├── .clang-format ├── .clang-format-check.sh ├── .clang-format-common.sh ├── .clang-format-fix.sh ├── .github └── workflows │ ├── ci.yaml │ └── package.yaml ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake └── qp_solver_options.cmake.in ├── debian ├── changelog ├── compat ├── control ├── copyright └── rules ├── doc ├── CMakeLists.txt └── Doxyfile.in ├── include └── qp_solver_collection │ ├── QpSolverCollection.h │ └── QpSolverOptions.h.in ├── package.xml ├── src ├── CMakeLists.txt ├── QpSolverCollection.cpp ├── QpSolverHpipm.cpp ├── QpSolverJrlqp.cpp ├── QpSolverLssol.cpp ├── QpSolverNasoq.cpp ├── QpSolverOsqp.cpp ├── QpSolverProxqp.cpp ├── QpSolverQld.cpp ├── QpSolverQpmad.cpp ├── QpSolverQpoases.cpp └── QpSolverQuadprog.cpp └── tests ├── CMakeLists.txt ├── TestQpSolversEnabled.cpp └── TestSampleQP.cpp /.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | Language: Cpp 3 | AccessModifierOffset: -2 4 | AlignAfterOpenBracket: Align 5 | AlignConsecutiveAssignments: false 6 | AlignConsecutiveDeclarations: false 7 | AlignEscapedNewlinesLeft: true 8 | AlignOperands: true 9 | AlignTrailingComments: false 10 | AllowAllParametersOfDeclarationOnNextLine: false 11 | AllowShortBlocksOnASingleLine: false 12 | AllowShortCaseLabelsOnASingleLine: false 13 | AllowShortFunctionsOnASingleLine: Empty 14 | AllowShortIfStatementsOnASingleLine: true 15 | AllowShortLoopsOnASingleLine: true 16 | AlwaysBreakAfterDefinitionReturnType: None 17 | AlwaysBreakAfterReturnType: None 18 | AlwaysBreakBeforeMultilineStrings: false 19 | AlwaysBreakTemplateDeclarations: true 20 | BinPackArguments: true 21 | BinPackParameters: false 22 | BreakBeforeBinaryOperators: NonAssignment 23 | BreakBeforeBraces: Allman 24 | BreakBeforeInheritanceComma: false 25 | BreakBeforeTernaryOperators: true 26 | BreakConstructorInitializersBeforeComma: false 27 | BreakConstructorInitializers: BeforeColon 28 | BreakAfterJavaFieldAnnotations: false 29 | BreakStringLiterals: true 30 | ColumnLimit: 120 31 | CommentPragmas: '^ IWYU pragma:' 32 | CompactNamespaces: false 33 | ConstructorInitializerAllOnOneLineOrOnePerLine: false 34 | ConstructorInitializerIndentWidth: 0 35 | ContinuationIndentWidth: 4 36 | Cpp11BracedListStyle: true 37 | DerivePointerAlignment: false 38 | DisableFormat: false 39 | ExperimentalAutoDetectBinPacking: false 40 | FixNamespaceComments: true 41 | ForEachMacros: 42 | - foreach 43 | - Q_FOREACH 44 | - BOOST_FOREACH 45 | IncludeBlocks: Preserve 46 | IncludeCategories: 47 | - Regex: '^( $tmpfile 11 | if ! [[ -z `diff $tmpfile $f` ]]; then 12 | echo "Wrong formatting in $f" 13 | out=1 14 | fi 15 | done 16 | rm -f $tmpfile 17 | if [[ $out -eq 1 ]]; then 18 | echo "You can run ./.clang-format-fix.sh to fix the issues locally, then commit/push again" 19 | fi 20 | exit $out 21 | -------------------------------------------------------------------------------- /.clang-format-common.sh: -------------------------------------------------------------------------------- 1 | # This script is meant to be sourced from other scripts 2 | 3 | # Check for clang-format, prefer 14 if available 4 | if [[ -x "$(command -v clang-format-14)" ]]; then 5 | clang_format=clang-format-14 6 | elif [[ -x "$(command -v clang-format)" ]]; then 7 | clang_format=clang-format 8 | else 9 | echo "clang-format or clang-format-14 must be installed" 10 | exit 1 11 | fi 12 | 13 | # Find all source files in the project minus those that are auto-generated or we do not maintain 14 | src_files=`find include src tests -name '*.cpp' -or -name '*.h' -or -name '*.hpp'` 15 | -------------------------------------------------------------------------------- /.clang-format-fix.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | readonly this_dir=`cd $(dirname $0); pwd` 4 | cd $this_dir 5 | source .clang-format-common.sh 6 | 7 | for f in ${src_files}; do 8 | $clang_format -style=file -i $f 9 | done 10 | -------------------------------------------------------------------------------- /.github/workflows/ci.yaml: -------------------------------------------------------------------------------- 1 | name: CI of QpSolverCollection 2 | 3 | on: 4 | push: 5 | branches: 6 | - '**' 7 | pull_request: 8 | branches: 9 | - '**' 10 | schedule: 11 | - cron: '0 0 * * 0' 12 | 13 | jobs: 14 | 15 | clang-format: 16 | runs-on: ubuntu-22.04 17 | steps: 18 | - name: Checkout repository code 19 | uses: actions/checkout@v3 20 | - name: Install clang-format-14 21 | run: | 22 | sudo apt-get -qq update 23 | sudo apt-get -qq install clang-format-14 24 | - name: Run clang-format-check 25 | run: | 26 | ./.clang-format-check.sh 27 | 28 | build-and-test: 29 | strategy: 30 | fail-fast: false 31 | matrix: 32 | os: [ubuntu-22.04, ubuntu-24.04] 33 | build-type: [Debug, RelWithDebInfo] 34 | standalone: [standalone, colcon] 35 | solvers-from-source: [SolversFromSource, SolversFromAPT] 36 | runs-on: ${{ matrix.os }} 37 | steps: 38 | - name: Set environment variables 39 | run: | 40 | set -e 41 | set -x 42 | echo "LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:/usr/local/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV # for HPIPM 43 | if [ "${{ matrix.os }}" == "ubuntu-22.04" ] && \ 44 | [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ 45 | [ "${{ matrix.standalone }}" == "colcon" ] && \ 46 | [ "${{ matrix.solvers-from-source }}" == "SolversFromAPT" ] && \ 47 | [ "${{ github.repository_owner }}" == "isri-aist" ] && \ 48 | [ "${{ github.ref }}" == "refs/heads/master" ] 49 | then 50 | echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV 51 | sudo apt-get install -qq doxygen graphviz 52 | else 53 | echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV 54 | fi 55 | - name: Check secrets 56 | run: | 57 | if test -n "$GITLAB_TOKEN"; then 58 | echo "Install private solvers." 59 | echo "ENABLE_PRIVATE_SOLVERS=ON" >> $GITHUB_ENV 60 | echo "SKIP_PRIVATE_SOLVER_TEST=OFF" >> $GITHUB_ENV 61 | git config --global url."https://m-murooka_at_aist_go_jp:${GITLAB_TOKEN}@gite.lirmm.fr/".insteadOf git@gite.lirmm.fr: 62 | else 63 | echo "NOT install private solvers." 64 | echo "ENABLE_PRIVATE_SOLVERS=OFF" >> $GITHUB_ENV 65 | echo "SKIP_PRIVATE_SOLVER_TEST=ON" >> $GITHUB_ENV 66 | fi 67 | env: 68 | GITLAB_TOKEN : ${{ secrets.GITLAB_TOKEN }} 69 | - name: Install ROS2 70 | if: matrix.standalone == 'colcon' 71 | uses: jrl-umi3218/github-actions/install-dependencies@master 72 | with: 73 | ros: | 74 | apt: ros-base 75 | - name: Install solvers via apt (Ubuntu 22) 76 | if: matrix.solvers-from-source == 'SolversFromAPT' && matrix.os == 'ubuntu-22.04' 77 | uses: jrl-umi3218/github-actions/install-dependencies@master 78 | with: 79 | build-type: ${{ matrix.build-type }} 80 | ubuntu: | 81 | apt-mirrors: 82 | mc-rtc: 83 | cloudsmith: mc-rtc/head 84 | apt: libmetis-dev libeigen3-dev libgtest-dev graphviz doxygen libeigen-qld-dev libeigen-quadprog-dev libjrl-qp-dev libqpoases-dev libosqp-eigen-dev libnasoq-dev libhpipm-dev libproxsuite-dev libqpmad-dev 85 | - name: Install solvers via apt (Ubuntu 24) 86 | if: matrix.solvers-from-source == 'SolversFromAPT' && matrix.os == 'ubuntu-24.04' 87 | uses: jrl-umi3218/github-actions/install-dependencies@master 88 | with: 89 | build-type: ${{ matrix.build-type }} 90 | ubuntu: | 91 | apt-mirrors: 92 | mc-rtc: 93 | cloudsmith: mc-rtc/head 94 | apt: libmetis-dev libeigen3-dev libgtest-dev graphviz doxygen libeigen-qld-dev libeigen-quadprog-dev libjrl-qp-dev libqpoases-dev libosqp-eigen-dev libhpipm-dev libproxsuite-dev libqpmad-dev 95 | github: | 96 | - path: isri-aist/nasoq 97 | ref: debian 98 | options: -DNASOQ_BLAS_BACKEND=OpenBLAS -DNASOQ_USE_CLAPACK=ON -DNASOQ_BUILD_CLI=OFF -DNASOQ_BUILD_EXAMPLES=OFF -DNASOQ_BUILD_TESTS=OFF -DNASOQ_BUILD_DOCS=OFF 99 | - name: Install solvers from source 100 | if: matrix.solvers-from-source == 'SolversFromSource' 101 | uses: jrl-umi3218/github-actions/install-dependencies@master 102 | with: 103 | build-type: ${{ matrix.build-type }} 104 | ubuntu: | 105 | apt: libmetis-dev libeigen3-dev libgtest-dev graphviz doxygen 106 | github: | 107 | - path: jrl-umi3218/eigen-qld 108 | options: -DBUILD_TESTING=OFF -DPYTHON_BINDING=OFF -DINSTALL_DOCUMENTATION=OFF 109 | - path: jrl-umi3218/eigen-quadprog 110 | options: -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF 111 | - path: jrl-umi3218/jrl-qp 112 | options: -DBUILD_TESTING=OFF -DBUILD_BENCHMARKS=OFF -DINSTALL_DOCUMENTATION=OFF 113 | - path: coin-or/qpOASES 114 | options: -DBUILD_SHARED_LIBS=ON -DQPOASES_BUILD_EXAMPLES=OFF 115 | - path: osqp/osqp 116 | - path: chuoru/osqp-eigen 117 | - path: isri-aist/nasoq 118 | ref: debian 119 | options: -DNASOQ_BLAS_BACKEND=OpenBLAS -DNASOQ_USE_CLAPACK=ON -DNASOQ_BUILD_CLI=OFF -DNASOQ_BUILD_EXAMPLES=OFF -DNASOQ_BUILD_TESTS=OFF -DNASOQ_BUILD_DOCS=OFF 120 | - path: giaf/blasfeo 121 | options: -DBUILD_SHARED_LIBS=ON -DTARGET=X64_AUTOMATIC -DBLASFEO_EXAMPLES=OFF 122 | - path: giaf/hpipm 123 | options: -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF 124 | - path: Simple-Robotics/proxsuite 125 | ref: main 126 | options: -DBUILD_TESTING=OFF -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF 127 | - path: asherikov/qpmad 128 | - name: Install private solvers 129 | if: env.ENABLE_PRIVATE_SOLVERS == 'ON' 130 | uses: jrl-umi3218/github-actions/install-dependencies@master 131 | with: 132 | build-type: ${{ matrix.build-type }} 133 | github: | 134 | - path: git@gite.lirmm.fr:multi-contact/eigen-lssol 135 | options: -DBUILD_TESTING=OFF -DPYTHON_BINDING=OFF -DINSTALL_DOCUMENTATION=OFF 136 | - name: Checkout repository code 137 | if: matrix.standalone == 'standalone' 138 | uses: actions/checkout@v3 139 | with: 140 | submodules: recursive 141 | - name: Standalone build 142 | if: matrix.standalone == 'standalone' 143 | uses: jrl-umi3218/github-actions/build-cmake-project@master 144 | with: 145 | build-type: ${{ matrix.build-type }} 146 | options: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} -DDEFAULT_ENABLE_ALL=ON -DENABLE_LSSOL=${{ env.ENABLE_PRIVATE_SOLVERS }} -DSKIP_PRIVATE_SOLVER_TEST=${{ env.SKIP_PRIVATE_SOLVER_TEST }} -DFORCE_ALL_SOLVER_TEST=ON 147 | - name: Colcon build 148 | if: matrix.standalone == 'colcon' 149 | uses: jrl-umi3218/github-actions/build-colcon-project@master 150 | with: 151 | build-type: ${{ matrix.build-type }} 152 | cmake-args: -DUSE_ROS2=ON -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} -DDEFAULT_ENABLE_ALL=ON -DENABLE_LSSOL=${{ env.ENABLE_PRIVATE_SOLVERS }} -DSKIP_PRIVATE_SOLVER_TEST=${{ env.SKIP_PRIVATE_SOLVER_TEST }} -DFORCE_ALL_SOLVER_TEST=ON 153 | build-packages: qp_solver_collection 154 | test-packages: qp_solver_collection 155 | - name: Upload documentation 156 | # Only run for one configuration and on origin master branch 157 | if: env.UPLOAD_DOCUMENTATION == 'true' 158 | run: | 159 | set -e 160 | set -x 161 | cd ${GITHUB_WORKSPACE}/colcon_ws/src/${{ github.repository }} 162 | git config --global user.name "Masaki Murooka" 163 | git config --global user.email "m-murooka@aist.go.jp" 164 | git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/QpSolverCollection" 165 | git fetch --depth=1 origin gh-pages:gh-pages 166 | git checkout --quiet gh-pages 167 | rm -rf doxygen/ 168 | cp -r ${GITHUB_WORKSPACE}/colcon_ws/build/qp_solver_collection/doc/html/ doxygen 169 | git add doxygen 170 | git_status=`git status -s` 171 | if test -n "$git_status"; then 172 | git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" 173 | git push origin gh-pages 174 | else 175 | echo "Github pages documentation is already up-to-date." 176 | fi 177 | -------------------------------------------------------------------------------- /.github/workflows/package.yaml: -------------------------------------------------------------------------------- 1 | name: Package QpSolverCollection 2 | on: 3 | repository_dispatch: 4 | types: 5 | - package-master 6 | - package-release 7 | pull_request: 8 | branches: 9 | - "**" 10 | push: 11 | paths-ignore: 12 | - doc/** 13 | - README.md 14 | - ".github/workflows/ci.yaml" 15 | branches: 16 | - "**" 17 | tags: 18 | - v* 19 | jobs: 20 | package: 21 | uses: jrl-umi3218/github-actions/.github/workflows/package-project.yml@master 22 | with: 23 | latest-cmake: true 24 | deps: '["isri-aist/ForceControlCollection"]' 25 | main-repo: isri-aist/QpSolverCollection 26 | matrix: | 27 | { 28 | "dist": ["jammy"], 29 | "arch": ["amd64"] 30 | } 31 | secrets: 32 | CLOUDSMITH_API_KEY: ${{ secrets.CLOUDSMITH_API_KEY }} 33 | GH_TOKEN: ${{ secrets.GH_PAGES_TOKEN }} 34 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | *.pyc 3 | 4 | GPATH 5 | GRTAGS 6 | GSYMS 7 | GTAGS 8 | 9 | include/qp_solver_collection/QpSolverOptions.h 10 | cmake/qp_solver_options.cmake 11 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.14) 2 | project(qp_solver_collection) 3 | 4 | # Options for solvers 5 | option(DEFAULT_ENABLE_ALL "Enable all QP solvers by default" OFF) 6 | set(DEFAULT_ENABLE_VALUE ${DEFAULT_ENABLE_ALL}) 7 | 8 | option(ENABLE_QLD "Enable QLD" ${DEFAULT_ENABLE_VALUE}) 9 | option(ENABLE_QUADPROG "Enable QuadProg" ${DEFAULT_ENABLE_VALUE}) 10 | option(ENABLE_LSSOL "Enable LSSOL" ${DEFAULT_ENABLE_VALUE}) 11 | option(ENABLE_JRLQP "Enable JRLQP" ${DEFAULT_ENABLE_VALUE}) 12 | option(ENABLE_QPOASES "Enable qpOASES" ${DEFAULT_ENABLE_VALUE}) 13 | option(ENABLE_OSQP "Enable OSQP" ${DEFAULT_ENABLE_VALUE}) 14 | option(ENABLE_NASOQ "Enable NASOQ" ${DEFAULT_ENABLE_VALUE}) 15 | option(ENABLE_HPIPM "Enable HPIPM" ${DEFAULT_ENABLE_VALUE}) 16 | option(ENABLE_PROXQP "Enable PROXQP" ${DEFAULT_ENABLE_VALUE}) 17 | option(ENABLE_QPMAD "Enable QPMAD" ${DEFAULT_ENABLE_VALUE}) 18 | option(USE_ROS2 "Use ROS2" OFF) 19 | 20 | option(FORCE_ALL_SOLVER_TEST "Test for all solvers regardless of options" OFF) 21 | mark_as_advanced(FORCE FORCE_ALL_SOLVER_TEST) 22 | 23 | option(SKIP_PRIVATE_SOLVER_TEST "Skip private solver test" OFF) 24 | mark_as_advanced(FORCE SKIP_PRIVATE_SOLVER_TEST) 25 | 26 | option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON) 27 | 28 | if(NOT USE_ROS2) 29 | option(BUILD_TESTING "Build test" ON) 30 | if(BUILD_TESTING) 31 | enable_testing() 32 | endif() 33 | include(GNUInstallDirs) 34 | # Place output artifacts all in the same directory to simplify running tests on Windows 35 | set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}") 36 | set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}") 37 | set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}") 38 | endif() 39 | 40 | # To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE. 41 | # See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html 42 | # See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/ 43 | set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) 44 | 45 | # Eigen 46 | find_package(Eigen3 REQUIRED) 47 | include_directories(${EIGEN3_INCLUDE_DIR}) 48 | 49 | set(EXIST_ENABLED_SOLVER FALSE) 50 | macro(add_qp_solver _SOLVER_NAME) 51 | if(${ENABLE_${_SOLVER_NAME}}) 52 | foreach(_PACKAGE_NAME ${ARGN}) 53 | find_package(${_PACKAGE_NAME} REQUIRED) 54 | endforeach() 55 | set(EXIST_ENABLED_SOLVER TRUE) 56 | endif() 57 | message(NOTICE "- ENABLE_${_SOLVER_NAME}: ${ENABLE_${_SOLVER_NAME}}") 58 | endmacro() 59 | 60 | # eigen-qld 61 | add_qp_solver(QLD eigen-qld) 62 | 63 | # eigen-quadprog 64 | add_qp_solver(QUADPROG eigen-quadprog) 65 | 66 | # eigen-lssol 67 | add_qp_solver(LSSOL eigen-lssol) 68 | 69 | # JRLQP 70 | add_qp_solver(JRLQP jrl-qp) 71 | 72 | # qpOASES 73 | add_qp_solver(QPOASES) 74 | 75 | # OsqpEigen 76 | add_qp_solver(OSQP OsqpEigen) 77 | 78 | # NASOQ 79 | add_qp_solver(NASOQ nasoq) 80 | 81 | # HPIPM 82 | add_qp_solver(HPIPM blasfeo hpipm) 83 | 84 | # PROXQP 85 | add_qp_solver(PROXQP proxsuite) 86 | 87 | # QPMAD 88 | add_qp_solver(QPMAD qpmad) 89 | 90 | if(NOT ${EXIST_ENABLED_SOLVER}) 91 | message(FATAL_ERROR "None of the QP solvers are enabled. Enable at least one QP solver.") 92 | endif() 93 | 94 | if(USE_ROS2) 95 | find_package(ament_cmake REQUIRED) 96 | find_package(rclcpp REQUIRED) 97 | endif() 98 | 99 | set(QP_SOLVER_OPTIONS_HEADER_FILE "${PROJECT_SOURCE_DIR}/include/qp_solver_collection/QpSolverOptions.h") 100 | configure_file("${QP_SOLVER_OPTIONS_HEADER_FILE}.in" "${QP_SOLVER_OPTIONS_HEADER_FILE}") 101 | 102 | set(QP_SOLVER_OPTIONS_CMAKE_FILE "${PROJECT_SOURCE_DIR}/cmake/qp_solver_options.cmake") 103 | configure_file("${QP_SOLVER_OPTIONS_CMAKE_FILE}.in" "${QP_SOLVER_OPTIONS_CMAKE_FILE}") 104 | 105 | add_subdirectory(src) 106 | 107 | if(NOT USE_ROS2) 108 | install(EXPORT ${PROJECT_NAME} 109 | FILE ${PROJECT_NAME}Targets.cmake 110 | DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME} 111 | NAMESPACE ${PROJECT_NAME}:: 112 | ) 113 | 114 | # Write initial config cmake file 115 | file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/Config.cmake.in" 116 | " 117 | \@PACKAGE_INIT\@ 118 | 119 | include(\"\${CMAKE_CURRENT_LIST_DIR}/\@PROJECT_NAME\@Targets.cmake\") 120 | include(\"\${CMAKE_CURRENT_LIST_DIR}/qp_solver_options.cmake\") 121 | 122 | set(\@PROJECT_NAME\@_LIBRARIES \@PROJECT_NAME\@::QpSolverCollection) 123 | ") 124 | 125 | include(CMakePackageConfigHelpers) 126 | # generate the config file that is includes the exports 127 | configure_package_config_file(${CMAKE_CURRENT_BINARY_DIR}/Config.cmake.in 128 | "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" 129 | INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}" 130 | NO_SET_AND_CHECK_MACRO 131 | NO_CHECK_REQUIRED_COMPONENTS_MACRO 132 | ) 133 | 134 | # generate the version file for the config file 135 | # Extract version numbers from package.xml 136 | file(READ package.xml PACKAGE_XML) 137 | string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" DIRTY_VERSION_STRING ${PACKAGE_XML}) 138 | string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\1" OSC_MAJOR_VERSION "${DIRTY_VERSION_STRING}") 139 | string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\2" QSC_MINOR_VERSION "${DIRTY_VERSION_STRING}") 140 | string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\3" QSC_PATCH_VERSION "${DIRTY_VERSION_STRING}") 141 | write_basic_package_version_file( 142 | "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" 143 | VERSION "${QSC_MAJOR_VERSION}.${QSC_MINOR_VERSION}.${QSC_PATCH_VERSION}" 144 | COMPATIBILITY AnyNewerVersion 145 | ) 146 | 147 | # install config files 148 | install(FILES 149 | "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" 150 | "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" 151 | "${QP_SOLVER_OPTIONS_CMAKE_FILE}" 152 | DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME} 153 | ) 154 | endif() 155 | 156 | if(BUILD_TESTING) 157 | add_subdirectory(tests) 158 | endif() 159 | 160 | OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF) 161 | if(INSTALL_DOCUMENTATION) 162 | add_subdirectory(doc) 163 | endif() 164 | 165 | if(USE_ROS2) 166 | ament_export_libraries(QpSolverCollection) 167 | ament_export_include_directories(include) 168 | ament_export_dependencies( 169 | rclcpp 170 | Eigen3 171 | ) 172 | ament_export_targets(${PROJECT_NAME}) 173 | ament_package() 174 | endif() -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 2-Clause License 2 | 3 | Copyright (c) 2022, AIST-CNRS JRL 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 17 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 18 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 20 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 21 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 22 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 23 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 24 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | This is the branch for ROS2; use the [ros1](https://github.com/isri-aist/QpSolverCollection/tree/ros1) branch for ROS1. 2 | 3 | # [QpSolverCollection](https://github.com/isri-aist/QpSolverCollection) 4 | Unified C++ interface for quadratic programming solvers 5 | 6 | [![CI](https://github.com/isri-aist/QpSolverCollection/actions/workflows/ci.yaml/badge.svg)](https://github.com/isri-aist/QpSolverCollection/actions/workflows/ci.yaml) 7 | [![Documentation](https://img.shields.io/badge/doxygen-online-brightgreen?logo=read-the-docs&style=flat)](https://isri-aist.github.io/QpSolverCollection/) 8 | 9 | ## Features 10 | - Unified C++ interface to many QP solvers 11 | - Can be built as a standalone package or ROS package 12 | - High portability decoupled from each QP solver by [Pimpl technique](https://en.cppreference.com/w/cpp/language/pimpl) 13 | 14 | ## Supported QP solvers 15 | - [QLD](https://github.com/jrl-umi3218/eigen-qld) 16 | - [QuadProg](https://github.com/jrl-umi3218/eigen-quadprog) 17 | - [JRLQP](https://github.com/jrl-umi3218/jrl-qp) 18 | - [qpOASES](https://github.com/coin-or/qpOASES) 19 | - [OSQP](https://osqp.org/) 20 | - [NASOQ](https://nasoq.github.io/) 21 | - [HPIPM](https://github.com/giaf/hpipm) 22 | - [ProxQP](https://github.com/Simple-Robotics/proxsuite) 23 | - [qpmad](https://github.com/asherikov/qpmad) 24 | - [LSSOL](https://gite.lirmm.fr/multi-contact/eigen-lssol) (private) 25 | 26 | ## Installation 27 | 28 | ### Installation procedure 29 | It is assumed that ROS is installed. 30 | 31 | 1. Install the QP solver you wish to use according to [this section](https://github.com/isri-aist/QpSolverCollection#qp-solver-installation). You can skip installing QP solvers that you do not use. 32 | 33 | 2. Setup colcon workspace. 34 | ```bash 35 | $ mkdir -p ~/ros/ws_qp_solver_collection/src 36 | $ cd ~/ros/ws_qp_solver_collection 37 | $ wstool init src 38 | $ wstool set -t src isri-aist/QpSolverCollection git@github.com:isri-aist/QpSolverCollection.git --git -y 39 | $ wstool update -t src 40 | ``` 41 | 42 | > `wstool` can be installed with `apt install python3-wstool` or `pip install wstool`. 43 | 44 | 3. Install dependent packages. 45 | ```bash 46 | $ source /opt/ros/${ROS_DISTRO}/setup.bash 47 | $ rosdep install -y -r --from-paths src --ignore-src 48 | ``` 49 | 50 | 4. Build a package. 51 | ```bash 52 | $ cd ~/ros/ws_qp_solver_collection 53 | $ colcon build --packages-select qp_solver_collection --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo 54 | $ colcon test --merge-install --packages-select qp_solver_collection # [optional] to compile and run tests 55 | ``` 56 | See [this section](https://github.com/isri-aist/QpSolverCollection#qp-solver-installation) for ``. 57 | 58 | ### QP solver installation 59 | As all supported QP solvers are installed in [CI](https://github.com/isri-aist/QpSolverCollection/blob/master/.github/workflows/ci.yaml), please refer to the installation procedure. 60 | Please refer to the license specified in each QP solver when using it. 61 | 62 | #### QLD 63 | Install [eigen-qld](https://github.com/jrl-umi3218/eigen-qld). 64 | Add `-DENABLE_QLD=ON` to the catkin build command (i.e., ``). 65 | 66 | #### QuadProg 67 | Install [eigen-quadprog](https://github.com/jrl-umi3218/eigen-quadprog). 68 | Add `-DENABLE_QUADPROG=ON` to the catkin build command (i.e., ``). 69 | 70 | #### JRLQP 71 | Install master branch of [jrl-qp](https://github.com/jrl-umi3218/jrl-qp). 72 | Add `-DENABLE_JRLQP=ON` to the catkin build command (i.e., ``). 73 | 74 | #### qpOASES 75 | Install master branch of [qpOASES](https://github.com/coin-or/qpOASES) with `-DBUILD_SHARED_LIBS=ON` cmake option. 