openpilot_comma/external/ipopt/include/coin/ThirdParty/nlp2.h

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/* Variant of nlp.h for Hessian times vector computations. */

#ifndef NLP_H2_included
#define NLP_H2_included

#ifndef ASL_included
#include "asl.h"
#endif

#ifdef __cplusplus
 extern "C" {
#endif

typedef struct argpair2 argpair2;
typedef struct cde2 cde2;
typedef struct cexp2 cexp2;
typedef struct cexp21 cexp21;
typedef struct de2 de2;
typedef union  ei2 ei2;
typedef struct expr2 expr2;
typedef struct expr2_f expr2_f;
typedef struct expr2_h expr2_h;
typedef struct expr2_if expr2_if;
typedef struct expr2_v expr2_v;
typedef struct expr2_va expr2_va;
typedef struct funnel2 funnel2;
typedef struct hes_fun hes_fun;
typedef struct list2 list2;
typedef union  uir uir;

typedef real  efunc2 ANSI((expr2* A_ASL));
typedef char *sfunc  ANSI((expr2* A_ASL));

 union
uir {
	int	i;
	real	r;
	};

 union
ei2 {
	expr2	*e;
	expr2	**ep;
	expr2_if*eif;
	expr_n	*en;
	expr2_v	*ev;
	int	i;
	plterm	*p;
	de2	*d;
	real	*rp;
	derp	*D;
	cexp2	*ce;
	};

 struct
expr2 {
	efunc2 *op;
	int a;		/* adjoint index (for gradient computation) */
	expr2 *fwd, *bak;
	uir  dO;	/* deriv of op w.r.t. t in x + t*p */
	real aO;	/* adjoint (in Hv computation) of op */
	real adO;	/* adjoint (in Hv computation) of dO */
	real dL;	/* deriv of op w.r.t. left operand */
	ei2 L, R;	/* left and right operands */
	real dR;	/* deriv of op w.r.t. right operand */
	real dL2;	/* second partial w.r.t. L, L */
	real dLR;	/* second partial w.r.t. L, R */
	real dR2;	/* second partial w.r.t. R, R */
	};

 struct
expr2_v {
	efunc2 *op;
	int a;
	expr2 *fwd, *bak;
	uir dO;
	real aO, adO;
	real v;
	};

 struct
expr2_if {
	efunc2 *op;
	int a;
	expr2 *fwd, *bak;
	uir  dO;
	real aO, adO;
	expr2 *val, *vale, *valf, *e, *T, *Te, *Tf, *F, *Fe, *Ff;
	derp *D, *dT, *dF, *d0;
	ei2 Tv, Fv;
	expr2_if *next, *next2;
	derp *dTlast;
	};

 struct
expr2_va {
	efunc2 *op;
	int a;
	expr2 *fwd, *bak;
	uir  dO;
	real aO, adO;
	expr2 *val, *vale, *valf;
	ei2 L, R;
	expr2_va *next, *next2;
	derp *d0;
	};

 struct
cde2 {
	expr2	*e, *ee, *ef;
	derp	*d;
	int	zaplen;
	int	com11, n_com1;
	};

 struct
de2 {			/* for varargs */
	expr2 *e, *ee, *ef;
	derp *d;
	ei2 dv;
	derp *dlast;	/* for sputhes setup */
	};

 struct
list2 {
	list2	*next;
	ei2	item;
	};

 struct
cexp21 {
	expr2	*e, *ee, *ef;
	linpart	*L;
	int	nlin;
	};

 struct
cexp2 {
	expr2	*e, *ee, *ef;
	linpart	*L;
	int	nlin;
	funnel2	*funneled;
	list2	*cref;
	ei2	z;
	int	zlen;
	derp	*d;
	int	*vref;
	hes_fun	*hfun;
	};

 struct
funnel2 {
	funnel2	*next;
	cexp2	*ce;
	cde2	fcde;
	derp	*fulld;
	cplist	*cl;
	};

 struct
argpair2 {
	expr2	*e;
	union {
		char	**s;
		real	*v;
		} u;
	};

 struct
expr2_f {
	efunc2 *op;
	int	a;
	expr2 *fwd, *bak;
	uir  dO;
	real aO, adO;
	func_info *fi;
	arglist *al;
	argpair2 *ap, *ape, *sap, *sape;
	argpair2 *da;	/* differentiable args -- nonconstant */
	argpair2 *dae;
	real	**fh;		/* Hessian info */
	expr2	*args[1];
	};

 struct
expr2_h {
	efunc2 *op;
	int	a;
	char	sym[1];
	};

 typedef struct
Edag2info {
	cde2	*con2_de_;	/* constraint deriv. and expr. info */
	cde2	*lcon2_de_;	/* logical constraints */
	cde2	*obj2_de_;	/* objective  deriv. and expr. info */
	expr2_v	*var2_e_;	/* variable values (and related items) */

