.s[i];
+ for (i = 0; i < 0; i++)
+ if (dz[i] < minval*work.z[i])
+ minval = dz[i]/work.z[i];
+ /* Find alpha. */
+ if (-0.99 < minval)
+ alpha = 1;
+ else
+ alpha = -0.99/minval;
+ /* Update the primal and dual variables. */
+ for (i = 0; i < 198; i++)
+ work.x[i] += alpha*dx[i];
+ for (i = 0; i < 0; i++)
+ work.s[i] += alpha*ds[i];
+ for (i = 0; i < 0; i++)
+ work.z[i] += alpha*dz[i];
+ for (i = 0; i < 100; i++)
+ work.y[i] += alpha*dy[i];
+ work.gap = eval_gap();
+ work.eq_resid_squared = calc_eq_resid_squared();
+ work.ineq_resid_squared = calc_ineq_resid_squared();
+#ifndef ZERO_LIBRARY_MODE
+ if (0) {
+ work.optval = eval_objv();
+ printf("%3d %10.3e %9.2e %9.2e %9.2e % 6.4f\n",
+ iter+1, work.optval, work.gap, sqrt(work.eq_resid_squared),
+ sqrt(work.ineq_resid_squared), alpha);
+ }
+#endif
+ /* Test termination conditions. Requires optimality, and satisfied */
+ /* constraints. */
+ if ( (work.gap < settings.eps)
+ && (work.eq_resid_squared <= settings.resid_tol*settings.resid_tol)
+ && (work.ineq_resid_squared <= settings.resid_tol*settings.resid_tol)
+ ) {
+ work.converged = 1;
+ work.optval = eval_objv();
+ return iter+1;
+ }
+ }
+ return iter;
+}
diff --git a/cvxgen/solver.h b/cvxgen/solver.h
new file mode 100644
index 0000000000000000000000000000000000000000..56b08df97f6adb69d57563020c7357ea567db650
--- /dev/null
+++ b/cvxgen/solver.h
@@ -0,0 +1,540 @@
+/* Produced by CVXGEN, 2016-01-17 08:15:56 -0500. */
+/* CVXGEN is Copyright (C) 2006-2012 Jacob Mattingley, jem@cvxgen.com. */
+/* The code in this file is Copyright (C) 2006-2012 Jacob Mattingley. */
+/* CVXGEN, or solvers produced by CVXGEN, cannot be used for commercial */
+/* applications without prior written permission from Jacob Mattingley. */
+
+/* Filename: solver.h. */
+/* Description: Header file with relevant definitions. */
+#ifndef SOLVER_H
+#define SOLVER_H
+/* Uncomment the next line to remove all library dependencies. */
+/*#define ZERO_LIBRARY_MODE */
+#ifdef MATLAB_MEX_FILE
+/* Matlab functions. MATLAB_MEX_FILE will be defined by the mex compiler. */
+/* If you are not using the mex compiler, this functionality will not intrude, */
+/* as it will be completely disabled at compile-time. */
+#include "mex.h"
+#else
+#ifndef ZERO_LIBRARY_MODE
+#include <stdio.h>
+#endif
+#endif
+/* Space must be allocated somewhere (testsolver.c, csolve.c or your own */
+/* program) for the global variables vars, params, work and settings. */
+/* At the bottom of this file, they are externed. */
+#ifndef ZERO_LIBRARY_MODE
+#include <math.h>
+#define pm(A, m, n) printmatrix(#A, A, m, n, 1)
+#endif
+
+#include <armadillo>
+using namespace arma;
+typedef struct Params_t {
+ double traj1_1[1];
+ double traj1_2[1];
+ double traj1_3[1];
+ double traj1_4[1];
+ double traj1_5[1];
+ double traj1_6[1];
+ double traj1_7[1];
+ double traj1_8[1];
+ double traj1_9[1];
+ double traj1_10[1];
+ double traj1_11[1];
+ double traj1_12[1];
+ double traj1_13[1];
+ double traj1_14[1];
+ double traj1_15[1];
+ double traj1_16[1];
+ double traj1_17[1];
+ double traj1_18[1];
+ double traj1_19[1];
+ double traj1_20[1];
+ double traj1_21[1];
+ double traj1_22[1];
+ double traj1_23[1];
+ double traj1_24[1];
+ double traj1_25[1];
+ double traj1_26[1];
+ double traj1_27[1];
+ double traj1_28[1];
+ double traj1_29[1];
