152 lines
5.6 KiB
C
152 lines
5.6 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_PARTIAL_CONDENSING_SOLVER_H_
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#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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// acados
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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 struct
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{
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ocp_qp_dims *orig_dims;
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void *xcond_dims;
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} ocp_qp_xcond_solver_dims;
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typedef struct ocp_qp_xcond_solver_opts_
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{
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void *xcond_opts;
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void *qp_solver_opts;
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} ocp_qp_xcond_solver_opts;
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typedef struct ocp_qp_xcond_solver_memory_
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{
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void *xcond_memory;
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void *solver_memory;
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void *xcond_qp_in;
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void *xcond_qp_out;
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} ocp_qp_xcond_solver_memory;
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typedef struct ocp_qp_xcond_solver_workspace_
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{
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void *xcond_work;
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void *qp_solver_work;
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} ocp_qp_xcond_solver_workspace;
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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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ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
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void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
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acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
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void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
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void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
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void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *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, ocp_qp_xcond_solver_dims *dims, void *opts);
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void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *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, ocp_qp_xcond_solver_dims *dims, void *opts);
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int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
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void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
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qp_solver_config *qp_solver; // either ocp_qp_solver or dense_solver
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ocp_qp_xcond_config *xcond;
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} ocp_qp_xcond_solver_config; // pcond - partial condensing or fcond - full condensing
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/* config */
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//
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acados_size_t ocp_qp_xcond_solver_config_calculate_size();
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//
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ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
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/* dims */
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//
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acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
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//
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ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
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//
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void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
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/* opts */
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//
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acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
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//
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void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
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//
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void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
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//
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void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
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//
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void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
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/* memory */
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//
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acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
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//
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void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
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/* workspace */
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//
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acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
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/* config */
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//
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int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
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//
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void ocp_qp_xcond_solver_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_PARTIAL_CONDENSING_SOLVER_H_
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