openpilot_comma/third_party/acados/include/acados_c/condensing_interface.h

/*
 * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
 * The 2-Clause BSD License
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.;
 */


#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "acados/ocp_qp/ocp_qp_full_condensing.h"
#include "acados/ocp_qp/ocp_qp_partial_condensing.h"

typedef enum {
    PARTIAL_CONDENSING,
    FULL_CONDENSING,
} condensing_t;

typedef struct
{
    condensing_t condensing_type;
} condensing_plan;

typedef struct
{
    ocp_qp_xcond_config *config;
    void *dims;
    void *opts;
    void *mem;
    void *work;
} condensing_module;

ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
//
void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
//
acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
//
condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
                                            void *opts_, void *raw_memory);
//
condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
                                            void *opts_);
//
int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
//
int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);

#ifdef __cplusplus
} /* extern "C" */
#endif

#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_