+ double traj1_30[1];
+ double traj1_31[1];
+ double traj1_32[1];
+ double traj1_33[1];
+ double traj1_34[1];
+ double traj1_35[1];
+ double traj1_36[1];
+ double traj1_37[1];
+ double traj1_38[1];
+ double traj1_39[1];
+ double traj1_40[1];
+ double traj1_41[1];
+ double traj1_42[1];
+ double traj1_43[1];
+ double traj1_44[1];
+ double traj1_45[1];
+ double traj1_46[1];
+ double traj1_47[1];
+ double traj1_48[1];
+ double traj1_49[1];
+ double traj1_50[1];
+ double traj1_51[1];
+ double traj1_52[1];
+ double traj1_53[1];
+ double traj1_54[1];
+ double traj1_55[1];
+ double traj1_56[1];
+ double traj1_57[1];
+ double traj1_58[1];
+ double traj1_59[1];
+ double traj1_60[1];
+ double traj1_61[1];
+ double traj1_62[1];
+ double traj1_63[1];
+ double traj1_64[1];
+ double traj1_65[1];
+ double traj1_66[1];
+ double traj1_67[1];
+ double traj1_68[1];
+ double traj1_69[1];
+ double traj1_70[1];
+ double traj1_71[1];
+ double traj1_72[1];
+ double traj1_73[1];
+ double traj1_74[1];
+ double traj1_75[1];
+ double traj1_76[1];
+ double traj1_77[1];
+ double traj1_78[1];
+ double traj1_79[1];
+ double traj1_80[1];
+ double traj1_81[1];
+ double traj1_82[1];
+ double traj1_83[1];
+ double traj1_84[1];
+ double traj1_85[1];
+ double traj1_86[1];
+ double traj1_87[1];
+ double traj1_88[1];
+ double traj1_89[1];
+ double traj1_90[1];
+ double traj1_91[1];
+ double traj1_92[1];
+ double traj1_93[1];
+ double traj1_94[1];
+ double traj1_95[1];
+ double traj1_96[1];
+ double traj1_97[1];
+ double traj1_98[1];
+ double traj1_99[1];
+ double traj1_100[1];
+ double lambda[1];
+ double traj2_first[1];
+ double traj2_second[1];
+ double *traj1[101];
+} Params;
+typedef struct Vars_t {
+ double *x_1; /* 1 rows. */
+ double *x_2; /* 1 rows. */
+ double *x_3; /* 1 rows. */
+ double *x_4; /* 1 rows. */
+ double *x_5; /* 1 rows. */
+ double *x_6; /* 1 rows. */
+ double *x_7; /* 1 rows. */
+ double *x_8; /* 1 rows. */
+ double *x_9; /* 1 rows. */
+ double *x_10; /* 1 rows. */
+ double *x_11; /* 1 rows. */
+ double *x_12; /* 1 rows. */
+ double *x_13; /* 1 rows. */
+ double *x_14; /* 1 rows. */
+ double *x_15; /* 1 rows. */
+ double *x_16; /* 1 rows. */
+ double *x_17; /* 1 rows. */
+ double *x_18; /* 1 rows. */
+ double *x_19; /* 1 rows. */
+ double *x_20; /* 1 rows. */
+ double *x_21; /* 1 rows. */
+ double *x_22; /* 1 rows. */
+ double *x_23; /* 1 rows. */
+ double *x_24; /* 1 rows. */
+ double *x_25; /* 1 rows. */
+ double *x_26; /* 1 rows. */
+ double *x_27; /* 1 rows. */
+ double *x_28; /* 1 rows. */
+ double *x_29; /* 1 rows. */
+ double *x_30; /* 1 rows. */
+ double *x_31; /* 1 rows. */
+ double *x_32; /* 1 rows. */
+ double *x_33; /* 1 rows. */
+ double *x_34; /* 1 rows. */
+ double *x_35; /* 1 rows. */
+ double *x_36; /* 1 rows. */
+ double *x_37; /* 1 rows. */
+ double *x_38; /* 1 rows. */
+ double *x_39; /* 1 rows. */
+ double *x_40; /* 1 rows. */
+ double *x_41; /* 1 rows. */
+ double *x_42; /* 1 rows. */
+ double *x_43; /* 1 rows. */
+ double *x_44; /* 1 rows. */
+ double *x_45; /* 1 rows. */
+ double *x_46; /* 1 rows. */
+ double *x_47; /* 1 rows. */
+ double *x_48; /* 1 rows. */
+ double *x_49; /* 1 rows. */
+ double *x_50; /* 1 rows. */
+ double *x_51; /* 1 rows. */
+ double *x_52; /* 1 rows. */
+ double *x_53; /* 1 rows. */
+ double *x_54; /* 1 rows. */
