262 lines
7.9 KiB
C
262 lines
7.9 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 INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
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#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/ocp_qp/ocp_qp_common.h"
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#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
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/// QP solver types (Enumeration).
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///
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/// Full list of fields:
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/// PARTIAL_CONDENSING_HPIPM
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/// PARTIAL_CONDENSING_HPMPC
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/// PARTIAL_CONDENSING_OOQP
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/// PARTIAL_CONDENSING_OSQP
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/// PARTIAL_CONDENSING_QPDUNES
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/// FULL_CONDENSING_HPIPM
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/// FULL_CONDENSING_QPOASES
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/// FULL_CONDENSING_QORE
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/// FULL_CONDENSING_OOQP
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/// INVALID_QP_SOLVER
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///
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/// Note: In this enumeration the partial condensing solvers have to be
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/// specified before the full condensing solvers.
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typedef enum {
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PARTIAL_CONDENSING_HPIPM,
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#ifdef ACADOS_WITH_HPMPC
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PARTIAL_CONDENSING_HPMPC,
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#else
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PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
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#endif
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#ifdef ACADOS_WITH_OOQP
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PARTIAL_CONDENSING_OOQP,
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#else
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PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
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#endif
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#ifdef ACADOS_WITH_OSQP
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PARTIAL_CONDENSING_OSQP,
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#else
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PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
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#endif
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#ifdef ACADOS_WITH_QPDUNES
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PARTIAL_CONDENSING_QPDUNES,
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#else
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PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
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#endif
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FULL_CONDENSING_HPIPM,
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#ifdef ACADOS_WITH_QPOASES
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FULL_CONDENSING_QPOASES,
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#else
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FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
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#endif
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#ifdef ACADOS_WITH_QORE
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FULL_CONDENSING_QORE,
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#else
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FULL_CONDENSING_QORE_NOT_AVAILABLE,
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#endif
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#ifdef ACADOS_WITH_OOQP
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FULL_CONDENSING_OOQP,
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#else
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FULL_CONDENSING_OOQP_NOT_AVAILABLE,
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#endif
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INVALID_QP_SOLVER,
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} ocp_qp_solver_t;
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/// Struct containing qp solver
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typedef struct
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{
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ocp_qp_solver_t qp_solver;
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} ocp_qp_solver_plan_t;
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/// Linear ocp configuration.
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typedef struct
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{
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ocp_qp_xcond_solver_config *config;
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ocp_qp_xcond_solver_dims *dims;
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void *opts;
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void *mem;
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void *work;
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} ocp_qp_solver;
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/// Initializes the qp solver configuration.
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/// TBC should this be private/static - no, used in ocp_nlp
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void ocp_qp_xcond_solver_config_initialize_from_plan(
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ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
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/// Constructs a qp solver config and Initializes with default values.
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///
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/// \param plan The qp solver plan struct.
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ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
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/// Destructor for config struct, frees memory.
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///
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/// \param config The config object to destroy.
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void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
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/// Constructs a struct that contains the dimensions for the variables of the qp.
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///
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/// \param N The number of variables.
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ocp_qp_dims *ocp_qp_dims_create(int N);
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/// Destructor of The dimension struct.
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///
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/// \param dims The dimension struct.
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void ocp_qp_dims_free(void *dims);
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//
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ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
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//
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ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
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ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
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//
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void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
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void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
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int stage, const char *field, int* value);
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/// Constructs an input object for the qp.
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///
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/// \param dims The dimension struct.
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ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
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void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
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int stage, char *field, void *value);
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/// Destructor of the inputs struct.
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///
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/// \param in_ The inputs struct.
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void ocp_qp_in_free(void *in_);
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/// Constructs an outputs object for the qp.
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///
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/// \param dims The dimension struct.
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ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
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/// Destructor of the output struct.
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///
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/// \param out_ The output struct.
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void ocp_qp_out_free(void *out_);
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/// Getter of output struct
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void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
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/// Constructs an options object for the qp.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
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ocp_qp_xcond_solver_dims *dims);
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/// Destructor of the options struct.
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///
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/// \param opts The options struct to destroy.
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void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
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/// Setter of the options struct.
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///
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/// \param opts The options struct.
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void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
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ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
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/// TBC Should be private/static?
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acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
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/// TBC Reserves memory? TBC Should this be private?
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param opts_ The options struct.
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/// \param raw_memory Pointer to raw memory to assign to qp solver.
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ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
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void *opts_, void *raw_memory);
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/// Creates a qp solver. Reserves memory.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param opts_ The options struct.
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ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
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ocp_qp_xcond_solver_dims *dims, void *opts_);
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/// Destroys a qp solver. Frees memory.
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///
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/// \param solver The qp solver
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void ocp_qp_solver_destroy(ocp_qp_solver *solver);
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void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
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ocp_qp_xcond_solver_dims *dims, void *opts_);
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/// Solves the qp.
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///
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/// \param solver The solver.
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/// \param qp_in The inputs struct.
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/// \param qp_out The output struct.
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int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
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/// Calculates the infinity norm of the residuals.
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///
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/// \param dims The dimension struct.
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/// \param qp_in The inputs struct.
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/// \param qp_out The output struct.
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/// \param res Output array for the residuals.
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void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
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double *res);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
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