From b40942ff127479f9b4d4efb6b9650c059ef6fd59 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Tue, 31 Aug 2021 03:43:33 +0200
Subject: [PATCH] Libraries for acados (#22079)

* libs

* build specific commit
old-commit-hash: 22c8564413149349ec16c0ba548601fb126af6e5
---
 phonelibs/acados/.gitignore                                   | 4 ++--
 phonelibs/acados/build.sh                                     | 2 +-
 phonelibs/acados/include/acados_c/ocp_nlp_interface.h         | 4 ++--
 phonelibs/acados/larch64/lib/libacados.so                     | 4 ++--
 phonelibs/acados/x86_64/lib/libacados.so                      | 4 ++--
 phonelibs/acados/x86_64/t_renderer                            | 4 ++--
 pyextra/acados_template/acados_layout.json                    | 4 ++--
 pyextra/acados_template/acados_ocp.py                         | 4 ++--
 pyextra/acados_template/acados_ocp_solver.py                  | 4 ++--
 pyextra/acados_template/acados_ocp_solver_fast.py             | 3 +++
 pyextra/acados_template/acados_sim.py                         | 4 ++--
 pyextra/acados_template/c_templates_tera/Makefile.in          | 4 ++--
 .../acados_template/c_templates_tera/acados_sim_solver.in.c   | 4 ++--
 .../acados_template/c_templates_tera/acados_sim_solver.in.h   | 4 ++--
 pyextra/acados_template/c_templates_tera/acados_solver.in.c   | 4 ++--
 pyextra/acados_template/c_templates_tera/acados_solver.in.h   | 4 ++--
 .../acados_template/c_templates_tera/acados_solver_sfun.in.c  | 4 ++--
 pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h    | 4 ++--
 pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h    | 4 ++--
 pyextra/acados_template/c_templates_tera/cost_y_fun.in.h      | 4 ++--
 pyextra/acados_template/c_templates_tera/external_cost.in.h   | 4 ++--
 pyextra/acados_template/c_templates_tera/external_cost_0.in.h | 4 ++--
 pyextra/acados_template/c_templates_tera/external_cost_e.in.h | 4 ++--
 pyextra/acados_template/c_templates_tera/h_constraint.in.h    | 4 ++--
 pyextra/acados_template/c_templates_tera/h_e_constraint.in.h  | 4 ++--
 pyextra/acados_template/c_templates_tera/make_sfun.in.m       | 4 ++--
 pyextra/acados_template/c_templates_tera/model.in.h           | 4 ++--
 pyextra/acados_template/c_templates_tera/phi_constraint.in.h  | 4 ++--
 .../acados_template/c_templates_tera/phi_e_constraint.in.h    | 4 ++--
 pyextra/acados_template/generate_c_code_implicit_ode.py       | 4 ++--
 pyextra/acados_template/simulink_default_opts.json            | 4 ++--
 31 files changed, 62 insertions(+), 59 deletions(-)
 create mode 100644 pyextra/acados_template/acados_ocp_solver_fast.py

diff --git a/phonelibs/acados/.gitignore b/phonelibs/acados/.gitignore
index 4f7c77a653..13876f19fe 100644
--- a/phonelibs/acados/.gitignore
+++ b/phonelibs/acados/.gitignore
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5e2dd5c18a073ad3498aba4c8d3d657d114d2689c2304ec7d43d6c039e035be4
-size 8
+oid sha256:3b50765b11ac965e8ae6392370c61e27b5d6777a7ff38215f6f2b357cd6dbca7
+size 37
diff --git a/phonelibs/acados/build.sh b/phonelibs/acados/build.sh
index f5ae364024..571a72b1cd 100755
--- a/phonelibs/acados/build.sh
+++ b/phonelibs/acados/build.sh
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:605f388a076c2137fda41b92176830d4deb04661965a97b9126df39e5458cb09
+oid sha256:1cfa7763dae726f6c804f9579a4a30e9923fe20b9edbff966a3492155ea76f5e
 size 1143
diff --git a/phonelibs/acados/include/acados_c/ocp_nlp_interface.h b/phonelibs/acados/include/acados_c/ocp_nlp_interface.h
index 942b072908..f70ad75a7d 100644
--- a/phonelibs/acados/include/acados_c/ocp_nlp_interface.h
+++ b/phonelibs/acados/include/acados_c/ocp_nlp_interface.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0be4e7de0e475483eea910e1247f50d43c21d13633a228def73ecdb35c52742a
-size 12573
+oid sha256:ac860325a13f943617e009d1d116581637b756fc663480e377dc19c82f1c72e9
+size 13099
diff --git a/phonelibs/acados/larch64/lib/libacados.so b/phonelibs/acados/larch64/lib/libacados.so
index bef0877b28..50e6df1146 100644
--- a/phonelibs/acados/larch64/lib/libacados.so
