246 lines
8.8 KiB
C
246 lines
8.8 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_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
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#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_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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/************************************************
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* generic external function
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************************************************/
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// type of arguments
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typedef enum {
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COLMAJ,
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BLASFEO_DMAT,
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BLASFEO_DVEC,
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COLMAJ_ARGS,
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BLASFEO_DMAT_ARGS,
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BLASFEO_DVEC_ARGS,
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IGNORE_ARGUMENT
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} ext_fun_arg_t;
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struct colmaj_args
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{
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double *A;
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int lda;
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};
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struct blasfeo_dmat_args
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{
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struct blasfeo_dmat *A;
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int ai;
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int aj;
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};
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struct blasfeo_dvec_args
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{
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struct blasfeo_dvec *x;
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int xi;
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};
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// prototype of an external function
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typedef struct
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{
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// public members (have to be before private ones)
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void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
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// private members
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// .....
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} external_function_generic;
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/************************************************
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* generic external parametric function
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************************************************/
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// prototype of a parametric external function
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typedef struct
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{
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// public members for core (have to be before private ones)
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void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
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// public members for interfaces
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void (*get_nparam)(void *, int *);
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void (*set_param)(void *, double *);
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void (*set_param_sparse)(void *, int n_update, int *idx, double *);
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// private members
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void *ptr_ext_mem; // pointer to external memory
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int (*fun)(void **, void **, void *);
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double *p; // parameters
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int np; // number of parameters
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// .....
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} external_function_param_generic;
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//
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acados_size_t external_function_param_generic_struct_size();
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//
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void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
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//
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acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
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//
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void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
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//
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void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
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//
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void external_function_param_generic_get_nparam(void *self, int *np);
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//
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void external_function_param_generic_set_param(void *self, double *p);
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/************************************************
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* casadi external function
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************************************************/
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typedef struct
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{
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// public members (have to be the same as in the prototype, and before the private ones)
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void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
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// private members
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void *ptr_ext_mem; // pointer to external memory
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int (*casadi_fun)(const double **, double **, int *, double *, void *);
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int (*casadi_work)(int *, int *, int *, int *);
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const int *(*casadi_sparsity_in)(int);
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const int *(*casadi_sparsity_out)(int);
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int (*casadi_n_in)();
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int (*casadi_n_out)();
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double **args;
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double **res;
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double *w;
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int *iw;
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int *args_size; // size of args[i]
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int *res_size; // size of res[i]
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int args_num; // number of args arrays
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int args_size_tot; // total size of args arrays
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int res_num; // number of res arrays
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int res_size_tot; // total size of res arrays
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int in_num; // number of input arrays
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int out_num; // number of output arrays
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int iw_size; // number of ints for worksapce
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int w_size; // number of doubles for workspace
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} external_function_casadi;
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//
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acados_size_t external_function_casadi_struct_size();
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//
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void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
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//
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void external_function_casadi_set_work(external_function_casadi *fun, void *value);
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//
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void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
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//
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void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
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//
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void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
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//
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void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
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//
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acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
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//
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void external_function_casadi_assign(external_function_casadi *fun, void *mem);
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//
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void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
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ext_fun_arg_t *type_out, void **out);
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/************************************************
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* casadi external parametric function
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************************************************/
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typedef struct
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{
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// public members for core (have to be the same as in the prototype, and before the private ones)
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void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
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// public members for interfaces
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void (*get_nparam)(void *, int *);
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void (*set_param)(void *, double *);
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void (*set_param_sparse)(void *, int n_update, int *idx, double *);
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// private members
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void *ptr_ext_mem; // pointer to external memory
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int (*casadi_fun)(const double **, double **, int *, double *, void *);
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int (*casadi_work)(int *, int *, int *, int *);
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const int *(*casadi_sparsity_in)(int);
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const int *(*casadi_sparsity_out)(int);
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int (*casadi_n_in)();
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int (*casadi_n_out)();
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double **args;
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double **res;
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double *w;
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int *iw;
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int *args_size; // size of args[i]
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int *res_size; // size of res[i]
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int args_num; // number of args arrays
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int args_size_tot; // total size of args arrays
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int res_num; // number of res arrays
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int res_size_tot; // total size of res arrays
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int in_num; // number of input arrays
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int out_num; // number of output arrays
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int iw_size; // number of ints for worksapce
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int w_size; // number of doubles for workspace
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int np; // number of parameters
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} external_function_param_casadi;
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//
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acados_size_t external_function_param_casadi_struct_size();
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//
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void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
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//
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void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
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//
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void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
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//
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void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
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//
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void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
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//
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void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
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//
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acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
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//
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void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
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//
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void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
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ext_fun_arg_t *type_out, void **out);
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//
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void external_function_param_casadi_get_nparam(void *self, int *np);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
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