122 lines
3.5 KiB
C
122 lines
3.5 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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#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
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#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_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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typedef struct
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{
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int N;
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int *nx;
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int *nu;
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int *nb;
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int *nc;
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double **A;
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double **B;
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double **b;
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double **Q;
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double **S;
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double **R;
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double **q;
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double **r;
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int **idxb;
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double **lb;
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double **ub;
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double **Cx;
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double **Cu;
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double **lc;
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double **uc;
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} colmaj_ocp_qp_in;
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typedef struct
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{
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double **x;
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double **u;
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double **pi;
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double **lam;
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} colmaj_ocp_qp_out;
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typedef struct
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{
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double **res_r;
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double **res_q;
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double **res_ls;
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double **res_us;
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double **res_b;
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double **res_d_lb;
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double **res_d_ub;
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double **res_d_lg;
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double **res_d_ug;
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double **res_d_ls;
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double **res_d_us;
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double **res_m_lb;
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double **res_m_ub;
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double **res_m_lg;
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double **res_m_ug;
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double **res_m_ls;
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double **res_m_us;
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double res_nrm_inf[4];
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} colmaj_ocp_qp_res;
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//
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acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
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//
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char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
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//
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acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
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//
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char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
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//
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acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
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//
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char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
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//
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void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
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//
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void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
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//
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void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
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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_FRONTEND_H_
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