+ double *x_55; /* 1 rows. */
+ double *x_56; /* 1 rows. */
+ double *x_57; /* 1 rows. */
+ double *x_58; /* 1 rows. */
+ double *x_59; /* 1 rows. */
+ double *x_60; /* 1 rows. */
+ double *x_61; /* 1 rows. */
+ double *x_62; /* 1 rows. */
+ double *x_63; /* 1 rows. */
+ double *x_64; /* 1 rows. */
+ double *x_65; /* 1 rows. */
+ double *x_66; /* 1 rows. */
+ double *x_67; /* 1 rows. */
+ double *x_68; /* 1 rows. */
+ double *x_69; /* 1 rows. */
+ double *x_70; /* 1 rows. */
+ double *x_71; /* 1 rows. */
+ double *x_72; /* 1 rows. */
+ double *x_73; /* 1 rows. */
+ double *x_74; /* 1 rows. */
+ double *x_75; /* 1 rows. */
+ double *x_76; /* 1 rows. */
+ double *x_77; /* 1 rows. */
+ double *x_78; /* 1 rows. */
+ double *x_79; /* 1 rows. */
+ double *x_80; /* 1 rows. */
+ double *x_81; /* 1 rows. */
+ double *x_82; /* 1 rows. */
+ double *x_83; /* 1 rows. */
+ double *x_84; /* 1 rows. */
+ double *x_85; /* 1 rows. */
+ double *x_86; /* 1 rows. */
+ double *x_87; /* 1 rows. */
+ double *x_88; /* 1 rows. */
+ double *x_89; /* 1 rows. */
+ double *x_90; /* 1 rows. */
+ double *x_91; /* 1 rows. */
+ double *x_92; /* 1 rows. */
+ double *x_93; /* 1 rows. */
+ double *x_94; /* 1 rows. */
+ double *x_95; /* 1 rows. */
+ double *x_96; /* 1 rows. */
+ double *x_97; /* 1 rows. */
+ double *x_98; /* 1 rows. */
+ double *x_99; /* 1 rows. */
+ double *x_100; /* 1 rows. */
+ double *t_01; /* 1 rows. */
+ double *t_02; /* 1 rows. */
+ double *t_03; /* 1 rows. */
+ double *t_04; /* 1 rows. */
+ double *t_05; /* 1 rows. */
+ double *t_06; /* 1 rows. */
+ double *t_07; /* 1 rows. */
+ double *t_08; /* 1 rows. */
+ double *t_09; /* 1 rows. */
+ double *t_10; /* 1 rows. */
+ double *t_11; /* 1 rows. */
+ double *t_12; /* 1 rows. */
+ double *t_13; /* 1 rows. */
+ double *t_14; /* 1 rows. */
+ double *t_15; /* 1 rows. */
+ double *t_16; /* 1 rows. */
+ double *t_17; /* 1 rows. */
+ double *t_18; /* 1 rows. */
+ double *t_19; /* 1 rows. */
+ double *t_20; /* 1 rows. */
+ double *t_21; /* 1 rows. */
+ double *t_22; /* 1 rows. */
+ double *t_23; /* 1 rows. */
+ double *t_24; /* 1 rows. */
+ double *t_25; /* 1 rows. */
+ double *t_26; /* 1 rows. */
+ double *t_27; /* 1 rows. */
+ double *t_28; /* 1 rows. */
+ double *t_29; /* 1 rows. */
+ double *t_30; /* 1 rows. */
+ double *t_31; /* 1 rows. */
+ double *t_32; /* 1 rows. */
+ double *t_33; /* 1 rows. */
+ double *t_34; /* 1 rows. */
+ double *t_35; /* 1 rows. */
+ double *t_36; /* 1 rows. */
+ double *t_37; /* 1 rows. */
+ double *t_38; /* 1 rows. */
+ double *t_39; /* 1 rows. */
+ double *t_40; /* 1 rows. */
+ double *t_41; /* 1 rows. */
+ double *t_42; /* 1 rows. */
+ double *t_43; /* 1 rows. */
+ double *t_44; /* 1 rows. */
+ double *t_45; /* 1 rows. */
+ double *t_46; /* 1 rows. */
+ double *t_47; /* 1 rows. */
+ double *t_48; /* 1 rows. */
+ double *t_49; /* 1 rows. */
+ double *t_50; /* 1 rows. */
+ double *t_51; /* 1 rows. */
+ double *t_52; /* 1 rows. */
+ double *t_53; /* 1 rows. */
+ double *t_54; /* 1 rows. */
+ double *t_55; /* 1 rows. */
+ double *t_56; /* 1 rows. */
+ double *t_57; /* 1 rows. */
+ double *t_58; /* 1 rows. */
+ double *t_59; /* 1 rows. */
+ double *t_60; /* 1 rows. */
+ double *t_61; /* 1 rows. */
+ double *t_62; /* 1 rows. */
+ double *t_63; /* 1 rows. */
+ double *t_64; /* 1 rows. */
