217 lines
7.6 KiB
C
217 lines
7.6 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_dynamics
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/// @{
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#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
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#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_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/ocp_nlp/ocp_nlp_dynamics_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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#include "acados_c/sim_interface.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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void *sim;
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int nx; // number of states at the current stage
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int nz; // number of algebraic states at the current stage
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int nu; // number of inputs at the current stage
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int nx1; // number of states at the next stage
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int nu1; // number of inputes at the next stage
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} ocp_nlp_dynamics_cont_dims;
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//
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acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
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//
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void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
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//
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void ocp_nlp_dynamics_cont_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
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int nu1, int nz);
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//
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void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* 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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void *sim_solver;
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int compute_adj;
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int compute_hess;
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} ocp_nlp_dynamics_cont_opts;
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//
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acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
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//
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void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
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//
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void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
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//
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void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
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//
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void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const 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 at current stage
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struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
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struct blasfeo_dvec *ux1; // pointer to ux in nlp_out at next stage
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struct blasfeo_dvec *tmp_ux1; // pointer to ux in tmp_nlp_out at next stage
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struct blasfeo_dvec *pi; // pointer to pi in nlp_out at current stage
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struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
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struct blasfeo_dmat *BAbt; // pointer to BAbt in qp_in
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struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in
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struct blasfeo_dvec *z_alg; // pointer to output z at t = 0
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bool *set_sim_guess; // indicate if initialization for integrator is set from outside
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struct blasfeo_dvec *sim_guess; // initializations for integrator
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// struct blasfeo_dvec *z; // pointer to (input) z in nlp_out at current stage
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struct blasfeo_dmat *dzduxt; // pointer to dzdux transposed
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void *sim_solver; // sim solver memory
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} ocp_nlp_dynamics_cont_memory;
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//
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acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
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//
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void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
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//
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struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
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//
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struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
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//
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void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, 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 hess;
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sim_in *sim_in;
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sim_out *sim_out;
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void *sim_solver; // sim solver workspace
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} ocp_nlp_dynamics_cont_workspace;
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acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
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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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void *sim_model;
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// double *state_transition; // TODO
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double T; // simulation time
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} ocp_nlp_dynamics_cont_model;
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//
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acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
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//
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void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
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//
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void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
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/************************************************
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* functions
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************************************************/
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//
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void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
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//
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void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
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//
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void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
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//
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void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
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//
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int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, 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_DYNAMICS_CONT_H_
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/// @}
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/// @}
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