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207 lines
8.7 KiB
207 lines
8.7 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_S_DENSE_QP_H_
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#define HPIPM_S_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_s_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 s_dense_qp
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{
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struct s_dense_qp_dim *dim;
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struct blasfeo_smat *Hv; // hessian & gradient
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struct blasfeo_smat *A; // dynamics matrix
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struct blasfeo_smat *Ct; // constraints matrix
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struct blasfeo_svec *gz; // gradient & gradient of slacks
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struct blasfeo_svec *b; // dynamics vector
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struct blasfeo_svec *d; // constraints vector
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struct blasfeo_svec *d_mask; // inequality constraints mask vector
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struct blasfeo_svec *m; // rhs of complementarity condition
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struct blasfeo_svec *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 s_dense_qp_memsize(struct s_dense_qp_dim *dim);
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//
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void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
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// setters - colmaj
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//
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void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
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//
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void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
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//
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void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
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//
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void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
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// getters - colmaj
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//
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void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
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//
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void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
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//
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void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
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//
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void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
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//
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void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
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//
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void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
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//
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void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
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//
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void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
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//
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void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
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//
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void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
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//
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void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
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//
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void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
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//
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void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
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//
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void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
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//
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void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
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//
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void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
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//
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void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
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//
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void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
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//
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void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
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//
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void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
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//
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void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
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//
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void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
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//
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void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
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//
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void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
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// setters - rowmaj
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//
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void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
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// getters - rowmaj
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//
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void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *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_S_DENSE_QP_H_
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