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306 lines
13 KiB
306 lines
13 KiB
/**************************************************************************************************
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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_OCP_QP_H_
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#define HPIPM_D_OCP_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_ocp_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_ocp_qp
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{
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struct d_ocp_qp_dim *dim;
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struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
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struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
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struct blasfeo_dmat *DCt; // inequality constraints matrix
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struct blasfeo_dvec *b; // dynamics vector
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struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
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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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int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
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int *diag_H_flag; // flag the fact that Hessian is diagonal
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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_ocp_qp_strsize();
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//
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hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
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//
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void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
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//
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void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
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// setters
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//
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void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
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//
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void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
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// getters
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//
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void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
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//
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void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
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//
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//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
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//
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//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
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//
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//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
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//
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//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
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//
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void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
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//
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void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
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// XXX only valid if there is one slack per softed constraint !!!
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void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
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//
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void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
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//
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//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
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//
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//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
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//
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//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
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#ifdef __cplusplus
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} // #extern "C"
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#endif
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#endif // HPIPM_D_OCP_QP_H_
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