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 #if defined(RUNTIME_CHECKS) 37 #include <stdlib.h> 38 #include <stdio.h> 39 #endif 40 41 #include <blasfeo_target.h> 42 #include <blasfeo_common.h> 43 #include <blasfeo_s_aux.h> 44 45 #include <hpipm_tree.h> 46 #include <hpipm_scenario_tree.h> 47 #include <hpipm_s_tree_ocp_qp.h> 48 #include <hpipm_s_tree_ocp_qp_sol.h> 49 50 51 52 #define CREATE_STRVEC blasfeo_create_svec 53 #define CVT_STRVEC2VEC blasfeo_unpack_svec 54 #define REAL float 55 #define SIZE_STRVEC blasfeo_memsize_svec 56 #define STRVEC blasfeo_svec 57 #define TREE_OCP_QP s_tree_ocp_qp 58 #define TREE_OCP_QP_DIM s_tree_ocp_qp_dim 59 #define TREE_OCP_QP_SOL s_tree_ocp_qp_sol 60 61 #define MEMSIZE_TREE_OCP_QP_SOL s_memsize_tree_ocp_qp_sol 62 #define CREATE_TREE_OCP_QP_SOL s_create_tree_ocp_qp_sol 63 #define CVT_TREE_OCP_QP_SOL_TO_COLMAJ s_cvt_tree_ocp_qp_sol_to_colmaj 64 #define CVT_TREE_OCP_QP_SOL_TO_ROWMAJ s_cvt_tree_ocp_qp_sol_to_rowmaj 65 66 67 68 #include "x_tree_ocp_qp_sol.c" 69 70