/dports/math/hpipm/hpipm-0.1.1/ocp_qp/ |
H A D | x_ocp_qp_sol.c | 146 qp_sol->ux = sv_ptr; in OCP_QP_SOL_CREATE() 148 qp_sol->pi = sv_ptr; in OCP_QP_SOL_CREATE() 150 qp_sol->lam = sv_ptr; in OCP_QP_SOL_CREATE() 152 qp_sol->t = sv_ptr; in OCP_QP_SOL_CREATE() 217 qp_sol->dim = dim; in OCP_QP_SOL_CREATE() 273 int N = qp_sol->dim->N; in OCP_QP_SOL_GET_ALL() 274 int *nx = qp_sol->dim->nx; in OCP_QP_SOL_GET_ALL() 275 int *nu = qp_sol->dim->nu; in OCP_QP_SOL_GET_ALL() 276 int *nb = qp_sol->dim->nb; in OCP_QP_SOL_GET_ALL() 277 int *ng = qp_sol->dim->ng; in OCP_QP_SOL_GET_ALL() [all …]
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H A D | x_ocp_qp_kkt.c | 98 ux = qp_sol->ux[ii].pa; in INIT_VAR_OCP_QP() 124 pi = qp_sol->pi[ii].pa; in INIT_VAR_OCP_QP() 138 ux = qp_sol->ux[ii].pa; in INIT_VAR_OCP_QP() 196 ux = qp_sol->ux[ii].pa; in INIT_VAR_OCP_QP() 197 …MV_T(nu[ii]+nx[ii], ng[ii], 1.0, qp->DCt+ii, 0, 0, qp_sol->ux+ii, 0, 0.0, qp_sol->t+ii, nb[ii], qp… in INIT_VAR_OCP_QP() 246 ux = qp_sol->ux[ii].pa; in INIT_VAR_OCP_QP() 285 VECEX_SP(nb[ii], 1.0, qp->idxb[ii], qp_sol->ux+ii, 0, qp_sol->t+ii, 0); in INIT_VAR_OCP_QP() 286 VECCPSC(nb[ii], -1.0, qp_sol->t+ii, 0, qp_sol->t+ii, nb[ii]+ng[ii]); in INIT_VAR_OCP_QP() 297 AXPY(nb[ii], -1.0, qp->d+ii, 0, qp_sol->t+ii, 0, qp_sol->t+ii, 0); in INIT_VAR_OCP_QP() 334 …MV_T(nu[ii]+nx[ii], ng[ii], 1.0, qp->DCt+ii, 0, 0, qp_sol->ux+ii, 0, 0.0, qp_sol->t+ii, nb[ii], qp… in INIT_VAR_OCP_QP() [all …]
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H A D | m_ocp_qp_ipm_hard.c | 526 cws->v = qp_sol->ux->pa; in m_solve_ipm_hard_ocp_qp() 527 cws->pi = qp_sol->pi->pa; in m_solve_ipm_hard_ocp_qp() 528 cws->lam = qp_sol->lam_lb->pa; in m_solve_ipm_hard_ocp_qp() 529 cws->t = qp_sol->t_lb->pa; in m_solve_ipm_hard_ocp_qp() 564 d_init_var_hard_ocp_qp(qp, qp_sol, &dws); in m_solve_ipm_hard_ocp_qp() 645 cws->v = qp_sol->ux->pa; in m_solve_ipm2_hard_ocp_qp() 646 cws->pi = qp_sol->pi->pa; in m_solve_ipm2_hard_ocp_qp() 647 cws->lam = qp_sol->lam_lb->pa; in m_solve_ipm2_hard_ocp_qp() 648 cws->t = qp_sol->t_lb->pa; in m_solve_ipm2_hard_ocp_qp() 685 d_init_var_hard_ocp_qp(qp, qp_sol, &dws); in m_solve_ipm2_hard_ocp_qp() [all …]
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H A D | x_ocp_qp_ipm.c | 1046 cws->v = qp_sol->ux->pa; in OCP_QP_IPM_SOLVE() 1047 cws->pi = qp_sol->pi->pa; in OCP_QP_IPM_SOLVE() 1049 cws->t = qp_sol->t->pa; in OCP_QP_IPM_SOLVE() 1157 mu = VECMULDOT(cws->nc, qp_sol->lam, 0, qp_sol->t, 0, ws->tmp_m, 0); in OCP_QP_IPM_SOLVE() 1221 mu = VECMULDOT(cws->nc, qp_sol->lam, 0, qp_sol->t, 0, ws->tmp_m, 0); in OCP_QP_IPM_SOLVE() 1718 cws->v = qp_sol->ux->pa; in OCP_QP_IPM_PREDICT() 1719 cws->pi = qp_sol->pi->pa; in OCP_QP_IPM_PREDICT() 1721 cws->t = qp_sol->t->pa; in OCP_QP_IPM_PREDICT() 1848 cws->v = qp_sol->ux->pa; in OCP_QP_IPM_SENS() 1849 cws->pi = qp_sol->pi->pa; in OCP_QP_IPM_SENS() [all …]