76 | Add `-DENABLE_QPOASES=ON` to the catkin build command (i.e., ``). 77 | Also, add `-DQPOASES_INCLUDE_DIR=` and `-DQPOASES_LIBRARY_DIR=` to the catkin build command. 78 | 79 | #### OSQP 80 | Install master branch of [osqp](https://github.com/osqp/osqp) and [osqp-eigen](https://github.com/robotology/osqp-eigen). 81 | Add `-DENABLE_OSQP=ON` to the catkin build command (i.e., ``). 82 | 83 | #### NASOQ 84 | Install [cmake-install branch](https://github.com/mmurooka/nasoq/tree/cmake-install) of nasoq. 85 | Add `-DENABLE_NASOQ=ON` to the catkin build command (i.e., ``). 86 | 87 | #### HPIPM 88 | Install master branch of [blasfeo](https://github.com/giaf/blasfeo) and [hpipm](https://github.com/giaf/hpipm). 89 | Add `/opt/blasfeo/lib` and `/opt/hpipm/lib` to the environment variable `LD_LIBRARY_PATH`. 90 | Add `-DENABLE_HPIPM=ON` to the catkin build command (i.e., ``). 91 | 92 | #### ProxQP 93 | Install main branch of [proxsuite](https://github.com/Simple-Robotics/proxsuite). 94 | Add `-DENABLE_PROXQP=ON` to the catkin build command (i.e., ``). 95 | 96 | #### qpmad 97 | Install master branch of [qpmad](https://github.com/asherikov/qpmad). 98 | Add `-DENABLE_QPMAD=ON` to the catkin build command (i.e., ``). 99 | 100 | #### LSSOL (private) 101 | Install [eigen-lssol](https://gite.lirmm.fr/multi-contact/eigen-lssol). 102 | Add `-DENABLE_LSSOL=ON` to the catkin build command (i.e., ``). 103 | 104 | ## How to use 105 | See [documentation](https://isri-aist.github.io/QpSolverCollection/doxygen/classQpSolverCollection_1_1QpSolver.html) and [test](https://github.com/isri-aist/QpSolverCollection/blob/master/tests/TestSampleQP.cpp) for examples of solving QP problems. 106 | 107 | The following is a simple sample. 108 | ```cpp 109 | // sample.cpp 110 | 111 | #include 112 | 113 | int main() 114 | { 115 | int dim_var = 2; 116 | int dim_eq = 1; 117 | int dim_ineq = 0; 118 | QpSolverCollection::QpCoeff qp_coeff; 119 | qp_coeff.setup(dim_var, dim_eq, dim_ineq); 120 | qp_coeff.obj_mat_ << 2.0, 0.5, 0.5, 1.0; 121 | qp_coeff.obj_vec_ << 1.0, 1.0; 122 | qp_coeff.eq_mat_ << 1.0, 1.0; 123 | qp_coeff.eq_vec_ << 1.0; 124 | qp_coeff.x_min_.setZero(); 125 | qp_coeff.x_max_.setConstant(1000.0); 126 | 127 | auto qp_solver = QpSolverCollection::allocateQpSolver(QpSolverCollection::QpSolverType::Any); 128 | Eigen::VectorXd solution = qp_solver->solve(qp_coeff); 129 | std::cout << "solution: " << solution.transpose() << std::endl; 130 | 131 | return 0; 132 | } 133 | ``` 134 | 135 | In addition to building a sample in a catkin package, you can also build it standalone as follows. 136 | ```bash 137 | $ g++ sample.cpp `pkg-config --cflags qp_solver_collection` `pkg-config --libs qp_solver_collection` 138 | ``` 139 | -------------------------------------------------------------------------------- /cmake/qp_solver_options.cmake.in: -------------------------------------------------------------------------------- 1 | set(QP_SOLVER_COLLECTION_ENABLE_QLD @ENABLE_QLD@) 2 | set(QP_SOLVER_COLLECTION_ENABLE_QUADPROG @ENABLE_QUADPROG@) 3 | set(QP_SOLVER_COLLECTION_ENABLE_LSSOL @ENABLE_LSSOL@) 4 | set(QP_SOLVER_COLLECTION_ENABLE_JRLQP @ENABLE_JRLQP@) 5 | set(QP_SOLVER_COLLECTION_ENABLE_QPOASES @ENABLE_QPOASES@) 6 | set(QP_SOLVER_COLLECTION_ENABLE_OSQP @ENABLE_OSQP@) 7 | set(QP_SOLVER_COLLECTION_ENABLE_NASOQ @ENABLE_NASOQ@) 8 | set(QP_SOLVER_COLLECTION_ENABLE_HPIPM @ENABLE_HPIPM@) 9 | set(QP_SOLVER_COLLECTION_ENABLE_PROXQP @ENABLE_PROXQP@) 10 | set(QP_SOLVER_COLLECTION_ENABLE_QPMAD @ENABLE_QPMAD@) 11 | -------------------------------------------------------------------------------- /debian/changelog: -------------------------------------------------------------------------------- 1 | qpsolvercollection (0.1.0-1debian1) unstable; urgency=medium 2 | 3 | * Initial release. 4 | 5 | -- Pierre Gergondet Tue, 22 Nov 2022 18:05:10 +0900 6 | -------------------------------------------------------------------------------- /debian/compat: -------------------------------------------------------------------------------- 1 | 9 2 | -------------------------------------------------------------------------------- /debian/control: -------------------------------------------------------------------------------- 1 | Source: qpsolvercollection 2 | Priority: optional 3 | Maintainer: Pierre Gergondet 4 | Standards-Version: 3.9.5 5 | Section: libs 6 | Homepage: https://github.com/isri-aist/QpSolverCollection 7 | Build-Depends: debhelper (>= 9), 8 | pkg-config, 9 | cmake, 10 | doxygen, 11 | graphviz, 12 | libboost-chrono-dev, 13 | libboost-system-dev, 14 | libboost-test-dev, 15 | libboost-timer-dev, 16 | libeigen3-dev (>= 3.2), 17 | libeigen-qld-dev, 18 | libeigen-quadprog-dev, 19 | libjrl-qp-dev, 20 | libqpoases-dev, 21 | libosqp-eigen-dev, 22 | libnasoq-dev, 23 | libhpipm-dev, 24 | libproxsuite-dev, 25 | libqpmad-dev, 26 | libgtest-dev 27 | 28 | Package: libqpsolvercollection-dev 29 | Section: libdevel 30 | Architecture: any 31 | Depends: cmake, 32 | libeigen3-dev (>= 3.2), 33 | libeigen-qld-dev, 34 | libeigen-quadprog-dev, 35 | libjrl-qp-dev, 36 | libqpoases-dev, 37 | libosqp-eigen-dev, 38 | libnasoq-dev, 39 | libhpipm-dev, 40 | libproxsuite-dev, 41 | libqpmad-dev, 42 | ${shlibs:Depends}, 43 | ${misc:Depends} 44 | Description: Unified C++ interface for quadratic programming solvers 45 | -------------------------------------------------------------------------------- /debian/copyright: -------------------------------------------------------------------------------- 1 | Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ 2 | Upstream-Name: QpSolverCollection 3 | Source: https://github.com/isri-aist/QpSolverCollection 4 | 5 | Files: * 6 | Copyright: 2022 CNRS-AIST JRL 7 | License: BSD-2-clause 8 | BSD 2-Clause License 9 | . 10 | Copyright (c) 2022, AIST-CNRS JRL 11 | All rights reserved. 12 | . 13 | Redistribution and use in source and binary forms, with or without 14 | modification, are permitted provided that the following conditions are met: 15 | . 16 | 1. Redistributions of source code must retain the above copyright notice, this 17 | list of conditions and the following disclaimer. 18 | . 19 | 2. Redistributions in binary form must reproduce the above copyright notice, 20 | this list of conditions and the following disclaimer in the documentation 21 | and/or other materials provided with the distribution. 22 | . 23 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 24 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 25 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 26 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 27 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 28 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 29 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 30 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 31 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 32 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 33 | -------------------------------------------------------------------------------- /debian/rules: -------------------------------------------------------------------------------- 1 | #!/usr/bin/make -f 2 | # -*- makefile -*- 3 | 4 | # Uncomment this to turn on verbose mode. 5 | #export DH_VERBOSE=1 6 | 7 | export BUILD_TESTING:=ON 8 | export VERSION_CODENAME:=$(shell . /etc/os-release && echo $$VERSION_CODENAME) 9 | # We disable tests in Bionic because gtest does not come in a usable way 10 | ifeq (${VERSION_CODENAME}, bionic) 11 | export BUILD_TESTING:=OFF 12 | endif 13 | 14 | %: 15 | dh $@ --parallel 16 | 17 | override_dh_auto_configure: 18 | dh_auto_configure -- -DDEFAULT_ENABLE_ALL=ON -DENABLE_LSSOL=OFF -DSKIP_PRIVATE_SOLVER_TEST=ON -DFORCE_ALL_SOLVER_TEST=ON -DINSTALL_DOCUMENTATION=ON -DBUILD_TESTING:BOOL=${BUILD_TESTING} 19 | -------------------------------------------------------------------------------- /doc/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | find_package(Doxygen REQUIRED) 2 | 3 | if(DOXYGEN_FOUND) 4 | set(DOXYFILE_PATH ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile) 5 | 6 | configure_file(Doxyfile.in ${DOXYFILE_PATH}) 7 | 8 | add_custom_target(QpSolverCollection_doc ALL 9 | ${DOXYGEN_EXECUTABLE} ${DOXYFILE_PATH} 10 | DEPENDS ${DOXYFILE_PATH} 11 | COMMENT "Generating Doxygen documentation" 12 | ) 13 | endif() 14 | -------------------------------------------------------------------------------- /doc/Doxyfile.in: -------------------------------------------------------------------------------- 1 | # Doxyfile 1.8.13 2 | 3 | # This file describes the settings to be used by the documentation system 4 | # doxygen (www.doxygen.org) for a project. 5 | # 6 | # All text after a double hash (##) is considered a comment and is placed in 7 | # front of the TAG it is preceding. 8 | # 9 | # All text after a single hash (#) is considered a comment and will be ignored. 10 | # The format is: 11 | # TAG = value [value, ...] 12 | # For lists, items can also be appended using: 13 | # TAG += value [value, ...] 14 | # Values that contain spaces should be placed between quotes (\" \"). 15 | 16 | #--------------------------------------------------------------------------- 17 | # Project related configuration options 18 | #--------------------------------------------------------------------------- 19 | 20 | # This tag specifies the encoding used for all characters in the config file 21 | # that follow. 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In the later case the parser tries to guess whether the code is fixed 285 | # or free formatted code, this is the default for Fortran type files), VHDL. For 286 | # instance to make doxygen treat .inc files as Fortran files (default is PHP), 287 | # and .f files as C (default is Fortran), use: inc=Fortran f=C. 288 | # 289 | # Note: For files without extension you can use no_extension as a placeholder. 290 | # 291 | # Note that for custom extensions you also need to set FILE_PATTERNS otherwise 292 | # the files are not read by doxygen. 293 | 294 | EXTENSION_MAPPING = 295 | 296 | # If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments 297 | # according to the Markdown format, which allows for more readable 298 | # documentation. See http://daringfireball.net/projects/markdown/ for details. 299 | # The output of markdown processing is further processed by doxygen, so you can 300 | # mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in 301 | # case of backward compatibilities issues. 302 | # The default value is: YES. 303 | 304 | MARKDOWN_SUPPORT = YES 305 | 306 | # When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up 307 | # to that level are automatically included in the table of contents, even if 308 | # they do not have an id attribute. 309 | # Note: This feature currently applies only to Markdown headings. 310 | # Minimum value: 0, maximum value: 99, default value: 0. 311 | # This tag requires that the tag MARKDOWN_SUPPORT is set to YES. 312 | 313 | TOC_INCLUDE_HEADINGS = 0 314 | 315 | # When enabled doxygen tries to link words that correspond to documented 316 | # classes, or namespaces to their corresponding documentation. Such a link can 317 | # be prevented in individual cases by putting a % sign in front of the word or 318 | # globally by setting AUTOLINK_SUPPORT to NO. 319 | # The default value is: YES. 320 | 321 | AUTOLINK_SUPPORT = YES 322 | 323 | # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want 324 | # to include (a tag file for) the STL sources as input, then you should set this 325 | # tag to YES in order to let doxygen match functions declarations and 326 | # definitions whose arguments contain STL classes (e.g. func(std::string); 327 | # versus func(std::string) {}). This also make the inheritance and collaboration 328 | # diagrams that involve STL classes more complete and accurate. 