71 lines
3.2 KiB
C
71 lines
3.2 KiB
C
/*
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* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
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* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
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* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
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* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
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*
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* This file is part of acados.
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*
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* The 2-Clause BSD License
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.;
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*/
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#ifndef {{ model.name }}_H_CONSTRAINT
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#define {{ model.name }}_H_CONSTRAINT
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#ifdef __cplusplus
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extern "C" {
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#endif
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{% if dims.nh > 0 %}
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int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
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const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
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const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
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int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
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const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
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const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
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int {{ model.name }}_constr_h_fun_n_in(void);
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int {{ model.name }}_constr_h_fun_n_out(void);
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{% if solver_options.hessian_approx == "EXACT" -%}
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
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const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
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const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
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int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
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{% endif %}
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{% endif %}
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // {{ model.name }}_H_CONSTRAINT
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