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/dports/math/hpipm/hpipm-0.1.1/dense_qp/ |
H A D | x_dense_qp_sol.c | 77 qp_sol->v = sv_ptr; in DENSE_QP_SOL_CREATE() 79 qp_sol->pi = sv_ptr; in DENSE_QP_SOL_CREATE() 81 qp_sol->lam = sv_ptr; in DENSE_QP_SOL_CREATE() 83 qp_sol->t = sv_ptr; in DENSE_QP_SOL_CREATE() 100 c_ptr += qp_sol->v->memsize; in DENSE_QP_SOL_CREATE() 112 qp_sol->dim = dim; in DENSE_QP_SOL_CREATE() 135 int nv = qp_sol->dim->nv; in DENSE_QP_SOL_GET_ALL() 136 int ne = qp_sol->dim->ne; in DENSE_QP_SOL_GET_ALL() 137 int nb = qp_sol->dim->nb; in DENSE_QP_SOL_GET_ALL() 138 int ng = qp_sol->dim->ng; in DENSE_QP_SOL_GET_ALL() [all …]
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H A D | x_dense_qp_kkt.c | 53 REAL *v = qp_sol->v->pa; in INIT_VAR_DENSE_QP() 54 REAL *pi = qp_sol->pi->pa; in INIT_VAR_DENSE_QP() 55 REAL *lam = qp_sol->lam->pa; in INIT_VAR_DENSE_QP() 56 REAL *t = qp_sol->t->pa; in INIT_VAR_DENSE_QP() 140 GEMV_T(nv, ng, 1.0, qp->Ct, 0, 0, qp_sol->v, 0, 0.0, qp_sol->t, nb, qp_sol->t, nb); in INIT_VAR_DENSE_QP() 188 struct STRVEC *v = qp_sol->v; in FACT_SOLVE_KKT_UNCONSTR_DENSE_QP() 258 struct STRVEC *dv = qp_sol->v; in COND_SLACKS_FACT_SOLVE() 702 COMPUTE_LAM_T_QP(qp->d->pa, qp->m->pa, qp_sol->lam->pa, qp_sol->t->pa, cws); in FACT_SOLVE_KKT_STEP_DENSE_QP() 986 COMPUTE_LAM_T_QP(qp->d->pa, qp->m->pa, qp_sol->lam->pa, qp_sol->t->pa, cws); in FACT_LQ_SOLVE_KKT_STEP_DENSE_QP() 1307 COMPUTE_LAM_T_QP(qp->d->pa, qp->m->pa, qp_sol->lam->pa, qp_sol->t->pa, cws); [all …]
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H A D | x_dense_qp_ipm.c | 782 cws->v = qp_sol->v->pa; in DENSE_QP_IPM_SOLVE() 783 cws->pi = qp_sol->pi->pa; in DENSE_QP_IPM_SOLVE() 785 cws->t = qp_sol->t->pa; in DENSE_QP_IPM_SOLVE() 894 mu = VECMULDOT(cws->nc, qp_sol->lam, 0, qp_sol->t, 0, ws->tmp_m, 0); in DENSE_QP_IPM_SOLVE() 956 mu = VECMULDOT(cws->nc, qp_sol->lam, 0, qp_sol->t, 0, ws->tmp_m, 0); in DENSE_QP_IPM_SOLVE() 1423 cws->v = qp_sol->v->pa; in DENSE_QP_IPM_PREDICT() 1424 cws->pi = qp_sol->pi->pa; in DENSE_QP_IPM_PREDICT() 1426 cws->t = qp_sol->t->pa; in DENSE_QP_IPM_PREDICT() 1553 cws->v = qp_sol->v->pa; in DENSE_QP_IPM_SENS() 1554 cws->pi = qp_sol->pi->pa; in DENSE_QP_IPM_SENS() [all …]
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/dports/math/hpipm/hpipm-0.1.1/include/ |
H A D | hpipm_d_ocp_qp_sol.h | 82 void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 84 void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 86 void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 88 void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 90 void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 92 void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 94 void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); 102 void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); 104 void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); 106 void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); [all …]