			/* stuff for "defined" variables */
	funnel2	*f2_b_;
	funnel2	*f2_c_;
	funnel2	*f2_o_;
	expr2_v	*var2_ex_,
		*var2_ex1_;
	cexp2	*cexps2_, *cexpsc_, *cexpso_, *cexpse_;
	cexp21	*cexps21_;
	hes_fun	*hesthread;
	char	*c_class;	/* class of each constraint: */
				/* 0 = constant */
				/* 1 = linear */
				/* 2 = quadratic */
				/* 3 = general nonlinear */
	char	*o_class;	/* class of each objective */
	char	*v_class;	/* class of each defined variable */
	int	c_class_max;	/* max of c_class values */
	int	o_class_max;	/* max of o_class values */
				/* The above are only computed if requested */
				/* by the ASL_find_c_class and */
				/* ASL_find_o_class bits of the flags arg */
				/* to pfgh_read() and pfg_read() */
	int	x0kind_init;
	} Edag2info;

 typedef struct
ASL_fgh {
	Edagpars  p;
	Edaginfo  i;
	Edag2info I;
	} ASL_fgh;

 extern efunc2 *r2_ops_ASL[];
 extern void com21eval_ASL ANSI((ASL_fgh*, int, int));
 extern void com2eval_ASL ANSI((ASL_fgh*, int, int));
 extern void fun2set_ASL ANSI((ASL_fgh*, funnel2 *));
#ifdef __cplusplus
	}
#endif

#ifndef SKIP_NL2_DEFINES
extern efunc2 f2_OPVARVAL_ASL;

#define cexpsc		asl->I.cexpsc_
#define cexpse		asl->I.cexpse_
#define cexpso		asl->I.cexpso_
#define cexps1		asl->I.cexps21_
#define cexps		asl->I.cexps2_
#define con_de		asl->I.con2_de_
#define f_b		asl->I.f2_b_
#define f_c		asl->I.f2_c_
#define f_o		asl->I.f2_o_
#define lcon_de		asl->I.lcon2_de_
#define obj_de		asl->I.obj2_de_
#define var_e		asl->I.var2_e_
#define var_ex1		asl->I.var2_ex1_
#define var_ex		asl->I.var2_ex_

#define argpair	argpair2
#define cde	cde2
#define cexp	cexp2
#define cexp1	cexp21
#define de	de2
#define ei	ei2
#define expr	expr2
#define expr_f	expr2_f
#define expr_h	expr2_h
#define expr_if	expr2_if
#define expr_v	expr2_v
#define expr_va	expr2_va
#define funnel	funnel2
#define list	list2

#define com1eval	com21eval_ASL
#define comeval		com2eval_ASL
#define funnelset	fun2set_ASL
#undef  r_ops
#define r_ops		r2_ops_ASL

#ifndef PSHVREAD
#define f_OPIFSYM	f2_IFSYM_ASL
#define f_OPPLTERM	f2_PLTERM_ASL
#define f_OPFUNCALL	f2_FUNCALL_ASL
#define f_OP1POW	f2_1POW_ASL
#define f_OP2POW	f2_2POW_ASL
#define f_OPCPOW	f2_CPOW_ASL
#define f_OPPLUS	f2_PLUS_ASL
#define f_OPSUMLIST	f2_SUMLIST_ASL
#define f_OPHOL		f2_HOL_ASL
#define f_OPPOW		f2_POW_ASL
#define f_OPVARVAL	f2_VARVAL_ASL
#endif

/* operation classes (for H*v computation) */

#define Hv_binaryR	0
#define Hv_binaryLR	1
#define Hv_unary	2
#define Hv_vararg	3
#define Hv_if		4
#define Hv_plterm	5
#define Hv_sumlist	6
#define Hv_func		7
#define Hv_negate	8
#define Hv_plusR	9
#define Hv_plusL	10
#define Hv_plusLR	11
#define Hv_minusR	12
#define Hv_minusLR	13
#define Hv_timesR	14
#define Hv_timesL	15
#define Hv_timesLR	16

/* treat if as vararg, minusL as plusL, binaryL as unary */

#endif /* SKIP_NL2_DEFINES */

#undef f_OPNUM
#define f_OPNUM (efunc2*)f_OPNUM_ASL
#endif /* NLP_H2_included */