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95 lines
3.5 KiB
95 lines
3.5 KiB
4 years ago
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/*
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* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
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* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
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* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
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* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
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*
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* This file is part of acados.
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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,
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* this list of conditions and the following disclaimer.
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*
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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"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.;
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*/
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#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
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#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/dense_qp/dense_qp_common.h"
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typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t;
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typedef struct
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{
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dense_qp_solver_t qp_solver;
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} dense_qp_solver_plan;
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typedef struct
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{
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qp_solver_config *config;
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void *dims;
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void *opts;
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void *mem;
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void *work;
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} dense_qp_solver;
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qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
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//
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dense_qp_dims *dense_qp_dims_create();
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//
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dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
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//
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dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
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//
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void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
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//
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acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
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//
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dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
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void *raw_memory);
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//
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dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
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//
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int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
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//
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void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
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double *res);
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//
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bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
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//
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bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
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//
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bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
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//
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bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
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