brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Compile FrogPilot

Browse Source
This commit is contained in:
FrogAi
2024-03-10 20:59:55 -07:00
parent 69e7feaf01
commit f1acd339d7
1485 changed files with 426154 additions and 398339 deletions
Download Patch File Download Diff File Expand all files Collapse all files

263
third_party/acados/include/acados_c/ocp_qp_interface.h vendored
View File

@@ -1,263 +0,0 @@
/*
* 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.;
*/
#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
/// QP solver types (Enumeration).
///
/// Full list of fields:
/// PARTIAL_CONDENSING_HPIPM
/// PARTIAL_CONDENSING_HPMPC
/// PARTIAL_CONDENSING_OOQP
/// PARTIAL_CONDENSING_OSQP
/// PARTIAL_CONDENSING_QPDUNES
/// FULL_CONDENSING_HPIPM
/// FULL_CONDENSING_QPOASES
/// FULL_CONDENSING_QORE
/// FULL_CONDENSING_OOQP
/// INVALID_QP_SOLVER
///
/// Note: In this enumeration the partial condensing solvers have to be
/// specified before the full condensing solvers.
typedef enum {
PARTIAL_CONDENSING_HPIPM,
#ifdef ACADOS_WITH_HPMPC
PARTIAL_CONDENSING_HPMPC,
#else
PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_OOQP
PARTIAL_CONDENSING_OOQP,
#else
PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_OSQP
PARTIAL_CONDENSING_OSQP,
#else
PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_QPDUNES
PARTIAL_CONDENSING_QPDUNES,
#else
PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
#endif
FULL_CONDENSING_HPIPM,
#ifdef ACADOS_WITH_QPOASES
FULL_CONDENSING_QPOASES,
#else
FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_DAQP
FULL_CONDENSING_DAQP,
#else
FULL_CONDENSING_DAQP_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_QORE
FULL_CONDENSING_QORE,
#else
FULL_CONDENSING_QORE_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_OOQP
FULL_CONDENSING_OOQP,
#else
FULL_CONDENSING_OOQP_NOT_AVAILABLE,
#endif
INVALID_QP_SOLVER,
} ocp_qp_solver_t;
/// Struct containing qp solver
typedef struct
{
ocp_qp_solver_t qp_solver;
} ocp_qp_solver_plan_t;
/// Linear ocp configuration.
typedef struct
{
ocp_qp_xcond_solver_config *config;
ocp_qp_xcond_solver_dims *dims;
void *opts;
void *mem;
void *work;
} ocp_qp_solver;
/// Initializes the qp solver configuration.
/// TBC should this be private/static - no, used in ocp_nlp
void ocp_qp_xcond_solver_config_initialize_from_plan(
ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
/// Constructs a qp solver config and Initializes with default values.
///
/// \param plan The qp solver plan struct.
ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
/// Destructor for config struct, frees memory.
///
/// \param config The config object to destroy.
void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
/// Constructs a struct that contains the dimensions for the variables of the qp.
///
/// \param N The number of variables.
ocp_qp_dims *ocp_qp_dims_create(int N);
/// Destructor of The dimension struct.
///
/// \param dims The dimension struct.
void ocp_qp_dims_free(void *dims);
//
ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
//
ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
//
void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
int stage, const char *field, int* value);
/// Constructs an input object for the qp.
///
/// \param dims The dimension struct.
ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
int stage, char *field, void *value);
/// Destructor of the inputs struct.
///
/// \param in_ The inputs struct.
void ocp_qp_in_free(void *in_);
/// Constructs an outputs object for the qp.
///
/// \param dims The dimension struct.
ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
/// Destructor of the output struct.
///
/// \param out_ The output struct.
void ocp_qp_out_free(void *out_);
/// Getter of output struct
void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
/// Constructs an options object for the qp.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_dims *dims);
/// Destructor of the options struct.
///
/// \param opts The options struct to destroy.
void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
/// Setter of the options struct.
///
/// \param opts The options struct.
void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
/// TBC Should be private/static?
acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
/// TBC Reserves memory? TBC Should this be private?
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param opts_ The options struct.
/// \param raw_memory Pointer to raw memory to assign to qp solver.
ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
void *opts_, void *raw_memory);
/// Creates a qp solver. Reserves memory.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param opts_ The options struct.
ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_dims *dims, void *opts_);
/// Destroys a qp solver. Frees memory.
///
/// \param solver The qp solver
void ocp_qp_solver_destroy(ocp_qp_solver *solver);
void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_dims *dims, void *opts_);
/// Solves the qp.
///
/// \param solver The solver.
/// \param qp_in The inputs struct.
/// \param qp_out The output struct.
int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
/// Calculates the infinity norm of the residuals.
///
/// \param dims The dimension struct.
/// \param qp_in The inputs struct.
/// \param qp_out The output struct.
/// \param res Output array for the residuals.
void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
double *res);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_