92 lines
2.6 KiB
C
92 lines
2.6 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_SIM_SIM_COLLOCATION_UTILS_H_
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#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/utils/types.h"
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enum Newton_type_collocation
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{
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exact = 0,
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simplified_in,
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simplified_inis
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};
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typedef struct
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{
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enum Newton_type_collocation type;
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double *eig;
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double *low_tria;
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bool single;
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bool freeze;
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double *transf1;
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double *transf2;
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double *transf1_T;
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double *transf2_T;
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} Newton_scheme;
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//
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acados_size_t gauss_nodes_work_calculate_size(int ns);
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//
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void gauss_nodes(int ns, double *nodes, void *raw_memory);
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//
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acados_size_t gauss_simplified_work_calculate_size(int ns);
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//
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void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
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//
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acados_size_t butcher_table_work_calculate_size(int ns);
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//
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void butcher_table(int ns, double *nodes, double *b, double *A, void *work);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
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