+ double *t_65; /* 1 rows. */
+ double *t_66; /* 1 rows. */
+ double *t_67; /* 1 rows. */
+ double *t_68; /* 1 rows. */
+ double *t_69; /* 1 rows. */
+ double *t_70; /* 1 rows. */
+ double *t_71; /* 1 rows. */
+ double *t_72; /* 1 rows. */
+ double *t_73; /* 1 rows. */
+ double *t_74; /* 1 rows. */
+ double *t_75; /* 1 rows. */
+ double *t_76; /* 1 rows. */
+ double *t_77; /* 1 rows. */
+ double *t_78; /* 1 rows. */
+ double *t_79; /* 1 rows. */
+ double *t_80; /* 1 rows. */
+ double *t_81; /* 1 rows. */
+ double *t_82; /* 1 rows. */
+ double *t_83; /* 1 rows. */
+ double *t_84; /* 1 rows. */
+ double *t_85; /* 1 rows. */
+ double *t_86; /* 1 rows. */
+ double *t_87; /* 1 rows. */
+ double *t_88; /* 1 rows. */
+ double *t_89; /* 1 rows. */
+ double *t_90; /* 1 rows. */
+ double *t_91; /* 1 rows. */
+ double *t_92; /* 1 rows. */
+ double *t_93; /* 1 rows. */
+ double *t_94; /* 1 rows. */
+ double *t_95; /* 1 rows. */
+ double *t_96; /* 1 rows. */
+ double *t_97; /* 1 rows. */
+ double *t_98; /* 1 rows. */
+ double *x[101];
+} Vars;
+typedef struct Workspace_t {
+ double *h;
+ double *s_inv;
+ double *s_inv_z;
+ double b[100];
+ double q[198];
+ double rhs[298];
+ double x[298];
+ double *s;
+ double *z;
+ double *y;
+ double lhs_aff[298];
+ double lhs_cc[298];
+ double buffer[298];
+ double buffer2[298];
+ double KKT[593];
+ double L[493];
+ double d[298];
+ double v[298];
+ double d_inv[298];
+ double gap;
+ double optval;
+ double ineq_resid_squared;
+ double eq_resid_squared;
+ double block_33[1];
+ /* Pre-op symbols. */
+ double quad_309377593344[1];
+ double quad_170383695872[1];
+ double quad_112192413696[1];
+ double quad_271369404416[1];
+ double quad_974379421696[1];
+ double quad_880958541824[1];
+ double quad_572094451712[1];
+ double quad_789148684288[1];
+ double quad_448304680960[1];
+ double quad_196635672576[1];
+ double quad_489733091328[1];
+ double quad_802233995264[1];
+ double quad_865562517504[1];
+ double quad_910621253632[1];
+ double quad_321513025536[1];
+ double quad_997344780288[1];
+ double quad_448780910592[1];
+ double quad_115901485056[1];
+ double quad_782888361984[1];
+ double quad_609463140352[1];
+ double quad_88437858304[1];
+ double quad_984663347200[1];
+ double quad_230162866176[1];
+ double quad_416382242816[1];
+ double quad_380873158656[1];
+ double quad_556464291840[1];
+ double quad_266292043776[1];
+ double quad_970572640256[1];
+ double quad_39497891840[1];
+ double quad_701607514112[1];
+ double quad_181586403328[1];
+ double quad_260463075328[1];
+ double quad_382856859648[1];
+ double quad_199224414208[1];
+ double quad_511656841216[1];
+ double quad_171214155776[1];
+ double quad_70639910912[1];
+ double quad_463249276928[1];
+ double quad_244412502016[1];
+ double quad_258282409984[1];
+ double quad_321028120576[1];
+ double quad_30674518016[1];
+ double quad_824505257984[1];
+ double quad_484111179776[1];
+ double quad_675570683904[1];
+ double quad_386911121408[1];
+ double quad_932702867456[1];
+ double quad_274526810112[1];
+ double quad_96616189952[1];
+ double quad_711864590336[1];
+ double quad_200392192000[1];
+ double quad_150270558208[1];
+ double quad_598460686336[1];
+ double quad_831592636416[1];
+ double quad_874189471744[1];
+ double quad_632352092160[1];
+ double quad_969116119040[1];
