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122 lines
6.6 KiB
122 lines
6.6 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_SIM_ERK_H_
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#define HPIPM_D_SIM_ERK_H_
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#include "hpipm_common.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct d_sim_erk_arg
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{
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struct d_sim_rk_data *rk_data; // integrator data
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double h; // step size
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int steps; // number of steps
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// int for_sens; // compute adjoint sensitivities
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// int adj_sens; // compute adjoint sensitivities
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hpipm_size_t memsize;
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};
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struct d_sim_erk_ws
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{
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void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
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void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
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void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
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void *ode_args; // pointer to ode args
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struct d_sim_erk_arg *erk_arg; // erk arg
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double *K; // internal variables
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double *x_for; // states and forward sensitivities
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double *x_traj; // states at all steps
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double *l; // adjoint sensitivities
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double *p; // parameter
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double *x_tmp; // temporary states and forward sensitivities
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double *adj_in;
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double *adj_tmp;
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int nx; // number of states
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int np; // number of parameters
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int nf; // number of forward sensitivities
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int na; // number of adjoint sensitivities
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int nf_max; // max number of forward sensitivities
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int na_max; // max number of adjoint sensitivities
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hpipm_size_t memsize;
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};
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//
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hpipm_size_t d_sim_erk_arg_memsize();
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//
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void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
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//
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void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
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//
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hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
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//
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void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
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//
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void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
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// number of directions for forward sensitivities
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void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
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// parameters (e.g. inputs)
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void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
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// state
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void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
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// forward sensitivities
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void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
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// ode funtion
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void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
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// forward vde function
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void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
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// ode_args, passed straight to the ode/vde_for/vde_adj functions
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void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
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// state
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void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
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// forward sensitivities
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void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
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//
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void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // HPIPM_D_SIM_ERK_H_
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