99 lines
3.9 KiB
C
99 lines
3.9 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 ACADOS_SIM_{{ model.name }}_H_
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#define ACADOS_SIM_{{ model.name }}_H_
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#include "acados_c/sim_interface.h"
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#include "acados_c/external_function_interface.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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// ** capsule for solver data **
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typedef struct sim_solver_capsule
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{
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// acados objects
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sim_in *acados_sim_in;
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sim_out *acados_sim_out;
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sim_solver *acados_sim_solver;
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sim_opts *acados_sim_opts;
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sim_config *acados_sim_config;
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void *acados_sim_dims;
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/* external functions */
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// ERK
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external_function_param_casadi * sim_forw_vde_casadi;
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external_function_param_casadi * sim_expl_ode_fun_casadi;
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external_function_param_casadi * sim_expl_ode_hess;
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// IRK
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external_function_param_casadi * sim_impl_dae_fun;
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external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
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external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
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external_function_param_casadi * sim_impl_dae_hess;
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// GNSF
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external_function_param_casadi * sim_gnsf_phi_fun;
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external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
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external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
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external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
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external_function_param_casadi * sim_gnsf_get_matrices_fun;
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} sim_solver_capsule;
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int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
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int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
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int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
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int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
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sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
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sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
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sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
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void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
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sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
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sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
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sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
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int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
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#ifdef __cplusplus
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}
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#endif
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#endif // ACADOS_SIM_{{ model.name }}_H_
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