126 lines
4.6 KiB
C
126 lines
4.6 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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/// \ingroup ocp_nlp
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/// @{
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/// \defgroup ocp_nlp_reg ocp_nlp_reg
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/// @{
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#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
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#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/ocp_qp/ocp_qp_common.h"
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/* dims */
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//typedef ocp_qp_dims ocp_nlp_reg_dims;
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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 *nbu;
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int *nbx;
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int *ng;
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int N;
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} ocp_nlp_reg_dims;
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//
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acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
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//
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ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
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//
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void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
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/* config */
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typedef struct
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{
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/* dims */
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acados_size_t (*dims_calculate_size)(int N);
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ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
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void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
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/* opts */
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acados_size_t (*opts_calculate_size)(void);
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void *(*opts_assign)(void *raw_memory);
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void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
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void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
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/* memory */
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acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
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void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
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void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
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void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
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void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
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void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
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void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
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void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
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void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
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void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
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void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
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void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
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/* functions */
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void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
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void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
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} ocp_nlp_reg_config;
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//
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acados_size_t ocp_nlp_reg_config_calculate_size(void);
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//
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void *ocp_nlp_reg_config_assign(void *raw_memory);
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/* regularization help functions */
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void acados_reconstruct_A(int dim, double *A, double *V, double *d);
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void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
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void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
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#ifdef __cplusplus
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}
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#endif
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#endif // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
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/// @}
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/// @}
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