+ double quad_610911072256[1];
+ double quad_606707699712[1];
+ double quad_449159319552[1];
+ double quad_700922720256[1];
+ double quad_911067136000[1];
+ double quad_304706789376[1];
+ double quad_530900680704[1];
+ double quad_307691851776[1];
+ double quad_875119529984[1];
+ double quad_330167877632[1];
+ double quad_106008100864[1];
+ double quad_586821791744[1];
+ double quad_62270459904[1];
+ double quad_705160380416[1];
+ double quad_566627430400[1];
+ double quad_833211822080[1];
+ double quad_28799266816[1];
+ double quad_442252132352[1];
+ double quad_713742774272[1];
+ double quad_447903891456[1];
+ double quad_655034785792[1];
+ double quad_576686788608[1];
+ double quad_288749699072[1];
+ double quad_866096066560[1];
+ double quad_345799389184[1];
+ double quad_335292588032[1];
+ double quad_292534816768[1];
+ double quad_832380674048[1];
+ double quad_934938374144[1];
+ double quad_265476059136[1];
+ double quad_478224822272[1];
+ double quad_901249572864[1];
+ double quad_216942473216[1];
+ double quad_227493912576[1];
+ double quad_458072092672[1];
+ double quad_912331198464[1];
+ double quad_307004768256[1];
+ double quad_284125421568[1];
+ double quad_704038281216[1];
+ double quad_401987686400[1];
+ double quad_592084643840[1];
+ double quad_8875266048[1];
+ double quad_270270570496[1];
+ int converged;
+} Workspace;
+typedef struct Settings_t {
+ double resid_tol;
+ double eps;
+ int max_iters;
+ int refine_steps;
+ int better_start;
+ /* Better start obviates the need for s_init and z_init. */
+ double s_init;
+ double z_init;
+ int verbose;
+ /* Show extra details of the iterative refinement steps. */
+ int verbose_refinement;
+ int debug;
+ /* For regularization. Minimum value of abs(D_ii) in the kkt D factor. */
+ double kkt_reg;
+} Settings;
+extern Vars vars;
+extern Params params;
+extern Workspace work;
+extern Settings settings;
+/* Function definitions in ldl.c: */
+void ldl_solve(double *target, double *var);
+void ldl_factor(void);
+double check_factorization(void);
+void matrix_multiply(double *result, double *source);
+double check_residual(double *target, double *multiplicand);
+void fill_KKT(void);
+
+/* Function definitions in matrix_support.c: */
+void multbymA(double *lhs, double *rhs);
+void multbymAT(double *lhs, double *rhs);
+void multbymG(double *lhs, double *rhs);
+void multbymGT(double *lhs, double *rhs);
+void multbyP(double *lhs, double *rhs);
+void fillq(void);
+void fillh(void);
+void fillb(void);
+void pre_ops(void);
+
+/* Function definitions in solver.c: */
+double eval_gap(void);
+void set_defaults(void);
+void setup_pointers(void);
+void setup_indexed_params(void);
+void setup_indexed_optvars(void);
+void setup_indexing(void);
+void set_start(void);
+double eval_objv(void);
+void fillrhs_aff(void);
+void fillrhs_cc(void);
+void refine(double *target, double *var);
+double calc_ineq_resid_squared(void);
+double calc_eq_resid_squared(void);
+void better_start(void);
+void fillrhs_start(void);
+long solve(void);
+
+/* Function definitions in testsolver.c: */
+int main(int argc, char **argv);
+void load_default_data(const mat& traj1, const mat& traj2);
+
+/* Function definitions in util.c: */
+void tic(void);
+float toc(void);
+float tocq(void);
+void printmatrix(char *name, double *A, int m, int n, int sparse);
