You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
3.3 KiB
74 lines
3.3 KiB
/*
|
|
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
|
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
|
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
|
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
|
*
|
|
* This file is part of acados.
|
|
*
|
|
* The 2-Clause BSD License
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright notice,
|
|
* this list of conditions and the following disclaimer.
|
|
*
|
|
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
|
* this list of conditions and the following disclaimer in the documentation
|
|
* and/or other materials provided with the distribution.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
|
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.;
|
|
*/
|
|
|
|
|
|
#ifndef {{ model.name }}_EXT_COST
|
|
#define {{ model.name }}_EXT_COST
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
{% if cost.cost_ext_fun_type == "casadi" %}
|
|
{% if cost.cost_type == "EXTERNAL" %}
|
|
int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
|
int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
|
|
const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
|
|
const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
|
|
int {{ model.name }}_cost_ext_cost_fun_n_in();
|
|
int {{ model.name }}_cost_ext_cost_fun_n_out();
|
|
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
|
|
const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
|
|
const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in();
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out();
|
|
|
|
int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
|
|
const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
|
|
const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_n_in();
|
|
int {{ model.name }}_cost_ext_cost_fun_jac_n_out();
|
|
{% endif %}
|
|
|
|
{% else %}
|
|
int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
|
|
{% endif %}
|
|
|
|
#ifdef __cplusplus
|
|
} /* extern "C" */
|
|
#endif
|
|
|
|
#endif // {{ model.name }}_EXT_COST
|
|
|