+++ b/phonelibs/acados/larch64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e317e655e966ad29316205e99a64d98a0202e4fbee826e5f5756ca4ac25384c1
-size 484936
+oid sha256:d88f6f4c4db1d1e0f9a1759b10ce95d6871042c7f7a23ad3a43358d04144c66c
+size 485104
diff --git a/phonelibs/acados/x86_64/lib/libacados.so b/phonelibs/acados/x86_64/lib/libacados.so
index a84af6c305..817f40f879 100644
--- a/phonelibs/acados/x86_64/lib/libacados.so
+++ b/phonelibs/acados/x86_64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3d5b0f943d4536ac9bdbd958bc13fc9ba67b97660e011deb98fef6b9072c8d50
-size 521704
+oid sha256:bb0f2872194480413042a292300980a61cd70e7553bae58fb5a314deb2555513
+size 525968
diff --git a/phonelibs/acados/x86_64/t_renderer b/phonelibs/acados/x86_64/t_renderer
index c508a3359e..70074c9975 100755
--- a/phonelibs/acados/x86_64/t_renderer
+++ b/phonelibs/acados/x86_64/t_renderer
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:874c98f5cb6bdb69ebc2210d9be60b3c71eb1afeb798e5e0b4f98c07b76d9d51
-size 7241256
+oid sha256:aa1a263fcc9fcaf7c360a8db54d8f6f34a1d1cac33ef864a8dea57ac5e4be6c3
+size 7345464
diff --git a/pyextra/acados_template/acados_layout.json b/pyextra/acados_template/acados_layout.json
index 6e8dff052d..abc89748dd 100644
--- a/pyextra/acados_template/acados_layout.json
+++ b/pyextra/acados_template/acados_layout.json
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4d3f6c2ad14fa621d13a4f6c829e15e0495a6cf9368c2fc4b42d766a0a08096a
-size 13612
+oid sha256:23cbba2db6b7c99e303802e65d4714a24f7b943d32aae0feb80f596b821ea13b
+size 13664
diff --git a/pyextra/acados_template/acados_ocp.py b/pyextra/acados_template/acados_ocp.py
index c9da92f0be..a1cb4a6510 100644
--- a/pyextra/acados_template/acados_ocp.py
+++ b/pyextra/acados_template/acados_ocp.py
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bb2c07bc5192c5004570518fdf696508357e92974a5037f999e8b2c8ad941882
-size 95028
+oid sha256:d02c555bdde7266d683d3c2d6fa9812a86b7e3024f841211158197fca94d1f08
+size 95132
diff --git a/pyextra/acados_template/acados_ocp_solver.py b/pyextra/acados_template/acados_ocp_solver.py
index 163db00c06..11672f39c6 100644
--- a/pyextra/acados_template/acados_ocp_solver.py
+++ b/pyextra/acados_template/acados_ocp_solver.py
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e323fda84b3ffa88356352e67da6bcb8525a6dc10953425e7547731b8971436e
-size 64496
+oid sha256:6e8c349ede5994ce88a4d10a4b9383b2f0fb0d0ebf9a18435b09f41ed7707c8a
+size 66826
diff --git a/pyextra/acados_template/acados_ocp_solver_fast.py b/pyextra/acados_template/acados_ocp_solver_fast.py
new file mode 100644
index 0000000000..4b9d8497cf
--- /dev/null
+++ b/pyextra/acados_template/acados_ocp_solver_fast.py
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00bc74d60d2727be6c6898eb6e034fc1c626dc1361e1a5ae2e4910b844d9dbb5
+size 20493
diff --git a/pyextra/acados_template/acados_sim.py b/pyextra/acados_template/acados_sim.py
index 3ce820314f..28106c2ce9 100644
--- a/pyextra/acados_template/acados_sim.py
+++ b/pyextra/acados_template/acados_sim.py
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:18b831c5038a6d55bdc5d4c904956dc1a7b70cc363e71d9223807aad323960e4
-size 10401
+oid sha256:1ab310b29ad2be1b0216b01db7d340e501d29add43cf786a2ef0917f95d6dff7
+size 10392
diff --git a/pyextra/acados_template/c_templates_tera/Makefile.in b/pyextra/acados_template/c_templates_tera/Makefile.in
index 1f57e74897..c08835b180 100644
--- a/pyextra/acados_template/c_templates_tera/Makefile.in
+++ b/pyextra/acados_template/c_templates_tera/Makefile.in
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d613f3c504c225c21b026b3fdffce368525404ca1c736ec219e16182e45073d3
-size 17715
+oid sha256:22950565d08e2f1c34dd622800279d21af70266de45ecb5f07909d87caf636d1
+size 18458
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
index 7006e770ff..b92d00d12b 100644
--- a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
+++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fccfdb929604909267effb19c6947dc6fd0aabdac9444fecfb09fa24276f9cf
-size 26475
