128 lines
4.5 KiB
C
128 lines
4.5 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_DENSE_QP_DENSE_QP_QPOASES_H_
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#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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// blasfeo
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#include "blasfeo/include/blasfeo_common.h"
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// acados
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#include "acados/dense_qp/dense_qp_common.h"
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#include "acados/utils/types.h"
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typedef struct dense_qp_qpoases_opts_
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{
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double max_cputime; // maximum cpu time in seconds
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int max_nwsr; // maximum number of working set recalculations
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int warm_start; // warm start with dual_sol in memory
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int use_precomputed_cholesky;
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int hotstart; // this option requires constant data matrices! (eg linear MPC, inexact schemes
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// with frozen sensitivities)
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int set_acado_opts; // use same options as in acado code generation
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int compute_t; // compute t in qp_out (to have correct residuals in NLP)
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double tolerance; // terminationTolerance
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} dense_qp_qpoases_opts;
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typedef struct dense_qp_qpoases_memory_
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{
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double *H;
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double *HH;
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double *R;
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double *g;
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double *gg;
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double *Zl;
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double *Zu;
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double *zl;
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double *zu;
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double *A;
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double *b;
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double *d_lb0;
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double *d_ub0;
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double *d_lb;
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double *d_ub;
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double *C;
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double *CC;
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double *d_lg0;
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double *d_ug0;
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double *d_lg;
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double *d_ug;
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double *d_ls;
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double *d_us;
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int *idxb;
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int *idxb_stacked;
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int *idxs;
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double *prim_sol;
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double *dual_sol;
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void *QPB; // NOTE(giaf): cast to QProblemB to use
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void *QP; // NOTE(giaf): cast to QProblem to use
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double cputime; // cputime of qpoases
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int nwsr; // performed number of working set recalculations
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int first_it; // to be used with hotstart
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dense_qp_in *qp_stacked;
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double time_qp_solver_call; // equal to cputime
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int iter;
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} dense_qp_qpoases_memory;
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acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
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//
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void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
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//
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void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
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//
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void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
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//
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acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
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//
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void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
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//
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acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
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//
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int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
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//
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void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
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//
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void dense_qp_qpoases_config_initialize_default(void *config_);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
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