+double unif(double lower, double upper);
+float ran1(long*idum, int reset);
+float randn_internal(long *idum, int reset);
+double randn(void);
+void reset_rand(void);
+
+#endif
diff --git a/plotMat3.cc b/plotMat3.cc
new file mode 100644
index 0000000000000000000000000000000000000000..ca1c5790e70fe066e2019424c1cbd25377df1745
--- /dev/null
+++ b/plotMat3.cc
@@ -0,0 +1,30 @@
+#include "plotMat3.h"
+#include "plotgnu3.h"
+#include <string>
+using namespace std;
+using namespace arma;
+
+
+
+void plotMat3(const arma::mat& traj, const string& labelname) {
+
+ vector<double> x;
+ for (int i = 0; i < traj.n_rows; ++i) {
+ x.push_back(traj(i,0));
+ }
+ vector<double> y;
+ for (int i = 0; i < traj.n_rows; ++i) {
+ y.push_back(traj(i,1));
+ }
+
+ vector<double> z;
+ for (int i = 0; i < traj.n_rows; ++i) {
+ z.push_back(traj(i,2));
+ }
+
+ plotgnu3(x,y,z,labelname);
+
+
+
+}
+
diff --git a/plotMat3.h b/plotMat3.h
new file mode 100644
index 0000000000000000000000000000000000000000..2e68a1d6f34a9317213bf59993ef49838b7e9370
--- /dev/null
+++ b/plotMat3.h
@@ -0,0 +1,13 @@
+#include <armadillo>
+#include <vector>
+#include <string>
+using namespace std;
+using namespace arma;
+
+
+#ifndef plotMat3_H
+#define plotMat3_H
+
+
+void plotMat3(const arma::mat& traj, const string& labelname);
+#endif
diff --git a/plotgnu3.cc b/plotgnu3.cc
new file mode 100644
index 0000000000000000000000000000000000000000..dd02c2b4c0f11556c4a9b7a26e69f449e97c5a5d
--- /dev/null
+++ b/plotgnu3.cc
@@ -0,0 +1,33 @@
+#include "plotgnu3.h"
+#include "gnuplot-cpp/gnuplot_i.hpp" //Gnuplot class handles POSIX-Pipe-communikation with Gnuplot
+
+
+using namespace std;
+
+void wait_for_key ()
+{
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) // every keypress registered, also arrow keys
+ cout << endl << "Press any key to continue..." << endl;
+
+ FlushConsoleInputBuffer(GetStdHandle(STD_INPUT_HANDLE));
+ _getch();
+#elif defined(unix) || defined(__unix) || defined(__unix__) || defined(__APPLE__)
+ cout << endl << "Press ENTER to continue..." << endl;
+
+ std::cin.clear();
+ std::cin.ignore(std::cin.rdbuf()->in_avail());
+ std::cin.get();
+#endif
+ return;
+}
+
+void plotgnu3(const vector<double>& x, const vector<double>& y, const vector<double>& z, const string& labelname) {
+ static Gnuplot g1("lines");
+ //g1.reset_plot();
+ //g1.unset_grid();
+
+
+ g1.plot_xyz(x, y, z,labelname);
+ g1.showonscreen();
+ wait_for_key();
+}
diff --git a/plotgnu3.h b/plotgnu3.h
new file mode 100644
index 0000000000000000000000000000000000000000..af4cb4197d8e606f0f592eafc2d76b93728cf2e2
--- /dev/null
+++ b/plotgnu3.h
@@ -0,0 +1,10 @@
+#include <vector>
+#include <string>
+using namespace std;
+
+#ifndef PLOTGNU3_H
+#define PLOTGNU3_H
+
+
+void plotgnu3(const vector<double>& x, const vector<double>& y, const vector<double>& z, const string& labelname);
+#endif
diff --git a/yMod.txt b/yMod.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01fb0bec3ca8cd5fcca262267bdcebfd4e1ec5a3
--- /dev/null
+++ b/yMod.txt
@@ -0,0 +1,100 @@
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diff --git a/yRes1.txt b/yRes1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f88f5ce12571dce9e5a93612b710b66c9dc0e6dd
--- /dev/null
+++ b/yRes1.txt
@@ -0,0 +1,501 @@
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