1 /**************************************************************************************************
2 *                                                                                                 *
3 * This file is part of HPIPM.                                                                     *
4 *                                                                                                 *
5 * HPIPM -- High-Performance Interior Point Method.                                                *
6 * Copyright (C) 2019 by Gianluca Frison.                                                          *
7 * Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
8 * All rights reserved.                                                                            *
9 *                                                                                                 *
10 * The 2-Clause BSD License                                                                        *
11 *                                                                                                 *
12 * Redistribution and use in source and binary forms, with or without                              *
13 * modification, are permitted provided that the following conditions are met:                     *
14 *                                                                                                 *
15 * 1. Redistributions of source code must retain the above copyright notice, this                  *
16 *    list of conditions and the following disclaimer.                                             *
17 * 2. Redistributions in binary form must reproduce the above copyright notice,                    *
18 *    this list of conditions and the following disclaimer in the documentation                    *
19 *    and/or other materials provided with the distribution.                                       *
20 *                                                                                                 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
22 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
23 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
24 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
25 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
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31 *                                                                                                 *
32 * Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
33 *                                                                                                 *
34 **************************************************************************************************/
35 
36 
37 
38 #ifndef HPIPM_S_COND_H_
39 #define HPIPM_S_COND_H_
40 
41 
42 
43 #include <blasfeo_target.h>
44 #include <blasfeo_common.h>
45 
46 
47 
48 #ifdef __cplusplus
49 extern "C" {
50 #endif
51 
52 
53 
54 struct s_cond_qp_arg
55 	{
56 	int cond_last_stage; // condense last stage
57 //	int cond_variant; // TODO
58 	int comp_dual_sol; // dual solution
59 	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
60 	int memsize;
61 	};
62 
63 
64 
65 struct s_cond_qp_ws
66 	{
67 	struct blasfeo_smat *Gamma;
68 	struct blasfeo_smat *L;
69 	struct blasfeo_smat *Lx;
70 	struct blasfeo_smat *AL;
71 	struct blasfeo_svec *Gammab;
72 	struct blasfeo_svec *l;
73 	struct blasfeo_svec *tmp_nbgM;
74 	struct blasfeo_svec *tmp_nuxM;
75 	int *idxs_rev;
76 	int bs; // block size
77 	int memsize;
78 	};
79 
80 
81 
82 //
83 int s_cond_qp_arg_memsize();
84 //
85 void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
86 //
87 void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
88 // set riccati-like algorithm: 0 classical, 1 square-root
89 void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
90 
91 //
92 void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
93 //
94 int s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
95 //
96 void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
97 //
98 void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
99 //
100 void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
101 //
102 void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
103 // TODO remove
104 void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
105 
106 //
107 void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
108 
109 
110 #ifdef __cplusplus
111 } /* extern "C" */
112 #endif
113 
114 
115 
116 #endif // HPIPM_S_COND_H_
117