/************************************************************************************************** * * * 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_OCP_QCQP_DIM_H_ #define HPIPM_S_OCP_QCQP_DIM_H_ #include "hpipm_common.h" #ifdef __cplusplus extern "C" { #endif struct s_ocp_qcqp_dim { struct s_ocp_qp_dim *qp_dim; // dim of qp approximation int *nx; // number of states int *nu; // number of inputs int *nb; // number of box constraints int *nbx; // number of (two-sided) state box constraints int *nbu; // number of (two-sided) input box constraints int *ng; // number of (two-sided) general constraints int *nq; // number of (upper) quadratic constraints int *ns; // number of soft constraints int *nsbx; // number of soft state box constraints int *nsbu; // number of soft input box constraints int *nsg; // number of soft general constraints int *nsq; // number of soft quadratic constraints int *nbxe; // number of state box constraints which are equality int *nbue; // number of input box constraints which are equality int *nge; // number of general constraints which are equality int *nqe; // number of quadratic constraints which are equality int N; // horizon length hpipm_size_t memsize; }; // hpipm_size_t s_ocp_qcqp_dim_strsize(); // hpipm_size_t s_ocp_qcqp_dim_memsize(int N); // void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory); // void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest); // void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value); // void s_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nge(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_set_nqe(int stage, int value, struct s_ocp_qcqp_dim *dim); // void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value); // void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value); // void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value); #ifdef __cplusplus } // #extern "C" #endif #endif // HPIPM_S_OCP_QCQP_DIM_H_