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