/************************************************************************************************** * * * 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_TREE_OCP_QCQP_H_ #define HPIPM_S_TREE_OCP_QCQP_H_ #include #include #include "hpipm_s_tree_ocp_qcqp_dim.h" #ifdef __cplusplus extern "C" { #endif struct s_tree_ocp_qcqp { struct s_tree_ocp_qcqp_dim *dim; struct blasfeo_smat *BAbt; // Nn-1 struct blasfeo_smat *RSQrq; // Nn struct blasfeo_smat *DCt; // Nn struct blasfeo_smat **Hq; // Nn struct blasfeo_svec *b; // Nn-1 struct blasfeo_svec *rqz; // Nn struct blasfeo_svec *d; // Nn struct blasfeo_svec *d_mask; // Nn struct blasfeo_svec *m; // Nn struct blasfeo_svec *Z; // Nn int **idxb; // indices of box constrained variables within [u; x] // Nn int **idxs_rev; // index of soft constraints hpipm_size_t memsize; // memory size in bytes }; // hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim); // void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory); // void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp); // void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp); // //void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_S_TREE_OCP_QCQP_H_