/************************************************************************************************** * * * This file is part of HPIPM. * * * * HPIPM -- High-Performance Interior Point Method. * * Copyright (C) 2019 by Gianluca Frison. * * Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * * All rights reserved. * * * * The 2-Clause BSD License * * * * Redistribution and use in source and binary forms, with or without * * modification, are permitted provided that the following conditions are met: * * * * 1. Redistributions of source code must retain the above copyright notice, this * * list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright notice, * * this list of conditions and the following disclaimer in the documentation * * and/or other materials provided with the distribution. * * * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * * * Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * * * **************************************************************************************************/ #ifndef HPIPM_D_COND_H_ #define HPIPM_D_COND_H_ #include #include #include "hpipm_d_dense_qp.h" #include "hpipm_d_dense_qp_sol.h" #include "hpipm_d_ocp_qp.h" #include "hpipm_d_ocp_qp_dim.h" #include "hpipm_d_ocp_qp_sol.h" #ifdef __cplusplus extern "C" { #endif struct d_cond_qp_arg { int cond_last_stage; // condense last stage int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2 int comp_prim_sol; // primal solution (v) int comp_dual_sol_eq; // dual solution equality constr (pi) int comp_dual_sol_ineq; // dual solution inequality constr (lam t) int square_root_alg; // square root algorithm (faster but requires RSQ>0) hpipm_size_t memsize; }; struct d_cond_qp_ws { struct blasfeo_dmat *Gamma; struct blasfeo_dmat *GammaQ; struct blasfeo_dmat *L; struct blasfeo_dmat *Lx; struct blasfeo_dmat *AL; struct blasfeo_dvec *Gammab; struct blasfeo_dvec *l; struct blasfeo_dvec *tmp_nbgM; struct blasfeo_dvec *tmp_nuxM; int bs; // block size hpipm_size_t memsize; }; // hpipm_size_t d_cond_qp_arg_memsize(); // void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem); // void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg); // condensing algorithm: 0 N2-nx3, 1 N3-nx2 void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg); // set riccati-like algorithm: 0 classical, 1 square-root void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg); // condense last stage: 0 last stage disregarded, 1 last stage condensed too void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg); // void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg); // void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg); // void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg); // void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim); // hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg); // void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem); // void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); // void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); // void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); // void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); // TODO remove void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); // void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_D_COND_H_