136 lines
4.2 KiB
C
136 lines
4.2 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_PROJECT_REDUC_HESS_H_
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#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_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 thr_eig;
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double min_eig;
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double min_pivot;
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int pivoting;
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} ocp_nlp_reg_project_reduc_hess_opts;
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//
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acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
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//
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void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
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//
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void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
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//
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void ocp_nlp_reg_project_reduc_hess_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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{
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double *reg_hess; // TODO move to workspace
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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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// giaf's
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struct blasfeo_dmat L; // TODO move to workspace
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struct blasfeo_dmat L2; // TODO move to workspace
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struct blasfeo_dmat L3; // TODO move to workspace
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struct blasfeo_dmat Ls; // TODO move to workspace
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struct blasfeo_dmat P; // TODO move to workspace
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struct blasfeo_dmat AL; // TODO move to workspace
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struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in
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struct blasfeo_dmat **BAbt; // pointer to RSQrq in qp_in
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} ocp_nlp_reg_project_reduc_hess_memory;
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//
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acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
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//
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void *ocp_nlp_reg_project_reduc_hess_memory_assign(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_project_reduc_hess_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_PROJECT_REDUC_HESS_H_
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/// @}
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/// @}
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