/************************************************************************************************** * * * 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 * * * **************************************************************************************************/ #include #include #ifdef __cplusplus extern "C" { #endif struct m_ipm_hard_ocp_qp_workspace { struct d_ipm_hard_core_qp_workspace *core_workspace; struct blasfeo_dvec *dux; struct blasfeo_dvec *dpi; struct blasfeo_dvec *dt_lb; struct blasfeo_dvec *dt_lg; struct blasfeo_svec *sdux; // XXX struct blasfeo_svec *sdpi; // XXX struct blasfeo_dvec *res_g; // q-residuals struct blasfeo_dvec *res_b; // b-residuals struct blasfeo_dvec *res_d; // d-residuals XXX remove ??? struct blasfeo_dvec *res_d_lb; // d-residuals struct blasfeo_dvec *res_d_ub; // d-residuals struct blasfeo_dvec *res_d_lg; // d-residuals struct blasfeo_dvec *res_d_ug; // d-residuals struct blasfeo_dvec *res_m; // m-residuals struct blasfeo_dvec *res_m_lb; // m-residuals struct blasfeo_dvec *res_m_ub; // m-residuals struct blasfeo_dvec *res_m_lg; // m-residuals struct blasfeo_dvec *res_m_ug; // m-residuals struct blasfeo_svec *sres_g; // q-residuals // XXX struct blasfeo_svec *sres_b; // b-residuals // XXX struct blasfeo_dvec *Qx_lb; // hessian update struct blasfeo_dvec *Qx_lg; // hessian update struct blasfeo_dvec *qx_lb; // gradient update struct blasfeo_dvec *qx_lg; // gradient update struct blasfeo_svec *sQx_lb; // hessian update // XXX struct blasfeo_svec *sQx_lg; // hessian update // XXX struct blasfeo_svec *sqx_lb; // gradient update // XXX struct blasfeo_svec *sqx_lg; // gradient update // XXX struct blasfeo_dvec *tmp_nbM; // work space of size nbM struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX struct blasfeo_dvec *tmp_ngM; // work space of size ngM struct blasfeo_svec *Pb; // Pb // XXX struct blasfeo_smat *L; // XXX struct blasfeo_smat *AL; // XXX struct blasfeo_svec *sSx; // scaling struct blasfeo_svec *sSi; // scaling inverted double *stat; // convergence statistics double res_mu; // mu-residual int iter; // iteration number int compute_Pb; int scale; }; struct m_ipm_hard_ocp_qp_arg { double alpha_min; // exit cond on step length double mu_max; // exit cond on duality measure double mu0; // initial value for duality measure int iter_max; // exit cond in iter number }; // hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg); // void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem); // void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws); // void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws); #ifdef __cplusplus } /* extern "C" */ #endif