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141 lines
3.8 KiB
141 lines
3.8 KiB
4 years ago
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/*
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* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
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* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
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* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
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* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
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*
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* This file is part of acados.
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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,
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* this list of conditions and the following disclaimer.
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*
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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"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.;
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*/
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#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
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#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/sim/sim_common.h"
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typedef enum
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{
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ERK,
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IRK,
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GNSF,
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LIFTED_IRK,
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INVALID_SIM_SOLVER,
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} sim_solver_t;
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typedef struct
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{
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sim_solver_t sim_solver;
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} sim_solver_plan;
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typedef struct
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{
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sim_config *config;
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void *dims;
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void *opts;
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void *mem;
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void *work;
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} sim_solver;
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/* config */
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//
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sim_config *sim_config_create(sim_solver_plan plan);
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//
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void sim_config_destroy(void *config);
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/* dims */
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//
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void *sim_dims_create(void *config_);
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//
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void sim_dims_destroy(void *dims);
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//
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void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
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//
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void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
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//
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void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
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/* in */
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//
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sim_in *sim_in_create(sim_config *config, void *dims);
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//
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void sim_in_destroy(void *out);
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//
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int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
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/* out */
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//
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sim_out *sim_out_create(sim_config *config, void *dims);
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//
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void sim_out_destroy(void *out);
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//
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int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
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/* opts */
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//
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void *sim_opts_create(sim_config *config, void *dims);
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//
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void sim_opts_destroy(void *opts);
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//
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void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
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//
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void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
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/* solver */
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//
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acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
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//
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sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
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//
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sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
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//
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void sim_solver_destroy(void *solver);
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//
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int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
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//
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int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
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//
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int sim_solver_set(sim_solver *solver, const char *field, void *value);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
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