+oid sha256:504de8ac91b2dc75dcb01aa6894b8435e57db03cf387c1e1f48d7d03b2f737d6
+size 26492
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
index 30f3117d6b..934002c2a7 100644
--- a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
+++ b/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6efa41f9520d81235cb06d6da40438f1ebc836d1e87e316bc9e13feda0bceb4
-size 3972
+oid sha256:690484ab973bf37151fd437c65e3f708fba8c6a4fe6680054acc5ff3e4aa36c5
+size 3976
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.c b/pyextra/acados_template/c_templates_tera/acados_solver.in.c
index 329426770d..7f873748ea 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver.in.c
+++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.c
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dde181e08ff4c4979d102bd2507e626868716e7ae6267c7cc8ad91ba3051c39a
-size 98706
+oid sha256:ddeef3b42e38682017002ed2e176dc03edba8292464ae1ba44c7cfdd59897f6a
+size 112677
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.h b/pyextra/acados_template/c_templates_tera/acados_solver.in.h
index 85ef34232b..47e2fa1a03 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver.in.h
+++ b/pyextra/acados_template/c_templates_tera/acados_solver.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:24c175f4d73c662cde5efeaf1f930a139b4a7ffb3370d6c7b76a9a4bb3416e0d
-size 6068
+oid sha256:bce8b99e1661834d1e20777634844ecc31c6953a1bd58b52ad9dbe67ef23a656
+size 6135
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c b/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
index 3dcd3b618e..0c56068e13 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
+++ b/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3bc17f6e6d9d962614a7cb2419b63f0eba2caf27be373d8b9e83e32db46bb207
-size 27173
+oid sha256:7ad7b08956c4980fa57f4386ddf4ded811049adc2690933984cc0c80b842b9aa
+size 28517
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
index 3bd3e9267f..61085b2478 100644
--- a/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
+++ b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:73e0d6149433e3227cd3b3f0447e9c20b886203d3ff0777b54eb474395549861
-size 3101
+oid sha256:40972ebe4461c432b5802c7f4a0d2644b1c2a4727fbc629695cb30c5b71c4d68
+size 3125
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
index e06b759353..af5545f5c6 100644
--- a/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
+++ b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4cf1683d475886ec54c0f554b85e32e0cd1b8b27e1d6e270dc76fc7a51064f4a
-size 3101
+oid sha256:1f26921d2f60b054e9c2a5ee3cef9663540e885131c66efba6be3b36857798c5
+size 3125
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
index 7a26ebd3f5..649a7f4362 100644
--- a/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
+++ b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:72eb93d2c1048d307bd26487cea529d63ba0279b2a7d885aec2e74c0d1192bdb
-size 3057
+oid sha256:0baa31610dd9fcf653e4b2289911cb5251787606125ec101739570d28e818bf3
+size 3081
diff --git a/pyextra/acados_template/c_templates_tera/external_cost.in.h b/pyextra/acados_template/c_templates_tera/external_cost.in.h
index 0133116911..71aaf4d3ed 100644
--- a/pyextra/acados_template/c_templates_tera/external_cost.in.h
+++ b/pyextra/acados_template/c_templates_tera/external_cost.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:68cbee9d0c50030fdad9f62e5e6f754afac0262edf07197cf0a047985989fcf5
-size 3330
+oid sha256:ba8e07cf179230f65ec8c46905ad969f82c41ed8580fb6d45c3376b416f1e52e
+size 3354
diff --git a/pyextra/acados_template/c_templates_tera/external_cost_0.in.h b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
index d21df7ae3c..276153873b 100644
--- a/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
+++ b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d585bd5c07211e7583033393dda81503708c56d69f1330beef6e6cccb06e102f
-size 3379
+oid sha256:eb7fff7be0adbc647ec0af0e8bd68a2b10cbe7eacfc38d8c5665d856c66abb4e
+size 3403
diff --git a/pyextra/acados_template/c_templates_tera/external_cost_e.in.h b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
index 59cb2dac9c..340e2d6218 100644
