212 lines
10 KiB
C
212 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 {{ model.name }}_MODEL
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#define {{ model.name }}_MODEL
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#ifdef __cplusplus
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extern "C" {
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#endif
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{%- if solver_options.hessian_approx %}
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{%- set hessian_approx = solver_options.hessian_approx %}
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{%- elif solver_options.sens_hess %}
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{%- set hessian_approx = "EXACT" %}
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{%- else %}
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{%- set hessian_approx = "GAUSS_NEWTON" %}
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{%- endif %}
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{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
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// implicit ODE
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int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
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const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
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const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
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int {{ model.name }}_impl_dae_fun_n_in(void);
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int {{ model.name }}_impl_dae_fun_n_out(void);
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// implicit ODE
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
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const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
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const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
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// implicit ODE
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int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
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const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
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const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
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int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
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int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
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// implicit ODE - for lifted_irk
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
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const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
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const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
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int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
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{%- if hessian_approx == "EXACT" %}
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int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
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const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
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const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
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int {{ model.name }}_impl_dae_hess_n_in(void);
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int {{ model.name }}_impl_dae_hess_n_out(void);
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{%- endif %}
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{% elif solver_options.integrator_type == "GNSF" %}
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/* GNSF Functions */
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{% if model.gnsf.purely_linear != 1 %}
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// phi_fun
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int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
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int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
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const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
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const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
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int {{ model.name }}_gnsf_phi_fun_n_in(void);
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int {{ model.name }}_gnsf_phi_fun_n_out(void);
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// phi_fun_jac_y
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int {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
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int {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
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const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
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const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
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int {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
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int {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
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// phi_jac_y_uhat
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int {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
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int {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
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const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
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const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
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int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
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int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
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{% if model.gnsf.nontrivial_f_LO == 1 %}
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// f_lo_fun_jac_x1k1uz
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int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
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int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
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const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
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const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
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int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
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int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
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{%- endif %}
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{%- endif %}
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// used to import model matrices
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int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
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int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
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const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
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const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
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int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
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int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
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{% elif solver_options.integrator_type == "ERK" %}
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/* explicit ODE */
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// explicit ODE
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int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
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const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
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const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
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int {{ model.name }}_expl_ode_fun_n_in(void);
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int {{ model.name }}_expl_ode_fun_n_out(void);
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// explicit forward VDE
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int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
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const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
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const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
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int {{ model.name }}_expl_vde_forw_n_in(void);
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int {{ model.name }}_expl_vde_forw_n_out(void);
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// explicit adjoint VDE
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int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
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const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
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const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
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int {{ model.name }}_expl_vde_adj_n_in(void);
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int {{ model.name }}_expl_vde_adj_n_out(void);
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{%- if hessian_approx == "EXACT" %}
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int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
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const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
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const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
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int {{ model.name }}_expl_ode_hess_n_in(void);
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int {{ model.name }}_expl_ode_hess_n_out(void);
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{%- endif %}
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{% elif solver_options.integrator_type == "DISCRETE" %}
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{% if model.dyn_ext_fun_type == "casadi" %}
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int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
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const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
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const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
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int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
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int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
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int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
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const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
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const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
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int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
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int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
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{%- if hessian_approx == "EXACT" %}
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int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
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int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
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const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
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const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
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int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
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int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
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{%- endif %}
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{% else %}
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{%- if hessian_approx == "EXACT" %}
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int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
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{% endif %}
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int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
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int {{ model.dyn_disc_fun }}(void **, void **, void *);
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{% endif %}
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{% endif %}
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // {{ model.name }}_MODEL
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