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 * 26 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * 27 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * 28 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 29 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * 30 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * 31 * * 32 * Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * 33 * * 34 **************************************************************************************************/ 35 36 37 38 #ifndef HPIPM_D_PART_COND_H_ 39 #define HPIPM_D_PART_COND_H_ 40 41 42 43 #include <blasfeo_target.h> 44 #include <blasfeo_common.h> 45 46 #include "hpipm_d_cond.h" 47 48 49 #ifdef __cplusplus 50 extern "C" { 51 #endif 52 53 54 55 struct d_part_cond_qp_arg 56 { 57 struct d_cond_qp_arg *cond_arg; 58 int memsize; 59 }; 60 61 62 63 struct d_part_cond_qp_ws 64 { 65 struct d_cond_qp_ws *cond_workspace; 66 int memsize; 67 }; 68 69 70 71 // 72 int d_part_cond_qp_arg_memsize(int N2); 73 // 74 void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem); 75 // 76 void d_part_cond_qp_arg_set_default(int N2, struct d_part_cond_qp_arg *cond_arg); 77 // set riccati-like algorithm: 0 classical, 1 squre-root 78 void d_part_cond_qp_arg_set_ric_alg(int ric_alg, int N2, struct d_part_cond_qp_arg *cond_arg); 79 80 // 81 void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size); 82 // 83 void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim); 84 // 85 int d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg); 86 // 87 void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem); 88 // 89 void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); 90 // 91 void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); 92 // 93 void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); 94 95 // 96 void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); 97 98 99 #ifdef __cplusplus 100 } /* extern "C" */ 101 #endif 102 103 104 105 #endif // HPIPM_D_PART_COND_H_ 106