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H A D | hpipm_s_ocp_qp_sol.h | 82 void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 84 void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 86 void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 88 void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 90 void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 92 void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 94 void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); 102 void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); 104 void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); 106 void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); [all …]
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H A D | hpipm_d_tree_ocp_qp_kkt.h | 42 void d_init_var_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tr… 44 void d_compute_res_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d… 46 void d_compute_lin_res_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, stru… 48 …unconstr_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp… 50 void d_fact_solve_kkt_step_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, … 52 …kkt_step_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp… 54 void d_solve_kkt_step_tree_ocp_qp(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struc…
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H A D | hpipm_s_tree_ocp_qp_kkt.h | 42 void s_init_var_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tr… 44 void s_compute_res_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s… 46 void s_compute_lin_res_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, stru… 48 …unconstr_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp… 50 void s_fact_solve_kkt_step_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, … 52 …kkt_step_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp… 54 void s_solve_kkt_step_tree_ocp_qp(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struc…
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H A D | hpipm_d_dense_qp_kkt.h | 50 void d_init_var_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ip… 52 void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struc… 54 void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_… 56 void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct… 58 void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense…
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H A D | hpipm_s_ocp_qp_kkt.h | 51 void s_init_var_ocp_qp(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *a… 53 void s_fact_solve_kkt_unconstr_ocp_qp(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_oc… 55 void s_fact_solve_kkt_step_ocp_qp(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp… 57 void s_fact_lq_solve_kkt_step_ocp_qp(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp… 59 void s_solve_kkt_step_ocp_qp(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_…
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H A D | hpipm_d_ocp_qp_kkt.h | 51 void d_init_var_ocp_qp(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *a… 53 void d_fact_solve_kkt_unconstr_ocp_qp(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_oc… 55 void d_fact_solve_kkt_step_ocp_qp(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp… 57 void d_fact_lq_solve_kkt_step_ocp_qp(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp… 59 void d_solve_kkt_step_ocp_qp(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_…
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H A D | hpipm_s_dense_qp_kkt.h | 50 void s_init_var_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ip… 52 void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struc… 54 void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_… 56 void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct… 58 void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense…
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/dports/math/hpipm/hpipm-0.1.1/tree_ocp_qp/ |
H A D | x_tree_ocp_qp_sol.c | 113 qp_sol->ux = sv_ptr; in CREATE_TREE_OCP_QP_SOL() 115 qp_sol->pi = sv_ptr; in CREATE_TREE_OCP_QP_SOL() 117 qp_sol->lam = sv_ptr; in CREATE_TREE_OCP_QP_SOL() 119 qp_sol->t = sv_ptr; in CREATE_TREE_OCP_QP_SOL() 151 CREATE_STRVEC(nx[idx], qp_sol->pi+ii, tmp_ptr); in CREATE_TREE_OCP_QP_SOL() 181 qp_sol->dim = dim; in CREATE_TREE_OCP_QP_SOL() 183 qp_sol->memsize = MEMSIZE_TREE_OCP_QP_SOL(dim); in CREATE_TREE_OCP_QP_SOL() 187 if(c_ptr > ((char *) mem) + qp_sol->memsize) in CREATE_TREE_OCP_QP_SOL() 215 CVT_STRVEC2VEC(nx[ii+1], qp_sol->pi+ii, 0, pi[ii]); in CVT_TREE_OCP_QP_SOL_TO_COLMAJ() 220 CVT_STRVEC2VEC(nu[ii], qp_sol->ux+ii, 0, u[ii]); in CVT_TREE_OCP_QP_SOL_TO_COLMAJ() [all …]
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H A D | x_tree_ocp_qp_kkt.c | 71 t_lb = qp_sol->t[ii].pa+0; in INIT_VAR_TREE_OCP_QP() 93 ux = qp_sol->ux[ii].pa; in INIT_VAR_TREE_OCP_QP() 105 ux = qp_sol->ux[ii].pa; in INIT_VAR_TREE_OCP_QP() 116 pi = qp_sol->pi[ii].pa; in INIT_VAR_TREE_OCP_QP() 126 ux = qp_sol->ux[ii].pa; in INIT_VAR_TREE_OCP_QP() 129 lam_lb = qp_sol->lam[ii].pa+0; in INIT_VAR_TREE_OCP_QP() 131 t_lb = qp_sol->t[ii].pa+0; in INIT_VAR_TREE_OCP_QP() 176 ux = qp_sol->ux[ii].pa; in INIT_VAR_TREE_OCP_QP() 177 …MV_T(nu[ii]+nx[ii], ng[ii], 1.0, qp->DCt+ii, 0, 0, qp_sol->ux+ii, 0, 0.0, qp_sol->t+ii, nb[ii], qp… in INIT_VAR_TREE_OCP_QP() 258 struct STRVEC *t = qp_sol->t; in COMPUTE_RES_TREE_OCP_QP() [all …]
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/dports/math/hpipm/hpipm-0.1.1/archive/ocp_nlp/ |
