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 #include <stdlib.h> 39 #include <stdio.h> 40 41 #include <blasfeo_target.h> 42 #include <blasfeo_common.h> 43 #include <blasfeo_d_aux.h> 44 45 #include <hpipm_d_tree_ocp_qp_dim.h> 46 #include <hpipm_d_tree_ocp_qp_res.h> 47 48 49 50 #define CREATE_STRVEC blasfeo_create_dvec 51 #define CVT_STRVEC2VEC blasfeo_unpack_dvec 52 #define TREE_OCP_QP_DIM d_tree_ocp_qp_dim 53 #define TREE_OCP_QP_RES d_tree_ocp_qp_res 54 #define TREE_OCP_QP_RES_WORKSPACE d_tree_ocp_qp_res_workspace 55 #define REAL double 56 #define SIZE_STRVEC blasfeo_memsize_dvec 57 #define STRVEC blasfeo_dvec 58 59 60 61 #define MEMSIZE_TREE_OCP_QP_RES d_memsize_tree_ocp_qp_res 62 #define CREATE_TREE_OCP_QP_RES d_create_tree_ocp_qp_res 63 #define MEMSIZE_TREE_OCP_QP_RES_WORKSPACE d_memsize_tree_ocp_qp_res_workspace 64 #define CREATE_TREE_OCP_QP_RES_WORKSPACE d_create_tree_ocp_qp_res_workspace 65 #define CVT_TREE_OCP_QP_RES_TO_COLMAJ d_cvt_tree_ocp_qp_res_to_colmaj 66 #define CVT_TREE_OCP_QP_RES_TO_ROWMAJ d_cvt_tree_ocp_qp_res_to_rowmaj 67 68 69 70 #include "x_tree_ocp_qp_res.c" 71 72