150 lines
4.5 KiB
C
150 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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/// \addtogroup ocp_nlp
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/// @{
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/// \addtogroup ocp_nlp_reg
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/// @{
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#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
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#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_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_reg_common.h"
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/************************************************
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* dims
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************************************************/
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// use the functions in ocp_nlp_reg_common
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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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double delta;
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double epsilon;
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// double gamma; // 0.0
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} ocp_nlp_reg_convexify_opts;
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//
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acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
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//
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void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
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//
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void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
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//
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void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, 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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double *R;
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double *V; // TODO move to workspace
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double *d; // TODO move to workspace
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double *e; // TODO move to workspace
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double *reg_hess; // TODO move to workspace
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struct blasfeo_dmat Q_tilde;
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struct blasfeo_dmat Q_bar;
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struct blasfeo_dmat BAQ;
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struct blasfeo_dmat L;
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struct blasfeo_dmat delta_eye;
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struct blasfeo_dmat St_copy;
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struct blasfeo_dmat *original_RSQrq;
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struct blasfeo_dmat tmp_RSQ;
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struct blasfeo_dvec tmp_nuxM;
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struct blasfeo_dvec tmp_nbgM;
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// struct blasfeo_dvec grad;
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// struct blasfeo_dvec b2;
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// giaf's
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struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in
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struct blasfeo_dvec **rq; // pointer to rq in qp_in
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struct blasfeo_dmat **BAbt; // pointer to BAbt in qp_in
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struct blasfeo_dvec **b; // pointer to b in qp_in
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struct blasfeo_dmat **DCt; // pointer to DCt in qp_in
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struct blasfeo_dvec **ux; // pointer to ux in qp_out
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struct blasfeo_dvec **pi; // pointer to pi in qp_out
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struct blasfeo_dvec **lam; // pointer to lam in qp_out
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int **idxb; // pointer to idxb in qp_in
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} ocp_nlp_reg_convexify_memory;
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//
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acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
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//
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void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
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/************************************************
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* workspace
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************************************************/
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// TODO
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/************************************************
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* functions
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************************************************/
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//
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void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
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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_CONVEXIFY_H_
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/// @}
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/// @}
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