213 lines
10 KiB
C
213 lines
10 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_SOLVER_{{ model.name }}_H_
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#define ACADOS_SOLVER_{{ model.name }}_H_
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#include "acados_c/ocp_nlp_interface.h"
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#include "acados_c/external_function_interface.h"
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#define {{ model.name | upper }}_NX {{ dims.nx }}
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#define {{ model.name | upper }}_NZ {{ dims.nz }}
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#define {{ model.name | upper }}_NU {{ dims.nu }}
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#define {{ model.name | upper }}_NP {{ dims.np }}
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#define {{ model.name | upper }}_NBX {{ dims.nbx }}
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#define {{ model.name | upper }}_NBX0 {{ dims.nbx_0 }}
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#define {{ model.name | upper }}_NBU {{ dims.nbu }}
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#define {{ model.name | upper }}_NSBX {{ dims.nsbx }}
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#define {{ model.name | upper }}_NSBU {{ dims.nsbu }}
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#define {{ model.name | upper }}_NSH {{ dims.nsh }}
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#define {{ model.name | upper }}_NSG {{ dims.nsg }}
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#define {{ model.name | upper }}_NSPHI {{ dims.nsphi }}
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#define {{ model.name | upper }}_NSHN {{ dims.nsh_e }}
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#define {{ model.name | upper }}_NSGN {{ dims.nsg_e }}
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#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
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#define {{ model.name | upper }}_NSBXN {{ dims.nsbx_e }}
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#define {{ model.name | upper }}_NS {{ dims.ns }}
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#define {{ model.name | upper }}_NSN {{ dims.ns_e }}
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#define {{ model.name | upper }}_NG {{ dims.ng }}
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#define {{ model.name | upper }}_NBXN {{ dims.nbx_e }}
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#define {{ model.name | upper }}_NGN {{ dims.ng_e }}
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#define {{ model.name | upper }}_NY0 {{ dims.ny_0 }}
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#define {{ model.name | upper }}_NY {{ dims.ny }}
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#define {{ model.name | upper }}_NYN {{ dims.ny_e }}
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#define {{ model.name | upper }}_N {{ dims.N }}
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#define {{ model.name | upper }}_NH {{ dims.nh }}
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#define {{ model.name | upper }}_NPHI {{ dims.nphi }}
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#define {{ model.name | upper }}_NHN {{ dims.nh_e }}
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#define {{ model.name | upper }}_NPHIN {{ dims.nphi_e }}
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#define {{ model.name | upper }}_NR {{ dims.nr }}
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#ifdef __cplusplus
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extern "C" {
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#endif
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// ** capsule for solver data **
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typedef struct {{ model.name }}_solver_capsule
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{
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// acados objects
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ocp_nlp_in *nlp_in;
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ocp_nlp_out *nlp_out;
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ocp_nlp_out *sens_out;
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ocp_nlp_solver *nlp_solver;
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void *nlp_opts;
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ocp_nlp_plan_t *nlp_solver_plan;
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ocp_nlp_config *nlp_config;
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ocp_nlp_dims *nlp_dims;
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// number of expected runtime parameters
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unsigned int nlp_np;
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/* external functions */
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// dynamics
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{% if solver_options.integrator_type == "ERK" %}
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external_function_param_casadi *forw_vde_casadi;
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external_function_param_casadi *expl_ode_fun;
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{% if solver_options.hessian_approx == "EXACT" %}
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external_function_param_casadi *hess_vde_casadi;
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{%- endif %}
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{% elif solver_options.integrator_type == "IRK" %}
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external_function_param_casadi *impl_dae_fun;
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external_function_param_casadi *impl_dae_fun_jac_x_xdot_z;
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external_function_param_casadi *impl_dae_jac_x_xdot_u_z;
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{% if solver_options.hessian_approx == "EXACT" %}
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external_function_param_casadi *impl_dae_hess;
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{%- endif %}
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{% elif solver_options.integrator_type == "LIFTED_IRK" %}
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external_function_param_casadi *impl_dae_fun;
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external_function_param_casadi *impl_dae_fun_jac_x_xdot_u;
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{% elif solver_options.integrator_type == "GNSF" %}
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external_function_param_casadi *gnsf_phi_fun;
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external_function_param_casadi *gnsf_phi_fun_jac_y;
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external_function_param_casadi *gnsf_phi_jac_y_uhat;
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external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
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external_function_param_casadi *gnsf_get_matrices_fun;
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{% elif solver_options.integrator_type == "DISCRETE" %}
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external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
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external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
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{%- if solver_options.hessian_approx == "EXACT" %}
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external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
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{%- endif %}
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{%- endif %}
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// cost
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{% if cost.cost_type == "NONLINEAR_LS" %}
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external_function_param_casadi *cost_y_fun;
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external_function_param_casadi *cost_y_fun_jac_ut_xt;
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external_function_param_casadi *cost_y_hess;
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{%- elif cost.cost_type == "EXTERNAL" %}
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external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
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external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
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external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
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{% endif %}
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{% if cost.cost_type_0 == "NONLINEAR_LS" %}
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external_function_param_casadi cost_y_0_fun;
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external_function_param_casadi cost_y_0_fun_jac_ut_xt;
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external_function_param_casadi cost_y_0_hess;
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{% elif cost.cost_type_0 == "EXTERNAL" %}
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external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
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external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
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external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
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{%- endif %}
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{% if cost.cost_type_e == "NONLINEAR_LS" %}
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external_function_param_casadi cost_y_e_fun;
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external_function_param_casadi cost_y_e_fun_jac_ut_xt;
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external_function_param_casadi cost_y_e_hess;
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{% elif cost.cost_type_e == "EXTERNAL" %}
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external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
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external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
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external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
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{%- endif %}
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// constraints
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{%- if constraints.constr_type == "BGP" %}
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external_function_param_casadi *phi_constraint;
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{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
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external_function_param_casadi *nl_constr_h_fun_jac;
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external_function_param_casadi *nl_constr_h_fun;
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external_function_param_casadi *nl_constr_h_fun_jac_hess;
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{%- endif %}
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{% if constraints.constr_type_e == "BGP" %}
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external_function_param_casadi phi_e_constraint;
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{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
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external_function_param_casadi nl_constr_h_e_fun_jac;
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external_function_param_casadi nl_constr_h_e_fun;
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external_function_param_casadi nl_constr_h_e_fun_jac_hess;
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{%- endif %}
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} {{ model.name }}_solver_capsule;
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{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
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int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
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int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
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/**
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* Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
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* the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
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* generation, the time-steps from code generation is used.
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*/
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int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
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/**
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* Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
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* nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
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*/
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int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
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/**
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* This function is used for updating an already initialized solver with a different number of qp_cond_N.
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*/
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int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
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int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
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int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
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int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
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void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
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void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
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ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_SOLVER_{{ model.name }}_H_
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