122 lines
4.0 KiB
C
122 lines
4.0 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_QPDUNES_H_
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#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "qpDUNES.h"
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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 qpdunes_options_t_ {
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QPDUNES_DEFAULT_ARGUMENTS,
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QPDUNES_LINEAR_MPC, // TODO(dimitris): partly implemented
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QPDUNES_NONLINEAR_MPC, // TODO(dimitris): not implemented yet
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QPDUNES_ACADO_SETTINGS
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} qpdunes_options_t;
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typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
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typedef struct ocp_qp_qpdunes_opts_
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{
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qpOptions_t options;
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qpdunes_stage_qp_solver_t stageQpSolver;
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int warmstart; // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
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bool isLinearMPC;
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} ocp_qp_qpdunes_opts;
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typedef struct ocp_qp_qpdunes_memory_
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{
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int firstRun;
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int nx;
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int nu;
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int nz;
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int nDmax; // max(dims->ng)
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qpData_t qpData;
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double time_qp_solver_call;
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int iter;
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} ocp_qp_qpdunes_memory;
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typedef struct ocp_qp_qpdunes_workspace_
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{
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double *H;
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double *Q;
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double *R;
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double *S;
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double *g;
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double *ABt;
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double *b;
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double *Ct;
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double *lc;
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double *uc;
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double *zLow;
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double *zUpp;
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} ocp_qp_qpdunes_workspace;
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//
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acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
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//
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void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
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//
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void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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void *ocp_qp_qpdunes_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_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
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//
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int ocp_qp_qpdunes(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_qpdunes_free_memory(void *mem_);
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//
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void ocp_qp_qpdunes_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_qpdunes_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_QPDUNES_H_
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