/************************************************************************************************** * * * 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_QP_H_ #define HPIPM_S_OCP_QP_H_ #include #include #include "hpipm_s_ocp_qp_dim.h" #ifdef __cplusplus extern "C" { #endif struct s_ocp_qp { struct s_ocp_qp_dim *dim; struct blasfeo_smat *BAbt; // dynamics matrix & vector work space struct blasfeo_smat *RSQrq; // hessian of cost & vector work space struct blasfeo_smat *DCt; // inequality constraints matrix struct blasfeo_svec *b; // dynamics vector struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks 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 **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1] int *diag_H_flag; // flag the fact that Hessian is diagonal hpipm_size_t memsize; // memory size in bytes }; // hpipm_size_t s_ocp_qp_strsize(); // hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim); // void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory); // void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest); // setters // void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp); // void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp); // void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp); // void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp); // void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp); // void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp); // void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp); // void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp); // void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp); // void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp); // void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp); // getters // void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value); // void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec); // //void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec); // //void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec); // //void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec); // //void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat); // void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec); // void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec); // XXX only valid if there is one slack per softed constraint !!! void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec); // void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec); // //void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec); // //void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec); // //void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_S_OCP_QP_H_