71 lines
2.5 KiB
C
71 lines
2.5 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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// system
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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// acados
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#include "acados_solver_{{ model.name }}.h"
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// mex
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#include "mex.h"
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void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
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{
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int status = 0;
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long long *ptr;
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// mexPrintf("\nin mex_acados_free\n");
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const mxArray *C_ocp = prhs[0];
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// capsule
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ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
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{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
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status = {{ model.name }}_acados_free(capsule);
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if (status)
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{
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mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
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}
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status = {{ model.name }}_acados_free_capsule(capsule);
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if (status)
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{
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mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status);
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}
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return;
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}
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