--- a/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
+++ b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42d056105fe0e4c69e5e7d9ab35482b8e5d0c4ded886677e4ca6e01483ac8bfb
-size 3378
+oid sha256:7d7754b835a25342af3e1bb53887469daacd53675b1cc86c0562e7f46e5819bd
+size 3402
diff --git a/pyextra/acados_template/c_templates_tera/h_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_constraint.in.h
index 69dab0bfde..fa4698bdd6 100644
--- a/pyextra/acados_template/c_templates_tera/h_constraint.in.h
+++ b/pyextra/acados_template/c_templates_tera/h_constraint.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:125aaf119d3de78195ed9dc05adce372278f8483902c09fe01fec03a69675bb7
-size 3248
+oid sha256:7b411cbfab08ca9ecbe1d75c80ab71f0551db4050cbcce7dae330f92c7473a4f
+size 3272
diff --git a/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
index fd4d7ef7f8..48339bc82f 100644
--- a/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
+++ b/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:20cc3af681fdaf9c44e37be4b514e6605052e715914c95e712b1c6ec1ff7792b
-size 3293
+oid sha256:d1e42330752c441b92bc0f7cc4ef73cac67f8dba664e050cb88cdc682dd545f4
+size 3317
diff --git a/pyextra/acados_template/c_templates_tera/make_sfun.in.m b/pyextra/acados_template/c_templates_tera/make_sfun.in.m
index 913f70ded0..21f0fa7256 100644
--- a/pyextra/acados_template/c_templates_tera/make_sfun.in.m
+++ b/pyextra/acados_template/c_templates_tera/make_sfun.in.m
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5806684ddec452c5c0f04f9f9e1f8394011ce65b21eac10fc9aa5dd9ba877072
-size 14693
+oid sha256:0b9bcfda52a1857bfc34ab6c91aeeda13c887c11340ca030cb9c19757a80df9f
+size 15205
diff --git a/pyextra/acados_template/c_templates_tera/model.in.h b/pyextra/acados_template/c_templates_tera/model.in.h
index 07b1ec3d5b..50b4222ffc 100644
--- a/pyextra/acados_template/c_templates_tera/model.in.h
+++ b/pyextra/acados_template/c_templates_tera/model.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:79540454c60c7c099a9c9dba21f59d301346ccecbd3428190fd589f8969f0f66
-size 10147
+oid sha256:d13a880b927a698e088b2fed7231e76e58bb1e3a394ca62d6703404f4bdb83bd
+size 10312
diff --git a/pyextra/acados_template/c_templates_tera/phi_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_constraint.in.h
index 3dbe22de55..509e6b7556 100644
--- a/pyextra/acados_template/c_templates_tera/phi_constraint.in.h
+++ b/pyextra/acados_template/c_templates_tera/phi_constraint.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2ea3917d74c14ac1a2b38e156be8dfd0ed450d61342cb79785cdbc77d899480b
-size 2313
+oid sha256:16ef8e23d19800aaf0bc433571c4b2da5a117a1128a3011c3208192880e80d3b
+size 2321
diff --git a/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
index fc09a52ed4..c8a3c596b4 100644
--- a/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
+++ b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6e5029acf237d1a0095022891e107fd7d15e0f7a587d7cf2bc9d15902c529e55
-size 650
+oid sha256:da836e689945ebed0a730f6bbcd3a6922770a07216469cc4898bfcb4bb330c14
+size 658
diff --git a/pyextra/acados_template/generate_c_code_implicit_ode.py b/pyextra/acados_template/generate_c_code_implicit_ode.py
index 7217caeda2..6599f6fdb1 100644
--- a/pyextra/acados_template/generate_c_code_implicit_ode.py
+++ b/pyextra/acados_template/generate_c_code_implicit_ode.py
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d0230fc95d16a0b8dd8e5f1985b822bb0fc86fce5bfb92c4482e348312a7dd1a
-size 5069
+oid sha256:8c7bc6cc1f33a6c5c04fe5012284486126f59e3b28e8f518ea3691fc1f68ff60
+size 5189
diff --git a/pyextra/acados_template/simulink_default_opts.json b/pyextra/acados_template/simulink_default_opts.json
index 18793213df..6b28865786 100644
--- a/pyextra/acados_template/simulink_default_opts.json
+++ b/pyextra/acados_template/simulink_default_opts.json
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6ab6c5946d8e5ad6a1c68f6a28dc311c291889a9b0e8f8a0742c65a9ac61a06a
-size 671
+oid sha256:a67e0da674dcf93f148072c1ac49666d2edf29ec954642a47a7d175c130a59a0
+size 751