openpilot_comma/pyextra/acados_template/c_templates_tera/model.in.h

/*
 * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
 * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
 * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
 * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
 *
 * 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 {{ model.name }}_MODEL
#define {{ model.name }}_MODEL

#ifdef __cplusplus
extern "C" {
#endif

{%- if solver_options.hessian_approx %}
	{%- set hessian_approx = solver_options.hessian_approx %}
{%- elif solver_options.sens_hess %}
	{%- set hessian_approx = "EXACT" %}
{%- else %}
	{%- set hessian_approx = "GAUSS_NEWTON" %}
{%- endif %}

{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
// implicit ODE
int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
int {{ model.name }}_impl_dae_fun_n_in(void);
int {{ model.name }}_impl_dae_fun_n_out(void);

// implicit ODE
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);

// implicit ODE
int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);

// implicit ODE - for lifted_irk
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);

{%- if hessian_approx == "EXACT" %}
int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
int {{ model.name }}_impl_dae_hess_n_in(void);
int {{ model.name }}_impl_dae_hess_n_out(void);
{%- endif %}

{% elif solver_options.integrator_type == "GNSF" %}
/* GNSF Functions */
// used to import model matrices
int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);

// phi_fun
int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
int        {{ model.name }}_gnsf_phi_fun_n_in(void);
int        {{ model.name }}_gnsf_phi_fun_n_out(void);

// phi_fun_jac_y
int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);

// phi_jac_y_uhat
int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);

// f_lo_fun_jac_x1k1uz
int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);

{% elif solver_options.integrator_type == "ERK" %}
/* explicit ODE */

// explicit ODE
int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
int {{ model.name }}_expl_ode_fun_n_in(void);
int {{ model.name }}_expl_ode_fun_n_out(void);

// explicit forward VDE
int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
int {{ model.name }}_expl_vde_forw_n_in(void);
int {{ model.name }}_expl_vde_forw_n_out(void);

// explicit adjoint VDE
int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
int {{ model.name }}_expl_vde_adj_n_in(void);
int {{ model.name }}_expl_vde_adj_n_out(void);

{%- if hessian_approx == "EXACT" %}
int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
int {{ model.name }}_expl_ode_hess_n_in(void);
int {{ model.name }}_expl_ode_hess_n_out(void);
{%- endif %}

{% elif solver_options.integrator_type == "DISCRETE" %}

{% if model.dyn_ext_fun_type == "casadi" %}
int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
int {{ model.name }}_dyn_disc_phi_fun_n_out(void);

int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);

{%- if hessian_approx == "EXACT" %}
int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
{%- endif %}
{% else %}
  {%- if hessian_approx == "EXACT" %}
int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
  {% endif %}
int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
int {{ model.dyn_disc_fun }}(void **, void **, void *);
{% endif %}


{% endif %}

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

#endif  // {{ model.name }}_MODEL