172 lines
5.0 KiB
C
172 lines
5.0 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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/// \addtogroup ocp_nlp
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/// @{
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/// \addtogroup ocp_nlp_solver
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/// @{
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/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
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/// @{
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#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
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#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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// acados
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#include "acados/ocp_nlp/ocp_nlp_common.h"
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#include "acados/utils/types.h"
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/************************************************
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* options
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************************************************/
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typedef struct
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{
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ocp_nlp_opts *nlp_opts;
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double tol_stat; // exit tolerance on stationarity condition
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double tol_eq; // exit tolerance on equality constraints
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double tol_ineq; // exit tolerance on inequality constraints
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double tol_comp; // exit tolerance on complementarity condition
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int max_iter;
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int ext_qp_res; // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
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int qp_warm_start; // qp_warm_start in all but the first sqp iterations
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bool warm_start_first_qp; // to set qp_warm_start in first iteration
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int rti_phase; // only phase 0 at the moment
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int initialize_t_slacks; // 0-false or 1-true
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} ocp_nlp_sqp_opts;
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//
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acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
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//
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void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
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//
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void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
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//
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void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
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//
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void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
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//
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void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
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/************************************************
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* memory
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************************************************/
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typedef struct
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{
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// nlp memory
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ocp_nlp_memory *nlp_mem;
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double time_qp_sol;
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double time_qp_solver_call;
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double time_qp_xcond;
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double time_lin;
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double time_reg;
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double time_tot;
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double time_glob;
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double time_sim;
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double time_sim_la;
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double time_sim_ad;
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double time_solution_sensitivities;
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// statistics
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double *stat;
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int stat_m;
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int stat_n;
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int status;
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int sqp_iter;
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} ocp_nlp_sqp_memory;
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//
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acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
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//
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void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
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/************************************************
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* workspace
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************************************************/
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typedef struct
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{
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ocp_nlp_workspace *nlp_work;
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// temp QP in & out (to be used as workspace in param sens)
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ocp_qp_in *tmp_qp_in;
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ocp_qp_out *tmp_qp_out;
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// qp residuals
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ocp_qp_res *qp_res;
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ocp_qp_res_ws *qp_res_ws;
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} ocp_nlp_sqp_workspace;
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//
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acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
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/************************************************
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* functions
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************************************************/
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//
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int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
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void *args, void *mem, void *work_);
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//
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void ocp_nlp_sqp_config_initialize_default(void *config_);
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//
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int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
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void *opts_, void *mem_, void *work_);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
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/// @}
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/// @}
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/// @}
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