130 lines
4.1 KiB
C
130 lines
4.1 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_HPMPC_H_
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#define ACADOS_OCP_QP_OCP_QP_HPMPC_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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#include "acados/utils/types.h"
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typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
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typedef struct ocp_qp_hpmpc_opts_
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{
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double tol;
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int max_iter;
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double mu0;
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double alpha_min;
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int warm_start;
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int N2; // horizion length of the partially condensed problem
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// partial tightening
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double sigma_mu;
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int N;
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int M;
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} ocp_qp_hpmpc_opts;
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// struct of the solver memory
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typedef struct ocp_qp_hpmpc_memory_
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{
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struct blasfeo_dvec *hpi;
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double *stats;
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// workspace
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void *hpmpc_work; // raw workspace
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// partial tightening-specific (init of extra variables)
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struct blasfeo_dvec *lam0;
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struct blasfeo_dvec *ux0;
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struct blasfeo_dvec *pi0;
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struct blasfeo_dvec *t0;
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// 2. workspace
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struct blasfeo_dmat *hsL;
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struct blasfeo_dmat *hsric_work_mat;
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struct blasfeo_dmat sLxM;
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struct blasfeo_dmat sPpM;
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struct blasfeo_dvec *hsQx;
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struct blasfeo_dvec *hsqx;
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struct blasfeo_dvec *hstinv;
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struct blasfeo_dvec *hsrq;
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struct blasfeo_dvec *hsdux;
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struct blasfeo_dvec *hsdlam;
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struct blasfeo_dvec *hsdt;
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struct blasfeo_dvec *hsdpi;
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struct blasfeo_dvec *hslamt;
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struct blasfeo_dvec *hsPb;
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void *work_ric;
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int out_iter;
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double time_qp_solver_call;
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int iter;
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} ocp_qp_hpmpc_memory;
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acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
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//
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void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
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//
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void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
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//
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acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
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//
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void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
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//
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void ocp_qp_hpmpc_config_initialize_default(void *config_);
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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_HPMPC_H_
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