H A D | x_ocp_nlp_sol.c | 193 CVT_STRVEC2VEC(nx[ii+1], qp_sol->pi+ii, 0, pi[ii]); in CVT_OCP_NLP_SOL_TO_COLMAJ() 198 CVT_STRVEC2VEC(nu[ii], qp_sol->ux+ii, 0, u[ii]); in CVT_OCP_NLP_SOL_TO_COLMAJ() 199 CVT_STRVEC2VEC(nx[ii], qp_sol->ux+ii, nu[ii], x[ii]); in CVT_OCP_NLP_SOL_TO_COLMAJ() 202 CVT_STRVEC2VEC(nb[ii], qp_sol->lam+ii, 0, lam_lb[ii]); in CVT_OCP_NLP_SOL_TO_COLMAJ() 239 CVT_STRVEC2VEC(nx[ii+1], qp_sol->pi+ii, 0, pi[ii]); in CVT_OCP_NLP_SOL_TO_ROWMAJ() 244 CVT_STRVEC2VEC(nu[ii], qp_sol->ux+ii, 0, u[ii]); in CVT_OCP_NLP_SOL_TO_ROWMAJ() 245 CVT_STRVEC2VEC(nx[ii], qp_sol->ux+ii, nu[ii], x[ii]); in CVT_OCP_NLP_SOL_TO_ROWMAJ() 248 CVT_STRVEC2VEC(nb[ii], qp_sol->lam+ii, 0, lam_lb[ii]); in CVT_OCP_NLP_SOL_TO_ROWMAJ() 285 VECCP_LIBSTR(nx[ii+1], qp_sol->pi+ii, 0, pi+ii, 0); in CVT_OCP_NLP_SOL_TO_LIBSTR() 290 VECCP_LIBSTR(nu[ii], qp_sol->ux+ii, 0, u+ii, 0); in CVT_OCP_NLP_SOL_TO_LIBSTR() [all …]
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H A D | d_ocp_nlp_hyb.c | 347 ws->qp_sol = qp_sol_ptr; in CREATE_OCP_NLP_HYB() 391 c_ptr += ws->qp_sol->memsize; in CREATE_OCP_NLP_HYB() 444 struct OCP_QP_SOL *qp_sol = ws->qp_sol; in SOLVE_OCP_NLP_HYB() local 457 cws->v = qp_sol->ux->pa; in SOLVE_OCP_NLP_HYB() 458 cws->pi = qp_sol->pi->pa; in SOLVE_OCP_NLP_HYB() 459 cws->lam = qp_sol->lam->pa; in SOLVE_OCP_NLP_HYB() 460 cws->t = qp_sol->t->pa; in SOLVE_OCP_NLP_HYB() 739 d_solve_ocp_qp_ipm(qp, qp_sol, ipm_arg, ipm_ws); in SOLVE_OCP_NLP_HYB() 750 blasfeo_print_tran_dvec(nx[nn+1], qp_sol->pi+nn, 0); in SOLVE_OCP_NLP_HYB() 902 COMPUTE_RES_OCP_QP(qp, qp_sol, ipm_ws->res_workspace); in SOLVE_OCP_NLP_HYB() [all …]
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H A D | d_ocp_nlp_sqp.c | 332 ws->qp_sol = qp_sol_ptr; in CREATE_OCP_NLP_SQP() 375 CREATE_OCP_QP_SOL(N, nx, nu, nb, ng, ns, ws->qp_sol, c_ptr); in CREATE_OCP_NLP_SQP() 376 c_ptr += ws->qp_sol->memsize; in CREATE_OCP_NLP_SQP() 429 struct OCP_QP_SOL *qp_sol = ws->qp_sol; in SOLVE_OCP_NLP_SQP() local 553 blasfeo_dveccp(nx[nn+1], nlp_sol->pi+nn, 0, qp_sol->pi+nn, 0); in SOLVE_OCP_NLP_SQP() 686 d_expand_sol_ocp2ocp(qp, qp2, qp_sol2, qp_sol, part_cond_ws); in SOLVE_OCP_NLP_SQP() 693 d_solve_ocp_qp_ipm(qp, qp_sol, ipm_arg, ipm_ws); in SOLVE_OCP_NLP_SQP() 701 blasfeo_print_tran_dvec(nu[nn]+nx[nn]+2*ns[nn], qp_sol->ux+nn, 0); in SOLVE_OCP_NLP_SQP() 703 blasfeo_print_tran_dvec(nx[nn+1], qp_sol->pi+nn, 0); in SOLVE_OCP_NLP_SQP() 707 blasfeo_print_tran_dvec(2*nb[nn]+2*ng[nn]+2*ns[nn], qp_sol->t+nn, 0); in SOLVE_OCP_NLP_SQP() [all …]