329 | # The default value is: NO. 330 | 331 | BUILTIN_STL_SUPPORT = NO 332 | 333 | # If you use Microsoft's C++/CLI language, you should set this option to YES to 334 | # enable parsing support. 335 | # The default value is: NO. 336 | 337 | CPP_CLI_SUPPORT = NO 338 | 339 | # Set the SIP_SUPPORT tag to YES if your project consists of sip (see: 340 | # http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen 341 | # will parse them like normal C++ but will assume all classes use public instead 342 | # of private inheritance when no explicit protection keyword is present. 343 | # The default value is: NO. 344 | 345 | SIP_SUPPORT = NO 346 | 347 | # For Microsoft's IDL there are propget and propput attributes to indicate 348 | # getter and setter methods for a property. Setting this option to YES will make 349 | # doxygen to replace the get and set methods by a property in the documentation. 350 | # This will only work if the methods are indeed getting or setting a simple 351 | # type. If this is not the case, or you want to show the methods anyway, you 352 | # should set this option to NO. 353 | # The default value is: YES. 354 | 355 | IDL_PROPERTY_SUPPORT = YES 356 | 357 | # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC 358 | # tag is set to YES then doxygen will reuse the documentation of the first 359 | # member in the group (if any) for the other members of the group. By default 360 | # all members of a group must be documented explicitly. 361 | # The default value is: NO. 362 | 363 | DISTRIBUTE_GROUP_DOC = NO 364 | 365 | # If one adds a struct or class to a group and this option is enabled, then also 366 | # any nested class or struct is added to the same group. By default this option 367 | # is disabled and one has to add nested compounds explicitly via \ingroup. 368 | # The default value is: NO. 369 | 370 | GROUP_NESTED_COMPOUNDS = NO 371 | 372 | # Set the SUBGROUPING tag to YES to allow class member groups of the same type 373 | # (for instance a group of public functions) to be put as a subgroup of that 374 | # type (e.g. under the Public Functions section). Set it to NO to prevent 375 | # subgrouping. Alternatively, this can be done per class using the 376 | # \nosubgrouping command. 377 | # The default value is: YES. 378 | 379 | SUBGROUPING = YES 380 | 381 | # When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions 382 | # are shown inside the group in which they are included (e.g. using \ingroup) 383 | # instead of on a separate page (for HTML and Man pages) or section (for LaTeX 384 | # and RTF). 385 | # 386 | # Note that this feature does not work in combination with 387 | # SEPARATE_MEMBER_PAGES. 388 | # The default value is: NO. 389 | 390 | INLINE_GROUPED_CLASSES = NO 391 | 392 | # When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions 393 | # with only public data fields or simple typedef fields will be shown inline in 394 | # the documentation of the scope in which they are defined (i.e. file, 395 | # namespace, or group documentation), provided this scope is documented. If set 396 | # to NO, structs, classes, and unions are shown on a separate page (for HTML and 397 | # Man pages) or section (for LaTeX and RTF). 398 | # The default value is: NO. 399 | 400 | INLINE_SIMPLE_STRUCTS = NO 401 | 402 | # When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or 403 | # enum is documented as struct, union, or enum with the name of the typedef. So 404 | # typedef struct TypeS {} TypeT, will appear in the documentation as a struct 405 | # with name TypeT. When disabled the typedef will appear as a member of a file, 406 | # namespace, or class. And the struct will be named TypeS. This can typically be 407 | # useful for C code in case the coding convention dictates that all compound 408 | # types are typedef'ed and only the typedef is referenced, never the tag name. 409 | # The default value is: NO. 410 | 411 | TYPEDEF_HIDES_STRUCT = NO 412 | 413 | # The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This 414 | # cache is used to resolve symbols given their name and scope. Since this can be 415 | # an expensive process and often the same symbol appears multiple times in the 416 | # code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small 417 | # doxygen will become slower. If the cache is too large, memory is wasted. The 418 | # cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range 419 | # is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 420 | # symbols. At the end of a run doxygen will report the cache usage and suggest 421 | # the optimal cache size from a speed point of view. 422 | # Minimum value: 0, maximum value: 9, default value: 0. 423 | 424 | LOOKUP_CACHE_SIZE = 0 425 | 426 | #--------------------------------------------------------------------------- 427 | # Build related configuration options 428 | #--------------------------------------------------------------------------- 429 | 430 | # If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in 431 | # documentation are documented, even if no documentation was available. Private 432 | # class members and static file members will be hidden unless the 433 | # EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. 434 | # Note: This will also disable the warnings about undocumented members that are 435 | # normally produced when WARNINGS is set to YES. 436 | # The default value is: NO. 437 | 438 | EXTRACT_ALL = YES 439 | 440 | # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will 441 | # be included in the documentation. 442 | # The default value is: NO. 443 | 444 | EXTRACT_PRIVATE = NO 445 | 446 | # If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal 447 | # scope will be included in the documentation. 448 | # The default value is: NO. 449 | 450 | EXTRACT_PACKAGE = NO 451 | 452 | # If the EXTRACT_STATIC tag is set to YES, all static members of a file will be 453 | # included in the documentation. 454 | # The default value is: NO. 455 | 456 | EXTRACT_STATIC = NO 457 | 458 | # If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined 459 | # locally in source files will be included in the documentation. If set to NO, 460 | # only classes defined in header files are included. Does not have any effect 461 | # for Java sources. 462 | # The default value is: YES. 463 | 464 | EXTRACT_LOCAL_CLASSES = YES 465 | 466 | # This flag is only useful for Objective-C code. If set to YES, local methods, 467 | # which are defined in the implementation section but not in the interface are 468 | # included in the documentation. If set to NO, only methods in the interface are 469 | # included. 470 | # The default value is: NO. 471 | 472 | EXTRACT_LOCAL_METHODS = NO 473 | 474 | # If this flag is set to YES, the members of anonymous namespaces will be 475 | # extracted and appear in the documentation as a namespace called 476 | # 'anonymous_namespace{file}', where file will be replaced with the base name of 477 | # the file that contains the anonymous namespace. By default anonymous namespace 478 | # are hidden. 479 | # The default value is: NO. 480 | 481 | EXTRACT_ANON_NSPACES = NO 482 | 483 | # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all 484 | # undocumented members inside documented classes or files. If set to NO these 485 | # members will be included in the various overviews, but no documentation 486 | # section is generated. This option has no effect if EXTRACT_ALL is enabled. 487 | # The default value is: NO. 488 | 489 | HIDE_UNDOC_MEMBERS = NO 490 | 491 | # If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all 492 | # undocumented classes that are normally visible in the class hierarchy. If set 493 | # to NO, these classes will be included in the various overviews. This option 494 | # has no effect if EXTRACT_ALL is enabled. 495 | # The default value is: NO. 496 | 497 | HIDE_UNDOC_CLASSES = NO 498 | 499 | # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend 500 | # (class|struct|union) declarations. If set to NO, these declarations will be 501 | # included in the documentation. 502 | # The default value is: NO. 503 | 504 | HIDE_FRIEND_COMPOUNDS = NO 505 | 506 | # If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any 507 | # documentation blocks found inside the body of a function. If set to NO, these 508 | # blocks will be appended to the function's detailed documentation block. 509 | # The default value is: NO. 510 | 511 | HIDE_IN_BODY_DOCS = NO 512 | 513 | # The INTERNAL_DOCS tag determines if documentation that is typed after a 514 | # \internal command is included. If the tag is set to NO then the documentation 515 | # will be excluded. Set it to YES to include the internal documentation. 516 | # The default value is: NO. 517 | 518 | INTERNAL_DOCS = NO 519 | 520 | # If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file 521 | # names in lower-case letters. If set to YES, upper-case letters are also 522 | # allowed. This is useful if you have classes or files whose names only differ 523 | # in case and if your file system supports case sensitive file names. Windows 524 | # and Mac users are advised to set this option to NO. 525 | # The default value is: system dependent. 526 | 527 | CASE_SENSE_NAMES = YES 528 | 529 | # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with 530 | # their full class and namespace scopes in the documentation. If set to YES, the 531 | # scope will be hidden. 532 | # The default value is: NO. 533 | 534 | HIDE_SCOPE_NAMES = NO 535 | 536 | # If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will 537 | # append additional text to a page's title, such as Class Reference. If set to 538 | # YES the compound reference will be hidden. 539 | # The default value is: NO. 540 | 541 | HIDE_COMPOUND_REFERENCE= NO 542 | 543 | # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of 544 | # the files that are included by a file in the documentation of that file. 545 | # The default value is: YES. 546 | 547 | SHOW_INCLUDE_FILES = YES 548 | 549 | # If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each 550 | # grouped member an include statement to the documentation, telling the reader 551 | # which file to include in order to use the member. 552 | # The default value is: NO. 553 | 554 | SHOW_GROUPED_MEMB_INC = NO 555 | 556 | # If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include 557 | # files with double quotes in the documentation rather than with sharp brackets. 558 | # The default value is: NO. 559 | 560 | FORCE_LOCAL_INCLUDES = NO 561 | 562 | # If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the 563 | # documentation for inline members. 564 | # The default value is: YES. 565 | 566 | INLINE_INFO = YES 567 | 568 | # If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the 569 | # (detailed) documentation of file and class members alphabetically by member 570 | # name. If set to NO, the members will appear in declaration order. 571 | # The default value is: YES. 572 | 573 | SORT_MEMBER_DOCS = YES 574 | 575 | # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief 576 | # descriptions of file, namespace and class members alphabetically by member 577 | # name. If set to NO, the members will appear in declaration order. Note that 578 | # this will also influence the order of the classes in the class list. 579 | # The default value is: NO. 580 | 581 | SORT_BRIEF_DOCS = NO 582 | 583 | # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the 584 | # (brief and detailed) documentation of class members so that constructors and 585 | # destructors are listed first. If set to NO the constructors will appear in the 586 | # respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. 