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102 lines
4.1 KiB
102 lines
4.1 KiB
# -*- coding: future_fstrings -*-
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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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cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
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ctypedef struct ocp_nlp_config:
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pass
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ctypedef struct ocp_nlp_dims:
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pass
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ctypedef struct ocp_nlp_in:
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pass
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ctypedef struct ocp_nlp_out:
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pass
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cdef extern from "acados_c/ocp_nlp_interface.h":
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ctypedef enum ocp_nlp_solver_t:
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pass
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ctypedef enum ocp_nlp_cost_t:
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pass
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ctypedef enum ocp_nlp_dynamics_t:
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pass
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ctypedef enum ocp_nlp_constraints_t:
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pass
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ctypedef enum ocp_nlp_reg_t:
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pass
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ctypedef struct ocp_nlp_plan:
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pass
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ctypedef struct ocp_nlp_solver:
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pass
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int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
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int start_stage, const char *field, void *value)
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int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
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ocp_nlp_in *in_, int stage, const char *field, void *value)
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# out
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void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, void *value)
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void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, void *value)
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void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
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int stage, const char *field, void *value)
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int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field)
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void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, int *dims_out)
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void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, int *dims_out)
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void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, int *dims_out)
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# opts
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void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
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# solver
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void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
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void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
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# get/set
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void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
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void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)
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