/* * 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_cost ocp_nlp_cost /// @{ /// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls /// \brief This module implements nonlinear-least squares costs of the form /// \f$\min_{x,u} \| r(x,u) - y_{\text{ref}} \|_W^2\f$. /// @{ #ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ #define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ #ifdef __cplusplus extern "C" { #endif // blasfeo #include "blasfeo/include/blasfeo_common.h" // acados #include "acados/ocp_nlp/ocp_nlp_cost_common.h" #include "acados/utils/external_function_generic.h" #include "acados/utils/types.h" /************************************************ * dims ************************************************/ typedef struct { int nx; // number of states int nu; // number of inputs int ny; // number of outputs int ns; // number of slacks } ocp_nlp_cost_nls_dims; // acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config); // void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory); // void ocp_nlp_cost_nls_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz); // void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value); // void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value); /************************************************ * model ************************************************/ typedef struct { // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost // slack penalty has the form z^T * s + .5 * s^T * Z * s external_function_generic *nls_y_fun; // evaluation of nls function external_function_generic *nls_y_fun_jac; // evaluation nls function and jacobian external_function_generic *nls_y_hess; // hessian*seeds of nls residuals struct blasfeo_dmat W; // struct blasfeo_dvec y_ref; struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector struct blasfeo_dvec z; // gradient of slacks as vector double scaling; } ocp_nlp_cost_nls_model; // acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims); // void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory); // int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_); /************************************************ * options ************************************************/ typedef struct { bool gauss_newton_hess; // gauss-newton hessian approximation } ocp_nlp_cost_nls_opts; // acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims); // void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory); // void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts); // void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts); // void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value); /************************************************ * memory ************************************************/ typedef struct { struct blasfeo_dmat W_chol; // cholesky factor of weight matrix struct blasfeo_dmat Jt; // jacobian of nls fun struct blasfeo_dvec res; // nls residual r(x) struct blasfeo_dvec grad; // gradient of cost function 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 *z_alg; ///< pointer to z in sim_out struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in struct blasfeo_dvec *Z; // pointer to Z in qp_in double fun; ///< value of the cost function } ocp_nlp_cost_nls_memory; // acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts); // void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory); // double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_); // struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_); // void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); // void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); // void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); // void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); // void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); // void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); /************************************************ * workspace ************************************************/ typedef struct { struct blasfeo_dmat tmp_nv_ny; struct blasfeo_dmat tmp_nv_nv; struct blasfeo_dvec tmp_ny; struct blasfeo_dvec tmp_2ns; // temporary vector of dimension ny } ocp_nlp_cost_nls_workspace; // acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts); /************************************************ * functions ************************************************/ // void ocp_nlp_cost_nls_config_initialize_default(void *config); // void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); // void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); // void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); #ifdef __cplusplus } /* extern "C" */ #endif #endif // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ /// @} /// @} /// @}