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208 lines
8.8 KiB
208 lines
8.8 KiB
4 years ago
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/**************************************************************************************************
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* *
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* This file is part of HPIPM. *
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* *
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* HPIPM -- High-Performance Interior Point Method. *
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* Copyright (C) 2019 by Gianluca Frison. *
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* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
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* All rights reserved. *
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* *
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* The 2-Clause BSD License *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions are met: *
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* *
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* 1. Redistributions of source code must retain the above copyright notice, this *
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* list of conditions and the following disclaimer. *
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* 2. Redistributions in binary form must reproduce the above copyright notice, *
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* this list of conditions and the following disclaimer in the documentation *
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* and/or other materials provided with the distribution. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
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* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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* *
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* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
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* *
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**************************************************************************************************/
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#ifndef HPIPM_D_DENSE_QP_H_
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#define HPIPM_D_DENSE_QP_H_
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#include <blasfeo_target.h>
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#include <blasfeo_common.h>
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#include "hpipm_d_dense_qp_dim.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct d_dense_qp
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{
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struct d_dense_qp_dim *dim;
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struct blasfeo_dmat *Hv; // hessian of cost & vector work space
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struct blasfeo_dmat *A; // equality constraint matrix
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struct blasfeo_dmat *Ct; // inequality constraints matrix
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struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
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struct blasfeo_dvec *b; // equality constraint vector
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struct blasfeo_dvec *d; // inequality constraints vector
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struct blasfeo_dvec *d_mask; // inequality constraints mask vector
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struct blasfeo_dvec *m; // rhs of complementarity condition
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struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
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int *idxb; // indices of box constrained variables within [u; x]
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int *idxs_rev; // index of soft constraints (reverse storage)
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hpipm_size_t memsize; // memory size in bytes
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};
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//
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hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
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//
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void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
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// setters - colmaj
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//
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void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
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//
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void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
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//
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void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
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//
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void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
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// getters - colmaj
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//
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void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
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//
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void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
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//
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void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
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//
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void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
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//
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void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
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//
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void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
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//
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void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
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//
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void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
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//
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void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
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//
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void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
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//
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void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
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//
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void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
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//
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void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
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//
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void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
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//
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void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
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//
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void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
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//
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void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
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//
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void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
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//
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void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
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//
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void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
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//
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void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
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//
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void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
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//
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void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
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//
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void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
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// setters - rowmaj
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//
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void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
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// getters - rowmaj
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//
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void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // HPIPM_D_DENSE_QP_H_
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