160 lines
5.1 KiB
C
160 lines
5.1 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_LIFTED_IRK_INTEGRATOR_H_
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#define ACADOS_SIM_SIM_LIFTED_IRK_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_lifted_irk_dims;
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typedef struct
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{
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/* external functions */
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// implicit ode
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external_function_generic *impl_ode_fun;
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// implicit ode & jax_x & jac_xdot & jac_u implicit ode
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external_function_generic *impl_ode_fun_jac_x_xdot_u;
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} lifted_irk_model;
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typedef struct
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{
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struct blasfeo_dmat *J_temp_x; // temporary Jacobian of ode w.r.t x (nx, nx)
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struct blasfeo_dmat *J_temp_xdot; // temporary Jacobian of ode w.r.t xdot (nx, nx)
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struct blasfeo_dmat *J_temp_u; // temporary Jacobian of ode w.r.t u (nx, nu)
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struct blasfeo_dvec *rG; // residuals of G (nx*ns)
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struct blasfeo_dvec *xt; // temporary x
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struct blasfeo_dvec *xn; // x at each integration step (for evaluations)
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struct blasfeo_dvec *xn_out; // x at each integration step (output)
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struct blasfeo_dvec *dxn; // dx at each integration step
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struct blasfeo_dvec *w; // stacked x and u
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int *ipiv; // index of pivot vector
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} sim_lifted_irk_workspace;
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typedef struct
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{
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// memory for lifted integrators
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struct blasfeo_dmat *S_forw; // forward sensitivities
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struct blasfeo_dmat *JGK; // jacobian of G over K (nx*ns, nx*ns)
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struct blasfeo_dmat *JGf; // jacobian of G over x and u (nx*ns, nx+nu);
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struct blasfeo_dmat *JKf; // jacobian of K over x and u (nx*ns, nx+nu);
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struct blasfeo_dvec *K; // internal variables (nx*ns)
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struct blasfeo_dvec *x; // states (nx) -- for expansion step
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struct blasfeo_dvec *u; // controls (nu) -- for expansion step
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int update_sens;
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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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} sim_lifted_irk_memory;
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/* dims */
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void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
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void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
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acados_size_t sim_lifted_irk_dims_calculate_size();
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//
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void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
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/* model */
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//
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acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
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//
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void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
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//
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int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
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/* opts */
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//
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acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
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//
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void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
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//
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void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
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//
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void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
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//
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void sim_lifted_irk_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 sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
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//
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void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
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/* workspace */
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//
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acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
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//
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void sim_lifted_irk_config_initialize_default(void *config);
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/* solver */
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//
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int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
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void *mem_, 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_LIFTED_IRK_INTEGRATOR_H_
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