144 lines
4.1 KiB
C
144 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_SIM_SIM_ERK_INTEGRATOR_H_
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#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/sim/sim_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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int nx;
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int nu;
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int nz;
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} sim_erk_dims;
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typedef struct
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{
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/* external functions */
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// explicit ode
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external_function_generic *expl_ode_fun;
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// hessian explicit ode
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external_function_generic *expl_ode_hes;
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// forward explicit vde
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external_function_generic *expl_vde_for;
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// adjoint explicit vde
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external_function_generic *expl_vde_adj;
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} erk_model;
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typedef struct
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{
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// memory
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double time_sim;
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double time_ad;
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double time_la;
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// workspace structs
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} sim_erk_memory;
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typedef struct
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{
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// workspace mem
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double *rhs_forw_in; // x + S + p
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double *K_traj; // (stages*nX) or (steps*stages*nX) for adj
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double *out_forw_traj; // S or (steps+1)*nX for adj
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double *rhs_adj_in;
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double *out_adj_tmp;
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double *adj_traj;
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} sim_erk_workspace;
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// dims
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acados_size_t sim_erk_dims_calculate_size();
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void *sim_erk_dims_assign(void *config_, void *raw_memory);
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void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
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void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
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// model
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acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
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void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
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int sim_erk_model_set(void *model, const char *field, void *value);
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// opts
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acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
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//
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void sim_erk_opts_update(void *config_, void *dims, void *opts_);
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//
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void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
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//
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void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
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//
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void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
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// memory
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acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
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//
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void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
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//
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int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
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// workspace
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acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
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//
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int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
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//
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void sim_erk_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_SIM_SIM_ERK_INTEGRATOR_H_
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