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138 lines
6.5 KiB
138 lines
6.5 KiB
4 years ago
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/**************************************************************************************************
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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_COND_H_
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#define HPIPM_S_COND_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.h"
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#include "hpipm_s_dense_qp_sol.h"
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#include "hpipm_s_ocp_qp.h"
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#include "hpipm_s_ocp_qp_dim.h"
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#include "hpipm_s_ocp_qp_sol.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct s_cond_qp_arg
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{
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int cond_last_stage; // condense last stage
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int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
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int comp_prim_sol; // primal solution (v)
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int comp_dual_sol_eq; // dual solution equality constr (pi)
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int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
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int square_root_alg; // square root algorithm (faster but requires RSQ>0)
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hpipm_size_t memsize;
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};
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struct s_cond_qp_ws
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{
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struct blasfeo_smat *Gamma;
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struct blasfeo_smat *GammaQ;
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struct blasfeo_smat *L;
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struct blasfeo_smat *Lx;
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struct blasfeo_smat *AL;
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struct blasfeo_svec *Gammab;
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struct blasfeo_svec *l;
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struct blasfeo_svec *tmp_nbgM;
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struct blasfeo_svec *tmp_nuxM;
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int bs; // block size
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hpipm_size_t memsize;
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};
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//
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hpipm_size_t s_cond_qp_arg_memsize();
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//
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void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
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//
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void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
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// condensing algorithm: 0 N2-nx3, 1 N3-nx2
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void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
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// set riccati-like algorithm: 0 classical, 1 square-root
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void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
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// condense last stage: 0 last stage disregarded, 1 last stage condensed too
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void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
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//
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void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
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//
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void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
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//
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void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
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//
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void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
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//
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hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
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//
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void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
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//
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void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
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//
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void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
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//
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void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
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//
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void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
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// TODO remove
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void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
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//
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void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // HPIPM_S_COND_H_
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