587 | # Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief 588 | # member documentation. 589 | # Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting 590 | # detailed member documentation. 591 | # The default value is: NO. 592 | 593 | SORT_MEMBERS_CTORS_1ST = NO 594 | 595 | # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy 596 | # of group names into alphabetical order. If set to NO the group names will 597 | # appear in their defined order. 598 | # The default value is: NO. 599 | 600 | SORT_GROUP_NAMES = NO 601 | 602 | # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by 603 | # fully-qualified names, including namespaces. If set to NO, the class list will 604 | # be sorted only by class name, not including the namespace part. 605 | # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. 606 | # Note: This option applies only to the class list, not to the alphabetical 607 | # list. 608 | # The default value is: NO. 609 | 610 | SORT_BY_SCOPE_NAME = NO 611 | 612 | # If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper 613 | # type resolution of all parameters of a function it will reject a match between 614 | # the prototype and the implementation of a member function even if there is 615 | # only one candidate or it is obvious which candidate to choose by doing a 616 | # simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still 617 | # accept a match between prototype and implementation in such cases. 618 | # The default value is: NO. 619 | 620 | STRICT_PROTO_MATCHING = NO 621 | 622 | # The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo 623 | # list. This list is created by putting \todo commands in the documentation. 624 | # The default value is: YES. 625 | 626 | GENERATE_TODOLIST = YES 627 | 628 | # The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test 629 | # list. This list is created by putting \test commands in the documentation. 630 | # The default value is: YES. 631 | 632 | GENERATE_TESTLIST = YES 633 | 634 | # The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug 635 | # list. This list is created by putting \bug commands in the documentation. 636 | # The default value is: YES. 637 | 638 | GENERATE_BUGLIST = YES 639 | 640 | # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) 641 | # the deprecated list. This list is created by putting \deprecated commands in 642 | # the documentation. 643 | # The default value is: YES. 644 | 645 | GENERATE_DEPRECATEDLIST= YES 646 | 647 | # The ENABLED_SECTIONS tag can be used to enable conditional documentation 648 | # sections, marked by \if ... \endif and \cond 649 | # ... \endcond blocks. 650 | 651 | ENABLED_SECTIONS = 652 | 653 | # The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the 654 | # initial value of a variable or macro / define can have for it to appear in the 655 | # documentation. If the initializer consists of more lines than specified here 656 | # it will be hidden. Use a value of 0 to hide initializers completely. The 657 | # appearance of the value of individual variables and macros / defines can be 658 | # controlled using \showinitializer or \hideinitializer command in the 659 | # documentation regardless of this setting. 660 | # Minimum value: 0, maximum value: 10000, default value: 30. 661 | 662 | MAX_INITIALIZER_LINES = 30 663 | 664 | # Set the SHOW_USED_FILES tag to NO to disable the list of files generated at 665 | # the bottom of the documentation of classes and structs. If set to YES, the 666 | # list will mention the files that were used to generate the documentation. 667 | # The default value is: YES. 668 | 669 | SHOW_USED_FILES = YES 670 | 671 | # Set the SHOW_FILES tag to NO to disable the generation of the Files page. This 672 | # will remove the Files entry from the Quick Index and from the Folder Tree View 673 | # (if specified). 674 | # The default value is: YES. 675 | 676 | SHOW_FILES = YES 677 | 678 | # Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces 679 | # page. This will remove the Namespaces entry from the Quick Index and from the 680 | # Folder Tree View (if specified). 681 | # The default value is: YES. 682 | 683 | SHOW_NAMESPACES = YES 684 | 685 | # The FILE_VERSION_FILTER tag can be used to specify a program or script that 686 | # doxygen should invoke to get the current version for each file (typically from 687 | # the version control system). Doxygen will invoke the program by executing (via 688 | # popen()) the command command input-file, where command is the value of the 689 | # FILE_VERSION_FILTER tag, and input-file is the name of an input file provided 690 | # by doxygen. Whatever the program writes to standard output is used as the file 691 | # version. For an example see the documentation. 692 | 693 | FILE_VERSION_FILTER = 694 | 695 | # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed 696 | # by doxygen. The layout file controls the global structure of the generated 697 | # output files in an output format independent way. To create the layout file 698 | # that represents doxygen's defaults, run doxygen with the -l option. You can 699 | # optionally specify a file name after the option, if omitted DoxygenLayout.xml 700 | # will be used as the name of the layout file. 701 | # 702 | # Note that if you run doxygen from a directory containing a file called 703 | # DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE 704 | # tag is left empty. 705 | 706 | LAYOUT_FILE = 707 | 708 | # The CITE_BIB_FILES tag can be used to specify one or more bib files containing 709 | # the reference definitions. This must be a list of .bib files. The .bib 710 | # extension is automatically appended if omitted. This requires the bibtex tool 711 | # to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. 712 | # For LaTeX the style of the bibliography can be controlled using 713 | # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the 714 | # search path. See also \cite for info how to create references. 715 | 716 | CITE_BIB_FILES = 717 | 718 | #--------------------------------------------------------------------------- 719 | # Configuration options related to warning and progress messages 720 | #--------------------------------------------------------------------------- 721 | 722 | # The QUIET tag can be used to turn on/off the messages that are generated to 723 | # standard output by doxygen. If QUIET is set to YES this implies that the 724 | # messages are off. 725 | # The default value is: NO. 726 | 727 | QUIET = NO 728 | 729 | # The WARNINGS tag can be used to turn on/off the warning messages that are 730 | # generated to standard error (stderr) by doxygen. If WARNINGS is set to YES 731 | # this implies that the warnings are on. 732 | # 733 | # Tip: Turn warnings on while writing the documentation. 734 | # The default value is: YES. 735 | 736 | WARNINGS = YES 737 | 738 | # If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate 739 | # warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag 740 | # will automatically be disabled. 741 | # The default value is: YES. 742 | 743 | WARN_IF_UNDOCUMENTED = YES 744 | 745 | # If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for 746 | # potential errors in the documentation, such as not documenting some parameters 747 | # in a documented function, or documenting parameters that don't exist or using 748 | # markup commands wrongly. 749 | # The default value is: YES. 750 | 751 | WARN_IF_DOC_ERROR = YES 752 | 753 | # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that 754 | # are documented, but have no documentation for their parameters or return 755 | # value. If set to NO, doxygen will only warn about wrong or incomplete 756 | # parameter documentation, but not about the absence of documentation. 757 | # The default value is: NO. 758 | 759 | WARN_NO_PARAMDOC = NO 760 | 761 | # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when 762 | # a warning is encountered. 763 | # The default value is: NO. 764 | 765 | WARN_AS_ERROR = NO 766 | 767 | # The WARN_FORMAT tag determines the format of the warning messages that doxygen 768 | # can produce. The string should contain the $file, $line, and $text tags, which 769 | # will be replaced by the file and line number from which the warning originated 770 | # and the warning text. Optionally the format may contain $version, which will 771 | # be replaced by the version of the file (if it could be obtained via 772 | # FILE_VERSION_FILTER) 773 | # The default value is: $file:$line: $text. 774 | 775 | WARN_FORMAT = "$file:$line: $text" 776 | 777 | # The WARN_LOGFILE tag can be used to specify a file to which warning and error 778 | # messages should be written. If left blank the output is written to standard 779 | # error (stderr). 780 | 781 | WARN_LOGFILE = 782 | 783 | #--------------------------------------------------------------------------- 784 | # Configuration options related to the input files 785 | #--------------------------------------------------------------------------- 786 | 787 | # The INPUT tag is used to specify the files and/or directories that contain 788 | # documented source files. You may enter file names like myfile.cpp or 789 | # directories like /usr/src/myproject. Separate the files or directories with 790 | # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING 791 | # Note: If this tag is empty the current directory is searched. 792 | 793 | INPUT = @CMAKE_SOURCE_DIR@/include/ @CMAKE_SOURCE_DIR@/README.md 794 | 795 | # This tag can be used to specify the character encoding of the source files 796 | # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses 797 | # libiconv (or the iconv built into libc) for the transcoding. See the libiconv 798 | # documentation (see: http://www.gnu.org/software/libiconv) for the list of 799 | # possible encodings. 800 | # The default value is: UTF-8. 801 | 802 | INPUT_ENCODING = UTF-8 803 | 804 | # If the value of the INPUT tag contains directories, you can use the 805 | # FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and 806 | # *.h) to filter out the source-files in the directories. 807 | # 808 | # Note that for custom extensions or not directly supported extensions you also 809 | # need to set EXTENSION_MAPPING for the extension otherwise the files are not 810 | # read by doxygen. 811 | # 812 | # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, 813 | # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, 814 | # *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, 815 | # *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, 816 | # *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf. 817 | 818 | FILE_PATTERNS = *.cpp *.h *.hpp 819 | 820 | # The RECURSIVE tag can be used to specify whether or not subdirectories should 821 | # be searched for input files as well. 822 | # The default value is: NO. 823 | 824 | RECURSIVE = YES 825 | 826 | # The EXCLUDE tag can be used to specify files and/or directories that should be 827 | # excluded from the INPUT source files. This way you can easily exclude a 828 | # subdirectory from a directory tree whose root is specified with the INPUT tag. 829 | # 830 | # Note that relative paths are relative to the directory from which doxygen is 831 | # run. 832 | 833 | EXCLUDE = 834 | 835 | # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or 836 | # directories that are symbolic links (a Unix file system feature) are excluded 837 | # from the input. 