242 lines
8.8 KiB
C
242 lines
8.8 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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/// \addtogroup ocp_nlp
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/// @{
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/// \addtogroup ocp_nlp_constraints
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/// @{
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#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
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#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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// acados
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#include "acados/ocp_qp/ocp_qp_common.h"
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#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
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#include "acados/utils/external_function_generic.h"
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#include "acados/utils/types.h"
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/************************************************
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* dims
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************************************************/
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typedef struct
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{
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int nx;
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int nu;
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int nz;
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int nb; // nbx + nbu
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int nbu; // number of input box constraints
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int nbx; // number of state box constraints
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int ng; // number of general linear constraints
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int nh; // number of nonlinear path constraints
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int ns; // nsbu + nsbx + nsg + nsh
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int nsbu; // number of softened input bounds
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int nsbx; // number of softened state bounds
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int nsg; // number of softened general linear constraints
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int nsh; // number of softened nonlinear constraints
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int nbue; // number of input box constraints which are equality
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int nbxe; // number of state box constraints which are equality
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int nge; // number of general linear constraints which are equality
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int nhe; // number of nonlinear path constraints which are equality
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} ocp_nlp_constraints_bgh_dims;
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//
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acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
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//
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void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
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//
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void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx,
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int nbu, int ng, int nh, int dummy0, int ns);
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//
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void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
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//
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void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
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const char *field, const int* value);
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/************************************************
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* model
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************************************************/
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typedef struct
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{
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int *idxb;
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int *idxs;
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int *idxe;
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struct blasfeo_dvec d; // gathers bounds
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struct blasfeo_dmat DCt; // general linear constraint matrix
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// lg <= [D, C] * [u; x] <= ug
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external_function_generic *nl_constr_h_fun; // nonlinear: lh <= h(x,u) <= uh
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external_function_generic *nl_constr_h_fun_jac; // nonlinear: lh <= h(x,u) <= uh
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external_function_generic *nl_constr_h_fun_jac_hess; // nonlinear: lh <= h(x,u) <= uh
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} ocp_nlp_constraints_bgh_model;
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//
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acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
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//
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void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
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//
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int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
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void *model_, const char *field, void *value);
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/************************************************
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* options
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************************************************/
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typedef struct
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{
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int compute_adj;
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int compute_hess;
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} ocp_nlp_constraints_bgh_opts;
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//
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acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
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//
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void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
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//
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void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
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//
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void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
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//
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void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
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/************************************************
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* memory
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************************************************/
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typedef struct
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{
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struct blasfeo_dvec fun;
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struct blasfeo_dvec adj;
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struct blasfeo_dvec *ux; // pointer to ux in nlp_out
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struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
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struct blasfeo_dvec *lam; // pointer to lam in nlp_out
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struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
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struct blasfeo_dvec *z_alg; // pointer to z_alg in ocp_nlp memory
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struct blasfeo_dmat *DCt; // pointer to DCt in qp_in
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struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in
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struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
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int *idxb; // pointer to idxb[ii] in qp_in
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int *idxs_rev; // pointer to idxs_rev[ii] in qp_in
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int *idxe; // pointer to idxe[ii] in qp_in
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} ocp_nlp_constraints_bgh_memory;
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//
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acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
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//
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void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
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//
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struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
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//
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struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
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//
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void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
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//
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void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
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/************************************************
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* workspace
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************************************************/
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typedef struct
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{
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struct blasfeo_dmat tmp_nv_nv;
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struct blasfeo_dmat tmp_nz_nh;
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struct blasfeo_dmat tmp_nv_nh;
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struct blasfeo_dmat tmp_nz_nv;
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struct blasfeo_dmat hess_z;
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struct blasfeo_dvec tmp_ni;
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struct blasfeo_dvec tmp_nh;
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} ocp_nlp_constraints_bgh_workspace;
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//
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acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
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/* functions */
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//
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void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
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//
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void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
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void *mem, void *work);
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//
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void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
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void *opts_, void *memory_, void *work_);
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//
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void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
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void *opts_, void *memory_, void *work_);
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//
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void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
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void *opts_, void *memory_, void *work_);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
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/// @}
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/// @}
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