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_S_PART_COND_H_
39 #define HPIPM_S_PART_COND_H_
40 
41 
42 
43 #include <blasfeo_target.h>
44 #include <blasfeo_common.h>
45 
46 #include "hpipm_s_cond.h"
47 
48 
49 
50 #ifdef __cplusplus
51 extern "C" {
52 #endif
53 
54 
55 
56 struct s_part_cond_qp_arg
57 	{
58 	struct s_cond_qp_arg *cond_arg;
59 	int memsize;
60 	};
61 
62 
63 
64 struct s_part_cond_qp_ws
65 	{
66 	struct s_cond_qp_ws *cond_workspace;
67 	int memsize;
68 	};
69 
70 
71 
72 //
73 int s_part_cond_qp_arg_memsize(int N2);
74 //
75 void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
76 //
77 void s_part_cond_qp_arg_set_default(int N2, struct s_part_cond_qp_arg *cond_arg);
78 // set riccati-like algorithm: 0 classical, 1 squre-root
79 void s_part_cond_qp_arg_set_ric_alg(int ric_alg, int N2, struct s_part_cond_qp_arg *cond_arg);
80 
81 //
82 void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
83 //
84 void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
85 //
86 int s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
87 //
88 void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
89 //
90 void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
91 //
92 void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
93 //
94 void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
95 
96 //
97 void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
98 
99 
100 #ifdef __cplusplus
101 } /* extern "C" */
102 #endif
103 
104 
105 
106 #endif // HPIPM_S_PART_COND_H_
107