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openpilot v0.9.6 release

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date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
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FrogAi
2024-02-27 16:34:45 -07:00
commit 2901597132
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third_party/acados/include/hpipm/include/hpipm_tree.h vendored Normal file
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/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* 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 OWNER 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. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_TREE_H_
#define HPIPM_TREE_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct node
{
int *kids; // 64 bits
int idx; // 32 bits
int dad; // 32 bits
int nkids; // 32 bits
int stage; // 32 bits
int real; // 32 bits
int idxkid; // 32 bits // XXX needed ???
// total 256 bits
};
struct tree
{
struct node *root; // pointer to root
int *kids; // pointer to array of kids
int Nn; // numer of nodes
hpipm_size_t memsize;
};
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_TREE_H_