147 lines
4.3 KiB
C
147 lines
4.3 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_OOQP_H_
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#define ACADOS_OCP_QP_OCP_QP_OOQP_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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enum ocp_qp_ooqp_termination_code
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{
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SPARSE_SUCCESSFUL_TERMINATION = 0,
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SPARSE_NOT_FINISHED,
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SPARSE_MAX_ITS_EXCEEDED,
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SPARSE_INFEASIBLE,
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SPARSE_UNKNOWN
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};
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typedef struct ocp_qp_ooqp_opts_
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{
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int printLevel;
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int useDiagonalWeights; // TODO(dimitris): implement option
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int fixHessian;
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int fixHessianSparsity;
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int fixDynamics;
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int fixDynamicsSparsity;
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int fixInequalities;
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int fixInequalitiesSparsity;
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} ocp_qp_ooqp_opts;
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typedef struct ocp_qp_ooqp_workspace_
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{
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double *x;
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double *gamma;
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double *phi;
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double *y;
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double *z;
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double *lambda;
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double *pi;
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double objectiveValue;
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int *tmpInt; // temporary vector to sort indicies sparse matrices
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double *tmpReal; // temporary vector to sort data of sparse matrices
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// int ierr;
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} ocp_qp_ooqp_workspace;
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typedef struct ocp_qp_ooqp_memory_
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{
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int firstRun;
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double *c;
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int nx;
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int *irowQ;
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int nnzQ;
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int *jcolQ;
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int *orderQ;
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double *dQ;
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double *xlow;
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char *ixlow;
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double *xupp;
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char *ixupp;
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int *irowA;
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int nnzA;
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int *jcolA;
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int *orderA;
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double *dA;
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double *bA;
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int my;
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int *irowC;
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int nnzC;
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int *jcolC;
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int *orderC;
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double *dC;
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double *clow;
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int mz;
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char *iclow;
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double *cupp;
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char *icupp;
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int nnz; // max(nnzQ, nnzA, nnzC)
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double time_qp_solver_call;
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int iter;
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} ocp_qp_ooqp_memory;
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//
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acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
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//
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void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
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//
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void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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void *ocp_qp_ooqp_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_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
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void *work_);
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//
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void ocp_qp_ooqp_destroy(void *mem_, void *work);
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//
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void ocp_qp_ooqp_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_ooqp_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_OOQP_H_
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