838 | # The default value is: NO. 839 | 840 | EXCLUDE_SYMLINKS = NO 841 | 842 | # If the value of the INPUT tag contains directories, you can use the 843 | # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 844 | # certain files from those directories. 845 | # 846 | # Note that the wildcards are matched against the file with absolute path, so to 847 | # exclude all test directories for example use the pattern */test/* 848 | 849 | EXCLUDE_PATTERNS = 850 | 851 | # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names 852 | # (namespaces, classes, functions, etc.) that should be excluded from the 853 | # output. The symbol name can be a fully qualified name, a word, or if the 854 | # wildcard * is used, a substring. Examples: ANamespace, AClass, 855 | # AClass::ANamespace, ANamespace::*Test 856 | # 857 | # Note that the wildcards are matched against the file with absolute path, so to 858 | # exclude all test directories use the pattern */test/* 859 | 860 | EXCLUDE_SYMBOLS = 861 | 862 | # The EXAMPLE_PATH tag can be used to specify one or more files or directories 863 | # that contain example code fragments that are included (see the \include 864 | # command). 865 | 866 | EXAMPLE_PATH = 867 | 868 | # If the value of the EXAMPLE_PATH tag contains directories, you can use the 869 | # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and 870 | # *.h) to filter out the source-files in the directories. If left blank all 871 | # files are included. 872 | 873 | EXAMPLE_PATTERNS = * 874 | 875 | # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be 876 | # searched for input files to be used with the \include or \dontinclude commands 877 | # irrespective of the value of the RECURSIVE tag. 878 | # The default value is: NO. 879 | 880 | EXAMPLE_RECURSIVE = NO 881 | 882 | # The IMAGE_PATH tag can be used to specify one or more files or directories 883 | # that contain images that are to be included in the documentation (see the 884 | # \image command). 885 | 886 | IMAGE_PATH = 887 | 888 | # The INPUT_FILTER tag can be used to specify a program that doxygen should 889 | # invoke to filter for each input file. Doxygen will invoke the filter program 890 | # by executing (via popen()) the command: 891 | # 892 | # 893 | # 894 | # where is the value of the INPUT_FILTER tag, and is the 895 | # name of an input file. Doxygen will then use the output that the filter 896 | # program writes to standard output. If FILTER_PATTERNS is specified, this tag 897 | # will be ignored. 898 | # 899 | # Note that the filter must not add or remove lines; it is applied before the 900 | # code is scanned, but not when the output code is generated. If lines are added 901 | # or removed, the anchors will not be placed correctly. 902 | # 903 | # Note that for custom extensions or not directly supported extensions you also 904 | # need to set EXTENSION_MAPPING for the extension otherwise the files are not 905 | # properly processed by doxygen. 906 | 907 | INPUT_FILTER = 908 | 909 | # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern 910 | # basis. Doxygen will compare the file name with each pattern and apply the 911 | # filter if there is a match. The filters are a list of the form: pattern=filter 912 | # (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how 913 | # filters are used. If the FILTER_PATTERNS tag is empty or if none of the 914 | # patterns match the file name, INPUT_FILTER is applied. 915 | # 916 | # Note that for custom extensions or not directly supported extensions you also 917 | # need to set EXTENSION_MAPPING for the extension otherwise the files are not 918 | # properly processed by doxygen. 919 | 920 | FILTER_PATTERNS = 921 | 922 | # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 923 | # INPUT_FILTER) will also be used to filter the input files that are used for 924 | # producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). 925 | # The default value is: NO. 926 | 927 | FILTER_SOURCE_FILES = NO 928 | 929 | # The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file 930 | # pattern. A pattern will override the setting for FILTER_PATTERN (if any) and 931 | # it is also possible to disable source filtering for a specific pattern using 932 | # *.ext= (so without naming a filter). 933 | # This tag requires that the tag FILTER_SOURCE_FILES is set to YES. 934 | 935 | FILTER_SOURCE_PATTERNS = 936 | 937 | # If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that 938 | # is part of the input, its contents will be placed on the main page 939 | # (index.html). This can be useful if you have a project on for instance GitHub 940 | # and want to reuse the introduction page also for the doxygen output. 941 | 942 | USE_MDFILE_AS_MAINPAGE = @CMAKE_SOURCE_DIR@/README.md 943 | 944 | #--------------------------------------------------------------------------- 945 | # Configuration options related to source browsing 946 | #--------------------------------------------------------------------------- 947 | 948 | # If the SOURCE_BROWSER tag is set to YES then a list of source files will be 949 | # generated. Documented entities will be cross-referenced with these sources. 950 | # 951 | # Note: To get rid of all source code in the generated output, make sure that 952 | # also VERBATIM_HEADERS is set to NO. 953 | # The default value is: NO. 954 | 955 | SOURCE_BROWSER = YES 956 | 957 | # Setting the INLINE_SOURCES tag to YES will include the body of functions, 958 | # classes and enums directly into the documentation. 959 | # The default value is: NO. 960 | 961 | INLINE_SOURCES = NO 962 | 963 | # Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any 964 | # special comment blocks from generated source code fragments. Normal C, C++ and 965 | # Fortran comments will always remain visible. 966 | # The default value is: YES. 967 | 968 | STRIP_CODE_COMMENTS = YES 969 | 970 | # If the REFERENCED_BY_RELATION tag is set to YES then for each documented 971 | # function all documented functions referencing it will be listed. 972 | # The default value is: NO. 973 | 974 | REFERENCED_BY_RELATION = NO 975 | 976 | # If the REFERENCES_RELATION tag is set to YES then for each documented function 977 | # all documented entities called/used by that function will be listed. 978 | # The default value is: NO. 979 | 980 | REFERENCES_RELATION = NO 981 | 982 | # If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set 983 | # to YES then the hyperlinks from functions in REFERENCES_RELATION and 984 | # REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will 985 | # link to the documentation. 986 | # The default value is: YES. 987 | 988 | REFERENCES_LINK_SOURCE = YES 989 | 990 | # If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the 991 | # source code will show a tooltip with additional information such as prototype, 992 | # brief description and links to the definition and documentation. Since this 993 | # will make the HTML file larger and loading of large files a bit slower, you 994 | # can opt to disable this feature. 995 | # The default value is: YES. 996 | # This tag requires that the tag SOURCE_BROWSER is set to YES. 997 | 998 | SOURCE_TOOLTIPS = YES 999 | 1000 | # If the USE_HTAGS tag is set to YES then the references to source code will 1001 | # point to the HTML generated by the htags(1) tool instead of doxygen built-in 1002 | # source browser. The htags tool is part of GNU's global source tagging system 1003 | # (see http://www.gnu.org/software/global/global.html). You will need version 1004 | # 4.8.6 or higher. 1005 | # 1006 | # To use it do the following: 1007 | # - Install the latest version of global 1008 | # - Enable SOURCE_BROWSER and USE_HTAGS in the config file 1009 | # - Make sure the INPUT points to the root of the source tree 1010 | # - Run doxygen as normal 1011 | # 1012 | # Doxygen will invoke htags (and that will in turn invoke gtags), so these 1013 | # tools must be available from the command line (i.e. in the search path). 1014 | # 1015 | # The result: instead of the source browser generated by doxygen, the links to 1016 | # source code will now point to the output of htags. 1017 | # The default value is: NO. 1018 | # This tag requires that the tag SOURCE_BROWSER is set to YES. 1019 | 1020 | USE_HTAGS = NO 1021 | 1022 | # If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a 1023 | # verbatim copy of the header file for each class for which an include is 1024 | # specified. Set to NO to disable this. 1025 | # See also: Section \class. 1026 | # The default value is: YES. 1027 | 1028 | VERBATIM_HEADERS = NO 1029 | 1030 | # If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the 1031 | # clang parser (see: http://clang.llvm.org/) for more accurate parsing at the 1032 | # cost of reduced performance. This can be particularly helpful with template 1033 | # rich C++ code for which doxygen's built-in parser lacks the necessary type 1034 | # information. 1035 | # Note: The availability of this option depends on whether or not doxygen was 1036 | # generated with the -Duse-libclang=ON option for CMake. 1037 | # The default value is: NO. 1038 | 1039 | CLANG_ASSISTED_PARSING = NO 1040 | 1041 | # If clang assisted parsing is enabled you can provide the compiler with command 1042 | # line options that you would normally use when invoking the compiler. Note that 1043 | # the include paths will already be set by doxygen for the files and directories 1044 | # specified with INPUT and INCLUDE_PATH. 1045 | # This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. 1046 | 1047 | CLANG_OPTIONS = 1048 | 1049 | #--------------------------------------------------------------------------- 1050 | # Configuration options related to the alphabetical class index 1051 | #--------------------------------------------------------------------------- 1052 | 1053 | # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all 1054 | # compounds will be generated. Enable this if the project contains a lot of 1055 | # classes, structs, unions or interfaces. 1056 | # The default value is: YES. 1057 | 1058 | ALPHABETICAL_INDEX = YES 1059 | 1060 | # The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in 1061 | # which the alphabetical index list will be split. 1062 | # Minimum value: 1, maximum value: 20, default value: 5. 1063 | # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. 1064 | 1065 | COLS_IN_ALPHA_INDEX = 5 1066 | 1067 | # In case all classes in a project start with a common prefix, all classes will 1068 | # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag 1069 | # can be used to specify a prefix (or a list of prefixes) that should be ignored 1070 | # while generating the index headers. 1071 | # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. 1072 | 1073 | IGNORE_PREFIX = 1074 | 1075 | #--------------------------------------------------------------------------- 1076 | # Configuration options related to the HTML output 1077 | #--------------------------------------------------------------------------- 1078 | 1079 | # If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output 1080 | # The default value is: YES. 1081 | 1082 | GENERATE_HTML = YES 1083 | 1084 | # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a 1085 | # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of 1086 | # it. 1087 | # The default directory is: html. 1088 | # This tag requires that the tag GENERATE_HTML is set to YES. 1089 | 1090 | HTML_OUTPUT = html 1091 | 1092 | # The HTML_FILE_EXTENSION tag can be used to specify the file extension for each 1093 | # generated HTML page (for example: .htm, .php, .asp). 