183 lines
6.3 KiB
C
183 lines
6.3 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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#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
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#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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// hpipm
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#include "hpipm/include/hpipm_d_ocp_qp.h"
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#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
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#include "hpipm/include/hpipm_d_ocp_qp_res.h"
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#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
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// acados
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#include "acados/utils/types.h"
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typedef struct d_ocp_qp_dim ocp_qp_dims;
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typedef struct d_ocp_qp ocp_qp_in;
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typedef struct d_ocp_qp_sol ocp_qp_out;
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typedef struct d_ocp_qp_res ocp_qp_res;
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typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
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#ifndef QP_SOLVER_CONFIG_
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#define QP_SOLVER_CONFIG_
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typedef struct
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{
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void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
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acados_size_t (*opts_calculate_size)(void *config, void *dims);
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void *(*opts_assign)(void *config, void *dims, void *raw_memory);
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void (*opts_initialize_default)(void *config, void *dims, void *opts);
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void (*opts_update)(void *config, void *dims, void *opts);
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void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
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acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
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void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
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void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
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acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
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int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
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void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
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} qp_solver_config;
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#endif
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typedef struct
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{
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acados_size_t (*dims_calculate_size)(void *config, int N);
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void *(*dims_assign)(void *config, int N, void *raw_memory);
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void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
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void (*dims_get)(void *config, void *dims, const char *field, void* value);
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// TODO add config everywhere !!!!!
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acados_size_t (*opts_calculate_size)(void *dims);
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void *(*opts_assign)(void *dims, void *raw_memory);
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void (*opts_initialize_default)(void *dims, void *opts);
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void (*opts_update)(void *dims, void *opts);
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void (*opts_set)(void *opts_, const char *field, void* value);
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acados_size_t (*memory_calculate_size)(void *dims, void *opts);
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void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
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void (*memory_get)(void *config, void *mem, const char *field, void* value);
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acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
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int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
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int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
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int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
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} ocp_qp_xcond_config;
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/// Struct containing metrics of the qp solver.
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#ifndef QP_INFO_
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#define QP_INFO_
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typedef struct
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{
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double solve_QP_time;
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double condensing_time;
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double interface_time;
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double total_time;
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int num_iter;
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int t_computed;
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} qp_info;
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#endif
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/* config */
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//
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acados_size_t ocp_qp_solver_config_calculate_size();
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//
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qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
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//
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acados_size_t ocp_qp_condensing_config_calculate_size();
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//
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ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
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/* dims */
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//
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acados_size_t ocp_qp_dims_calculate_size(int N);
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//
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ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
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//
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void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
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//
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void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
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/* in */
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//
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acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
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//
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ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
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/* out */
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//
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acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
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//
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ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
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/* res */
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//
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acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
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//
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ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
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//
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acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
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//
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ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
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//
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void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
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//
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void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
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/* misc */
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//
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void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
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//
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void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
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//
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void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_OCP_QP_OCP_QP_COMMON_H_
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