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H A D | d_ocp_nlp_ipm.c | 238 ws->qp_sol = qp_sol_ptr; in CREATE_OCP_NLP_IPM() 260 CREATE_OCP_QP_SOL(N, nx, nu, nb, ng, ns, ws->qp_sol, c_ptr); in CREATE_OCP_NLP_IPM() 261 c_ptr += ws->qp_sol->memsize; in CREATE_OCP_NLP_IPM() 299 struct OCP_QP_SOL *qp_sol = ws->qp_sol; in SOLVE_OCP_NLP_IPM() local 308 cws->v = qp_sol->ux->pa; in SOLVE_OCP_NLP_IPM() 309 cws->pi = qp_sol->pi->pa; in SOLVE_OCP_NLP_IPM() 310 cws->lam = qp_sol->lam->pa; in SOLVE_OCP_NLP_IPM() 311 cws->t = qp_sol->t->pa; in SOLVE_OCP_NLP_IPM() 371 INIT_VAR_OCP_QP(qp, qp_sol, ipm_ws); in SOLVE_OCP_NLP_IPM() 400 COMPUTE_RES_OCP_QP(qp, qp_sol, ipm_ws->res_workspace); in SOLVE_OCP_NLP_IPM() [all …]
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/dports/math/hpipm/hpipm-0.1.1/test_problems/ |
H A D | test_s_dense.c | 117 struct s_dense_qp_sol qp_sol; in main() local 155 blasfeo_print_tran_svec(nv, qp_sol.v, 0); in main() 157 blasfeo_print_tran_svec(ne, qp_sol.pi, 0); in main() 159 blasfeo_print_tran_svec(nb, qp_sol.lam_lb, 0); in main() 161 blasfeo_print_tran_svec(nb, qp_sol.lam_ub, 0); in main() 163 blasfeo_print_tran_svec(ng, qp_sol.lam_lg, 0); in main() 165 blasfeo_print_tran_svec(ng, qp_sol.lam_ug, 0); in main() 167 blasfeo_print_tran_svec(nb, qp_sol.t_lb, 0); in main() 169 blasfeo_print_tran_svec(nb, qp_sol.t_ub, 0); in main() 171 blasfeo_print_tran_svec(ng, qp_sol.t_lg, 0); in main() [all …]
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H A D | test_d_dense.c | 255 struct d_dense_qp_sol qp_sol; in main() local 316 d_print_mat(1, nv, qp_sol.v->pa, 1); in main() 318 d_print_mat(1, ns, qp_sol.v->pa+nv, 1); in main() 320 d_print_mat(1, ns, qp_sol.v->pa+nv+ns, 1); in main() 322 d_print_mat(1, ne, qp_sol.pi->pa, 1); in main() 324 d_print_mat(1, nb, qp_sol.lam->pa+0, 1); in main() 326 d_print_mat(1, nb, qp_sol.lam->pa+nb+ng, 1); in main() 328 d_print_mat(1, ng, qp_sol.lam->pa+nb, 1); in main() 336 d_print_mat(1, nb, qp_sol.t->pa+0, 1); in main() 338 d_print_mat(1, nb, qp_sol.t->pa+nb+ng, 1); in main() [all …]
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/dports/math/hpipm/hpipm-0.1.1/archive/include/ |
H A D | hpipm_d_ocp_nlp_sol.h | 53 …ol(int N, int *nx, int *nu, int *nb, int *ng, int *ns, struct d_ocp_nlp_sol *qp_sol, void *memory); 55 void d_cvt_ocp_nlp_sol_to_colmaj(struct d_ocp_nlp *qp, struct d_ocp_nlp_sol *qp_sol, double **u, do… 57 void d_cvt_ocp_nlp_sol_to_rowmaj(struct d_ocp_nlp *qp, struct d_ocp_nlp_sol *qp_sol, double **u, do… 59 void d_cvt_ocp_nlp_sol_to_libstr(struct d_ocp_nlp *qp, struct d_ocp_nlp_sol *qp_sol, struct blasfeo…
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H A D | hpipm_s_ocp_nlp_sol.h | 54 … int *nx, int *nu, int *nb, int *ng, int *ns, int ne0, struct s_ocp_nlp_sol *qp_sol, void *memory); 56 void s_cvt_ocp_nlp_sol_to_colmaj(struct s_ocp_nlp *qp, struct s_ocp_nlp_sol *qp_sol, float **u, flo… 58 void s_cvt_ocp_nlp_sol_to_rowmaj(struct s_ocp_nlp *qp, struct s_ocp_nlp_sol *qp_sol, float **u, flo… 60 void s_cvt_ocp_nlp_sol_to_libstr(struct s_ocp_nlp *qp, struct s_ocp_nlp_sol *qp_sol, struct blasfeo…
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