/* * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl * * This file is part of acados. * * The 2-Clause BSD License * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE.; */ /// \addtogroup ocp_nlp /// @{ /// \addtogroup ocp_nlp_constraints /// @{ #ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ #define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ #ifdef __cplusplus extern "C" { #endif // acados #include "acados/ocp_qp/ocp_qp_common.h" #include "acados/ocp_nlp/ocp_nlp_constraints_common.h" #include "acados/utils/external_function_generic.h" #include "acados/utils/types.h" /************************************************ * dims ************************************************/ typedef struct { int nx; int nu; int nz; int nb; // nbx + nbu int nbu; // number of input box constraints int nbx; // number of state box constraints int ng; // number of general linear constraints int nh; // number of nonlinear path constraints int ns; // nsbu + nsbx + nsg + nsh int nsbu; // number of softened input bounds int nsbx; // number of softened state bounds int nsg; // number of softened general linear constraints int nsh; // number of softened nonlinear constraints int nbue; // number of input box constraints which are equality int nbxe; // number of state box constraints which are equality int nge; // number of general linear constraints which are equality int nhe; // number of nonlinear path constraints which are equality } ocp_nlp_constraints_bgh_dims; // acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config); // void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory); // void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx, int nbu, int ng, int nh, int dummy0, int ns); // void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value); // void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_, const char *field, const int* value); /************************************************ * model ************************************************/ typedef struct { int *idxb; int *idxs; int *idxe; struct blasfeo_dvec d; // gathers bounds struct blasfeo_dmat DCt; // general linear constraint matrix // lg <= [D, C] * [u; x] <= ug external_function_generic *nl_constr_h_fun; // nonlinear: lh <= h(x,u) <= uh external_function_generic *nl_constr_h_fun_jac; // nonlinear: lh <= h(x,u) <= uh external_function_generic *nl_constr_h_fun_jac_hess; // nonlinear: lh <= h(x,u) <= uh } ocp_nlp_constraints_bgh_model; // acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims); // void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory); // int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); /************************************************ * options ************************************************/ typedef struct { int compute_adj; int compute_hess; } ocp_nlp_constraints_bgh_opts; // acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims); // void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory); // void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts); // void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts); // void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value); /************************************************ * memory ************************************************/ typedef struct { struct blasfeo_dvec fun; struct blasfeo_dvec adj; struct blasfeo_dvec *ux; // pointer to ux in nlp_out struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out struct blasfeo_dvec *lam; // pointer to lam in nlp_out struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out struct blasfeo_dvec *z_alg; // pointer to z_alg in ocp_nlp memory struct blasfeo_dmat *DCt; // pointer to DCt in qp_in struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory int *idxb; // pointer to idxb[ii] in qp_in int *idxs_rev; // pointer to idxs_rev[ii] in qp_in int *idxe; // pointer to idxe[ii] in qp_in } ocp_nlp_constraints_bgh_memory; // acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts); // void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory); // struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_); // struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_); // void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory); // void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_); // void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_); /************************************************ * workspace ************************************************/ typedef struct { struct blasfeo_dmat tmp_nv_nv; struct blasfeo_dmat tmp_nz_nh; struct blasfeo_dmat tmp_nv_nh; struct blasfeo_dmat tmp_nz_nv; struct blasfeo_dmat hess_z; struct blasfeo_dvec tmp_ni; struct blasfeo_dvec tmp_nh; } ocp_nlp_constraints_bgh_workspace; // acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts); /* functions */ // void ocp_nlp_constraints_bgh_config_initialize_default(void *config); // void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts, void *mem, void *work); // void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); // void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); // void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); #ifdef __cplusplus } /* extern "C" */ #endif #endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ /// @} /// @}