/************************************************************************************************** * * * 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_S_DENSE_QCQP_H_ #define HPIPM_S_DENSE_QCQP_H_ #include #include #include "hpipm_s_dense_qcqp_dim.h" #ifdef __cplusplus extern "C" { #endif struct s_dense_qcqp { struct s_dense_qcqp_dim *dim; struct blasfeo_smat *Hv; // hessian of cost & vector work space struct blasfeo_smat *A; // equality constraint matrix struct blasfeo_smat *Ct; // inequality constraints matrix struct blasfeo_smat *Hq; // hessians of quadratic constraints struct blasfeo_svec *gz; // gradient of cost & gradient of slacks struct blasfeo_svec *b; // equality constraint vector struct blasfeo_svec *d; // inequality constraints vector struct blasfeo_svec *d_mask; // inequality constraints mask vector struct blasfeo_svec *m; // rhs of complementarity condition struct blasfeo_svec *Z; // (diagonal) hessian of slacks int *idxb; // indices of box constrained variables within [u; x] int *idxs_rev; // index of soft constraints (reverse storage) int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 hpipm_size_t memsize; // memory size in bytes }; // hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim); // void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory); // void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp); // void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp); // getters (COLMAJ) void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H); // void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g); // void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A); // void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b); // void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb); // void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb); // void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb); // void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub); // void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub); // void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C); // void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg); // void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg); // void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug); // void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug); // void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs); // void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev); // void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl); // void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu); // void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl); // void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu); // void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls); // void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls); // void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us); // void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_S_DENSE_QCQP_H_