[CMake] add TRACE_SOLVER option

fix stack-of-tasks/tsid#93

CMakeLists.txt

@@ -25,6 +25,9 @@ SET(PROJECT_NAME eiquadprog)
 SET(PROJECT_DESCRIPTION "C++ reimplementation of eiquadprog")
 SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
+# Project options
+OPTION(TRACE_SOLVER "trace solver on stderr" OFF)
+
 # Project configuration
 SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 SET(CXX_DISABLE_WERROR TRUE)
@@ -50,14 +53,18 @@ SET(${PROJECT_NAME}_HEADERS
   include/${PROJECT_NAME}/eiquadprog-fast.hpp
   include/${PROJECT_NAME}/eiquadprog-rt.hpp
   include/${PROJECT_NAME}/eiquadprog-rt.hxx
-  include/${PROJECT_NAME}/eiquadprog-utils.hxx  
+  include/${PROJECT_NAME}/eiquadprog-utils.hxx
   )
 
 ADD_LIBRARY(${PROJECT_NAME} SHARED
   src/eiquadprog-fast.cpp
   src/eiquadprog.cpp
   )
 
+IF(TRACE_SOLVER)
+  TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE TRACE_SOLVER)
+ENDIF(TRACE_SOLVER)
+
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)

src/eiquadprog-fast.cpp

@@ -1,7 +1,6 @@
 #include <iostream>
 
 #include "eiquadprog/eiquadprog-fast.hpp"
-#define TRACE_SOLVER
 
 namespace eiquadprog {
 namespace solvers {

src/eiquadprog.cpp

@@ -193,7 +193,7 @@ double solve_quadprog2(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0, cons
   print_vector("r", r, iq + 1);
   print_vector("u", u, iq + 1);
   print_vector("d", d, n);
-  print_ivector("A", A, iq + 1);
+  print_vector("A", A, iq + 1);
 #endif
 
   /* Step 2b: compute step length */
@@ -240,7 +240,7 @@ double solve_quadprog2(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0, cons
     std::cerr << " in dual space: " << f_value << std::endl;
     print_vector("x", x, n);
     print_vector("z", z, n);
-    print_ivector("A", A, iq + 1);
+    print_vector("A", A, iq + 1);
 #endif
     goto l2a;
   }
@@ -258,7 +258,7 @@ double solve_quadprog2(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0, cons
   print_vector("x", x, n);
   print_vector("u", u, iq + 1);
   print_vector("r", r, iq + 1);
-  print_ivector("A", A, iq + 1);
+  print_vector("A", A, iq + 1);
 #endif
 
   if (t == t2) {
@@ -273,7 +273,7 @@ double solve_quadprog2(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0, cons
       delete_constraint(R, J, A, u, p, iq, ip);
 #ifdef TRACE_SOLVER
       print_matrix("R", R, n);
-      print_ivector("A", A, iq);
+      print_vector("A", A, iq);
 #endif
       for (i = 0; i < m; i++) iai(i) = static_cast<VectorXi::Scalar>(i);
       for (i = 0; i < iq; i++) {
@@ -287,7 +287,7 @@ double solve_quadprog2(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0, cons
       iai(ip) = -1;
 #ifdef TRACE_SOLVER
     print_matrix("R", R, n);
-    print_ivector("A", A, iq);
+    print_vector("A", A, iq);
 #endif
     goto l1;
   }
@@ -302,7 +302,7 @@ double solve_quadprog2(LLT<MatrixXd, Lower>& chol, double c1, VectorXd& g0, cons
   delete_constraint(R, J, A, u, p, iq, l);
 #ifdef TRACE_SOLVER
   print_matrix("R", R, n);
-  print_ivector("A", A, iq);
+  print_vector("A", A, iq);
 #endif
 
   s(ip) = CI.col(ip).dot(x) + ci0(ip);