1094 | # The default value is: .html. 1095 | # This tag requires that the tag GENERATE_HTML is set to YES. 1096 | 1097 | HTML_FILE_EXTENSION = .html 1098 | 1099 | # The HTML_HEADER tag can be used to specify a user-defined HTML header file for 1100 | # each generated HTML page. If the tag is left blank doxygen will generate a 1101 | # standard header. 1102 | # 1103 | # To get valid HTML the header file that includes any scripts and style sheets 1104 | # that doxygen needs, which is dependent on the configuration options used (e.g. 1105 | # the setting GENERATE_TREEVIEW). It is highly recommended to start with a 1106 | # default header using 1107 | # doxygen -w html new_header.html new_footer.html new_stylesheet.css 1108 | # YourConfigFile 1109 | # and then modify the file new_header.html. See also section "Doxygen usage" 1110 | # for information on how to generate the default header that doxygen normally 1111 | # uses. 1112 | # Note: The header is subject to change so you typically have to regenerate the 1113 | # default header when upgrading to a newer version of doxygen. For a description 1114 | # of the possible markers and block names see the documentation. 1115 | # This tag requires that the tag GENERATE_HTML is set to YES. 1116 | 1117 | HTML_HEADER = 1118 | 1119 | # The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each 1120 | # generated HTML page. If the tag is left blank doxygen will generate a standard 1121 | # footer. See HTML_HEADER for more information on how to generate a default 1122 | # footer and what special commands can be used inside the footer. See also 1123 | # section "Doxygen usage" for information on how to generate the default footer 1124 | # that doxygen normally uses. 1125 | # This tag requires that the tag GENERATE_HTML is set to YES. 1126 | 1127 | HTML_FOOTER = 1128 | 1129 | # The HTML_STYLESHEET tag can be used to specify a user-defined cascading style 1130 | # sheet that is used by each HTML page. It can be used to fine-tune the look of 1131 | # the HTML output. If left blank doxygen will generate a default style sheet. 1132 | # See also section "Doxygen usage" for information on how to generate the style 1133 | # sheet that doxygen normally uses. 1134 | # Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as 1135 | # it is more robust and this tag (HTML_STYLESHEET) will in the future become 1136 | # obsolete. 1137 | # This tag requires that the tag GENERATE_HTML is set to YES. 1138 | 1139 | HTML_STYLESHEET = 1140 | 1141 | # The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined 1142 | # cascading style sheets that are included after the standard style sheets 1143 | # created by doxygen. Using this option one can overrule certain style aspects. 1144 | # This is preferred over using HTML_STYLESHEET since it does not replace the 1145 | # standard style sheet and is therefore more robust against future updates. 1146 | # Doxygen will copy the style sheet files to the output directory. 1147 | # Note: The order of the extra style sheet files is of importance (e.g. the last 1148 | # style sheet in the list overrules the setting of the previous ones in the 1149 | # list). For an example see the documentation. 1150 | # This tag requires that the tag GENERATE_HTML is set to YES. 1151 | 1152 | HTML_EXTRA_STYLESHEET = 1153 | 1154 | # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or 1155 | # other source files which should be copied to the HTML output directory. Note 1156 | # that these files will be copied to the base HTML output directory. Use the 1157 | # $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these 1158 | # files. In the HTML_STYLESHEET file, use the file name only. Also note that the 1159 | # files will be copied as-is; there are no commands or markers available. 1160 | # This tag requires that the tag GENERATE_HTML is set to YES. 1161 | 1162 | HTML_EXTRA_FILES = 1163 | 1164 | # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen 1165 | # will adjust the colors in the style sheet and background images according to 1166 | # this color. Hue is specified as an angle on a colorwheel, see 1167 | # http://en.wikipedia.org/wiki/Hue for more information. For instance the value 1168 | # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 1169 | # purple, and 360 is red again. 1170 | # Minimum value: 0, maximum value: 359, default value: 220. 1171 | # This tag requires that the tag GENERATE_HTML is set to YES. 1172 | 1173 | HTML_COLORSTYLE_HUE = 220 1174 | 1175 | # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors 1176 | # in the HTML output. For a value of 0 the output will use grayscales only. A 1177 | # value of 255 will produce the most vivid colors. 1178 | # Minimum value: 0, maximum value: 255, default value: 100. 1179 | # This tag requires that the tag GENERATE_HTML is set to YES. 1180 | 1181 | HTML_COLORSTYLE_SAT = 100 1182 | 1183 | # The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the 1184 | # luminance component of the colors in the HTML output. Values below 100 1185 | # gradually make the output lighter, whereas values above 100 make the output 1186 | # darker. The value divided by 100 is the actual gamma applied, so 80 represents 1187 | # a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not 1188 | # change the gamma. 1189 | # Minimum value: 40, maximum value: 240, default value: 80. 1190 | # This tag requires that the tag GENERATE_HTML is set to YES. 1191 | 1192 | HTML_COLORSTYLE_GAMMA = 80 1193 | 1194 | # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML 1195 | # page will contain the date and time when the page was generated. Setting this 1196 | # to YES can help to show when doxygen was last run and thus if the 1197 | # documentation is up to date. 1198 | # The default value is: NO. 1199 | # This tag requires that the tag GENERATE_HTML is set to YES. 1200 | 1201 | HTML_TIMESTAMP = NO 1202 | 1203 | # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML 1204 | # documentation will contain sections that can be hidden and shown after the 1205 | # page has loaded. 1206 | # The default value is: NO. 1207 | # This tag requires that the tag GENERATE_HTML is set to YES. 1208 | 1209 | HTML_DYNAMIC_SECTIONS = NO 1210 | 1211 | # With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries 1212 | # shown in the various tree structured indices initially; the user can expand 1213 | # and collapse entries dynamically later on. Doxygen will expand the tree to 1214 | # such a level that at most the specified number of entries are visible (unless 1215 | # a fully collapsed tree already exceeds this amount). So setting the number of 1216 | # entries 1 will produce a full collapsed tree by default. 0 is a special value 1217 | # representing an infinite number of entries and will result in a full expanded 1218 | # tree by default. 1219 | # Minimum value: 0, maximum value: 9999, default value: 100. 1220 | # This tag requires that the tag GENERATE_HTML is set to YES. 1221 | 1222 | HTML_INDEX_NUM_ENTRIES = 100 1223 | 1224 | # If the GENERATE_DOCSET tag is set to YES, additional index files will be 1225 | # generated that can be used as input for Apple's Xcode 3 integrated development 1226 | # environment (see: http://developer.apple.com/tools/xcode/), introduced with 1227 | # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a 1228 | # Makefile in the HTML output directory. Running make will produce the docset in 1229 | # that directory and running make install will install the docset in 1230 | # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at 1231 | # startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html 1232 | # for more information. 1233 | # The default value is: NO. 1234 | # This tag requires that the tag GENERATE_HTML is set to YES. 1235 | 1236 | GENERATE_DOCSET = NO 1237 | 1238 | # This tag determines the name of the docset feed. A documentation feed provides 1239 | # an umbrella under which multiple documentation sets from a single provider 1240 | # (such as a company or product suite) can be grouped. 1241 | # The default value is: Doxygen generated docs. 1242 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1243 | 1244 | DOCSET_FEEDNAME = "Doxygen generated docs" 1245 | 1246 | # This tag specifies a string that should uniquely identify the documentation 1247 | # set bundle. This should be a reverse domain-name style string, e.g. 1248 | # com.mycompany.MyDocSet. Doxygen will append .docset to the name. 1249 | # The default value is: org.doxygen.Project. 1250 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1251 | 1252 | DOCSET_BUNDLE_ID = org.doxygen.Project 1253 | 1254 | # The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify 1255 | # the documentation publisher. This should be a reverse domain-name style 1256 | # string, e.g. com.mycompany.MyDocSet.documentation. 1257 | # The default value is: org.doxygen.Publisher. 1258 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1259 | 1260 | DOCSET_PUBLISHER_ID = org.doxygen.Publisher 1261 | 1262 | # The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. 1263 | # The default value is: Publisher. 1264 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1265 | 1266 | DOCSET_PUBLISHER_NAME = Publisher 1267 | 1268 | # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three 1269 | # additional HTML index files: index.hhp, index.hhc, and index.hhk. The 1270 | # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop 1271 | # (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on 1272 | # Windows. 1273 | # 1274 | # The HTML Help Workshop contains a compiler that can convert all HTML output 1275 | # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML 1276 | # files are now used as the Windows 98 help format, and will replace the old 1277 | # Windows help format (.hlp) on all Windows platforms in the future. Compressed 1278 | # HTML files also contain an index, a table of contents, and you can search for 1279 | # words in the documentation. The HTML workshop also contains a viewer for 1280 | # compressed HTML files. 1281 | # The default value is: NO. 1282 | # This tag requires that the tag GENERATE_HTML is set to YES. 1283 | 1284 | GENERATE_HTMLHELP = NO 1285 | 1286 | # The CHM_FILE tag can be used to specify the file name of the resulting .chm 1287 | # file. You can add a path in front of the file if the result should not be 1288 | # written to the html output directory. 1289 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1290 | 1291 | CHM_FILE = 1292 | 1293 | # The HHC_LOCATION tag can be used to specify the location (absolute path 1294 | # including file name) of the HTML help compiler (hhc.exe). If non-empty, 1295 | # doxygen will try to run the HTML help compiler on the generated index.hhp. 1296 | # The file has to be specified with full path. 1297 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1298 | 1299 | HHC_LOCATION = 1300 | 1301 | # The GENERATE_CHI flag controls if a separate .chi index file is generated 1302 | # (YES) or that it should be included in the master .chm file (NO). 1303 | # The default value is: NO. 1304 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1305 | 1306 | GENERATE_CHI = NO 1307 | 1308 | # The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) 1309 | # and project file content. 1310 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1311 | 1312 | CHM_INDEX_ENCODING = 1313 | 1314 | # The BINARY_TOC flag controls whether a binary table of contents is generated 1315 | # (YES) or a normal table of contents (NO) in the .chm file. Furthermore it 1316 | # enables the Previous and Next buttons. 