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 // system
36 #include <stdlib.h>
37 #include <stdio.h>
38 #include <string.h>
39 // hpipm
40 #include "hpipm_d_ocp_qp_dim.h"
41 #include "hpipm_d_ocp_qp.h"
42 // mex
43 #include "mex.h"
44
45
46
mexFunction(int nlhs,mxArray * plhs[],int nrhs,const mxArray * prhs[])47 void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
48 {
49
50 // printf("\nin ocp_qp_create\n");
51
52 mxArray *tmp_mat;
53 long long *l_ptr;
54 char *c_ptr;
55
56 /* RHS */
57
58 // dim
59 l_ptr = mxGetData( prhs[0] );
60 struct d_ocp_qp_dim *dim = (struct d_ocp_qp_dim *) *l_ptr;
61
62 /* body */
63
64 int qp_size = sizeof(struct d_ocp_qp) + d_ocp_qp_memsize(dim);
65 void *qp_mem = malloc(qp_size);
66
67 c_ptr = qp_mem;
68
69 struct d_ocp_qp *qp = (struct d_ocp_qp *) c_ptr;
70 c_ptr += sizeof(struct d_ocp_qp);
71
72 d_ocp_qp_create(dim, qp, c_ptr);
73 c_ptr += d_ocp_qp_memsize(dim);
74
75 /* LHS */
76
77 tmp_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
78 l_ptr = mxGetData(tmp_mat);
79 l_ptr[0] = (long long) qp_mem;
80 plhs[0] = tmp_mat;
81
82 return;
83
84 }
85
86
87
88