114 lines
4.2 KiB
C
114 lines
4.2 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_MEM_H_
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#define ACADOS_UTILS_MEM_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdio.h>
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#include <stdbool.h>
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#include "types.h"
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// blasfeo
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#include "blasfeo/include/blasfeo_d_aux.h"
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#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
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// TODO(dimitris): probably does not belong here
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typedef struct
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{
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int (*fun)(void *);
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acados_size_t (*calculate_args_size)(void *);
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void *(*assign_args)(void *);
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void (*initialize_default_args)(void *);
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acados_size_t (*calculate_memory_size)(void *);
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void *(*assign_memory)(void *);
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acados_size_t (*calculate_workspace_size)(void *);
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} module_solver;
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// make int counter of memory multiple of a number (typically 8 or 64)
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void make_int_multiple_of(acados_size_t num, acados_size_t *size);
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// align char pointer to number (typically 8 for pointers and doubles,
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// 64 for blasfeo structs) and return offset
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int align_char_to(int num, char **c_ptr);
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// switch between malloc and calloc (for valgrinding)
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void *acados_malloc(size_t nitems, acados_size_t size);
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// uses always calloc
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void *acados_calloc(size_t nitems, acados_size_t size);
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// allocate vector of pointers to vectors of doubles and advance pointer
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void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
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// allocate vector of pointers to vectors of ints and advance pointer
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void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
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// allocate vector of pointers to strvecs and advance pointer
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void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
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// allocate vector of pointers to strmats and advance pointer
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void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
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// allocate vector of pointers to vector of pointers to strmats and advance pointer
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void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
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// allocate vector of chars and advance pointer
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void assign_and_advance_char(int n, char **v, char **ptr);
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// allocate vector of ints and advance pointer
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void assign_and_advance_int(int n, int **v, char **ptr);
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// allocate vector of bools and advance pointer
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void assign_and_advance_bool(int n, bool **v, char **ptr);
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// allocate vector of doubles and advance pointer
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void assign_and_advance_double(int n, double **v, char **ptr);
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// allocate strvec and advance pointer
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void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
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// allocate strmat and advance pointer
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void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_UTILS_MEM_H_
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