1317 | # The default value is: NO. 1318 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1319 | 1320 | BINARY_TOC = NO 1321 | 1322 | # The TOC_EXPAND flag can be set to YES to add extra items for group members to 1323 | # the table of contents of the HTML help documentation and to the tree view. 1324 | # The default value is: NO. 1325 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1326 | 1327 | TOC_EXPAND = NO 1328 | 1329 | # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and 1330 | # QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that 1331 | # can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help 1332 | # (.qch) of the generated HTML documentation. 1333 | # The default value is: NO. 1334 | # This tag requires that the tag GENERATE_HTML is set to YES. 1335 | 1336 | GENERATE_QHP = NO 1337 | 1338 | # If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify 1339 | # the file name of the resulting .qch file. The path specified is relative to 1340 | # the HTML output folder. 1341 | # This tag requires that the tag GENERATE_QHP is set to YES. 1342 | 1343 | QCH_FILE = 1344 | 1345 | # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help 1346 | # Project output. For more information please see Qt Help Project / Namespace 1347 | # (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). 1348 | # The default value is: org.doxygen.Project. 1349 | # This tag requires that the tag GENERATE_QHP is set to YES. 1350 | 1351 | QHP_NAMESPACE = org.doxygen.Project 1352 | 1353 | # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt 1354 | # Help Project output. For more information please see Qt Help Project / Virtual 1355 | # Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- 1356 | # folders). 1357 | # The default value is: doc. 1358 | # This tag requires that the tag GENERATE_QHP is set to YES. 1359 | 1360 | QHP_VIRTUAL_FOLDER = doc 1361 | 1362 | # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom 1363 | # filter to add. For more information please see Qt Help Project / Custom 1364 | # Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- 1365 | # filters). 1366 | # This tag requires that the tag GENERATE_QHP is set to YES. 1367 | 1368 | QHP_CUST_FILTER_NAME = 1369 | 1370 | # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the 1371 | # custom filter to add. For more information please see Qt Help Project / Custom 1372 | # Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- 1373 | # filters). 1374 | # This tag requires that the tag GENERATE_QHP is set to YES. 1375 | 1376 | QHP_CUST_FILTER_ATTRS = 1377 | 1378 | # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this 1379 | # project's filter section matches. Qt Help Project / Filter Attributes (see: 1380 | # http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). 1381 | # This tag requires that the tag GENERATE_QHP is set to YES. 1382 | 1383 | QHP_SECT_FILTER_ATTRS = 1384 | 1385 | # The QHG_LOCATION tag can be used to specify the location of Qt's 1386 | # qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the 1387 | # generated .qhp file. 1388 | # This tag requires that the tag GENERATE_QHP is set to YES. 1389 | 1390 | QHG_LOCATION = 1391 | 1392 | # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be 1393 | # generated, together with the HTML files, they form an Eclipse help plugin. To 1394 | # install this plugin and make it available under the help contents menu in 1395 | # Eclipse, the contents of the directory containing the HTML and XML files needs 1396 | # to be copied into the plugins directory of eclipse. The name of the directory 1397 | # within the plugins directory should be the same as the ECLIPSE_DOC_ID value. 1398 | # After copying Eclipse needs to be restarted before the help appears. 1399 | # The default value is: NO. 1400 | # This tag requires that the tag GENERATE_HTML is set to YES. 1401 | 1402 | GENERATE_ECLIPSEHELP = NO 1403 | 1404 | # A unique identifier for the Eclipse help plugin. When installing the plugin 1405 | # the directory name containing the HTML and XML files should also have this 1406 | # name. Each documentation set should have its own identifier. 1407 | # The default value is: org.doxygen.Project. 1408 | # This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. 1409 | 1410 | ECLIPSE_DOC_ID = org.doxygen.Project 1411 | 1412 | # If you want full control over the layout of the generated HTML pages it might 1413 | # be necessary to disable the index and replace it with your own. The 1414 | # DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top 1415 | # of each HTML page. A value of NO enables the index and the value YES disables 1416 | # it. Since the tabs in the index contain the same information as the navigation 1417 | # tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. 1418 | # The default value is: NO. 1419 | # This tag requires that the tag GENERATE_HTML is set to YES. 1420 | 1421 | DISABLE_INDEX = NO 1422 | 1423 | # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index 1424 | # structure should be generated to display hierarchical information. If the tag 1425 | # value is set to YES, a side panel will be generated containing a tree-like 1426 | # index structure (just like the one that is generated for HTML Help). For this 1427 | # to work a browser that supports JavaScript, DHTML, CSS and frames is required 1428 | # (i.e. any modern browser). Windows users are probably better off using the 1429 | # HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can 1430 | # further fine-tune the look of the index. As an example, the default style 1431 | # sheet generated by doxygen has an example that shows how to put an image at 1432 | # the root of the tree instead of the PROJECT_NAME. Since the tree basically has 1433 | # the same information as the tab index, you could consider setting 1434 | # DISABLE_INDEX to YES when enabling this option. 1435 | # The default value is: NO. 1436 | # This tag requires that the tag GENERATE_HTML is set to YES. 1437 | 1438 | GENERATE_TREEVIEW = NO 1439 | 1440 | # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that 1441 | # doxygen will group on one line in the generated HTML documentation. 1442 | # 1443 | # Note that a value of 0 will completely suppress the enum values from appearing 1444 | # in the overview section. 1445 | # Minimum value: 0, maximum value: 20, default value: 4. 1446 | # This tag requires that the tag GENERATE_HTML is set to YES. 1447 | 1448 | ENUM_VALUES_PER_LINE = 4 1449 | 1450 | # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used 1451 | # to set the initial width (in pixels) of the frame in which the tree is shown. 1452 | # Minimum value: 0, maximum value: 1500, default value: 250. 1453 | # This tag requires that the tag GENERATE_HTML is set to YES. 1454 | 1455 | TREEVIEW_WIDTH = 250 1456 | 1457 | # If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to 1458 | # external symbols imported via tag files in a separate window. 1459 | # The default value is: NO. 1460 | # This tag requires that the tag GENERATE_HTML is set to YES. 1461 | 1462 | EXT_LINKS_IN_WINDOW = NO 1463 | 1464 | # Use this tag to change the font size of LaTeX formulas included as images in 1465 | # the HTML documentation. When you change the font size after a successful 1466 | # doxygen run you need to manually remove any form_*.png images from the HTML 1467 | # output directory to force them to be regenerated. 1468 | # Minimum value: 8, maximum value: 50, default value: 10. 1469 | # This tag requires that the tag GENERATE_HTML is set to YES. 1470 | 1471 | FORMULA_FONTSIZE = 10 1472 | 1473 | # Use the FORMULA_TRANPARENT tag to determine whether or not the images 1474 | # generated for formulas are transparent PNGs. Transparent PNGs are not 1475 | # supported properly for IE 6.0, but are supported on all modern browsers. 1476 | # 1477 | # Note that when changing this option you need to delete any form_*.png files in 1478 | # the HTML output directory before the changes have effect. 1479 | # The default value is: YES. 1480 | # This tag requires that the tag GENERATE_HTML is set to YES. 1481 | 1482 | FORMULA_TRANSPARENT = YES 1483 | 1484 | # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see 1485 | # http://www.mathjax.org) which uses client side Javascript for the rendering 1486 | # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX 1487 | # installed or if you want to formulas look prettier in the HTML output. When 1488 | # enabled you may also need to install MathJax separately and configure the path 1489 | # to it using the MATHJAX_RELPATH option. 1490 | # The default value is: NO. 1491 | # This tag requires that the tag GENERATE_HTML is set to YES. 1492 | 1493 | USE_MATHJAX = YES 1494 | 1495 | # When MathJax is enabled you can set the default output format to be used for 1496 | # the MathJax output. See the MathJax site (see: 1497 | # http://docs.mathjax.org/en/latest/output.html) for more details. 1498 | # Possible values are: HTML-CSS (which is slower, but has the best 1499 | # compatibility), NativeMML (i.e. MathML) and SVG. 1500 | # The default value is: HTML-CSS. 1501 | # This tag requires that the tag USE_MATHJAX is set to YES. 1502 | 1503 | MATHJAX_FORMAT = HTML-CSS 1504 | 1505 | # When MathJax is enabled you need to specify the location relative to the HTML 1506 | # output directory using the MATHJAX_RELPATH option. The destination directory 1507 | # should contain the MathJax.js script. For instance, if the mathjax directory 1508 | # is located at the same level as the HTML output directory, then 1509 | # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax 1510 | # Content Delivery Network so you can quickly see the result without installing 1511 | # MathJax. However, it is strongly recommended to install a local copy of 1512 | # MathJax from http://www.mathjax.org before deployment. 1513 | # The default value is: http://cdn.mathjax.org/mathjax/latest. 1514 | # This tag requires that the tag USE_MATHJAX is set to YES. 1515 | 1516 | MATHJAX_RELPATH = https://cdn.mathjax.org/mathjax/latest 1517 | 1518 | # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax 1519 | # extension names that should be enabled during MathJax rendering. For example 1520 | # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols 1521 | # This tag requires that the tag USE_MATHJAX is set to YES. 1522 | 1523 | MATHJAX_EXTENSIONS = 1524 | 1525 | # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces 1526 | # of code that will be used on startup of the MathJax code. See the MathJax site 1527 | # (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an 1528 | # example see the documentation. 1529 | # This tag requires that the tag USE_MATHJAX is set to YES. 1530 | 1531 | MATHJAX_CODEFILE = 1532 | 1533 | # When the SEARCHENGINE tag is enabled doxygen will generate a search box for 1534 | # the HTML output. The underlying search engine uses javascript and DHTML and 1535 | # should work on any modern browser. Note that when using HTML help 1536 | # (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) 1537 | # there is already a search function so this one should typically be disabled. 1538 | # For large projects the javascript based search engine can be slow, then 1539 | # enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to 1540 | # search using the keyboard; to jump to the search box use + S 1541 | # (what the is depends on the OS and browser, but it is typically 1542 | # , /