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.h"
41 // mex
42 #include "mex.h"
43
44
45
mexFunction(int nlhs,mxArray * plhs[],int nrhs,const mxArray * prhs[])46 void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
47 {
48
49 // mexPrintf("\nin ocp_qp_destroy\n");
50
51 long long *ptr;
52
53 /* RHS */
54
55 // qp_mem
56 ptr = (long long *) mxGetData( prhs[0] );
57 free( (void *) ptr[0] );
58
59 return;
60
61 }
62
63
64