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2024-04-27 03:23:42 -05:00
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6
third_party/acados/acados_template/.gitignore vendored Normal file
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__pycache__/
# Cython intermediates
*_pyx.c
*_pyx.o
*_pyx.so

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third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h vendored Normal file
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/*
* 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 ACADOS_SIM_{{ model.name }}_H_
#define ACADOS_SIM_{{ model.name }}_H_
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
#define {{ model.name | upper }}_NX {{ dims.nx }}
#define {{ model.name | upper }}_NZ {{ dims.nz }}
#define {{ model.name | upper }}_NU {{ dims.nu }}
#define {{ model.name | upper }}_NP {{ dims.np }}
#ifdef __cplusplus
extern "C" {
#endif
// ** capsule for solver data **
typedef struct sim_solver_capsule
{
// acados objects
sim_in *acados_sim_in;
sim_out *acados_sim_out;
sim_solver *acados_sim_solver;
sim_opts *acados_sim_opts;
sim_config *acados_sim_config;
void *acados_sim_dims;
/* external functions */
// ERK
external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess;
// IRK
external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess;
// GNSF
external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun;
} sim_solver_capsule;
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
#ifdef __cplusplus
}
#endif
#endif // ACADOS_SIM_{{ model.name }}_H_

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third_party/acados/acados_template/c_templates_tera/acados_solver.in.h vendored Normal file
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/*
* 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 ACADOS_SOLVER_{{ model.name }}_H_
#define ACADOS_SOLVER_{{ model.name }}_H_
#include "acados/utils/types.h"
#include "acados_c/ocp_nlp_interface.h"
#include "acados_c/external_function_interface.h"
#define {{ model.name | upper }}_NX {{ dims.nx }}
#define {{ model.name | upper }}_NZ {{ dims.nz }}
#define {{ model.name | upper }}_NU {{ dims.nu }}
#define {{ model.name | upper }}_NP {{ dims.np }}
#define {{ model.name | upper }}_NBX {{ dims.nbx }}
#define {{ model.name | upper }}_NBX0 {{ dims.nbx_0 }}
#define {{ model.name | upper }}_NBU {{ dims.nbu }}
#define {{ model.name | upper }}_NSBX {{ dims.nsbx }}
#define {{ model.name | upper }}_NSBU {{ dims.nsbu }}
#define {{ model.name | upper }}_NSH {{ dims.nsh }}
#define {{ model.name | upper }}_NSG {{ dims.nsg }}
#define {{ model.name | upper }}_NSPHI {{ dims.nsphi }}
#define {{ model.name | upper }}_NSHN {{ dims.nsh_e }}
#define {{ model.name | upper }}_NSGN {{ dims.nsg_e }}
#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
#define {{ model.name | upper }}_NSBXN {{ dims.nsbx_e }}
#define {{ model.name | upper }}_NS {{ dims.ns }}
#define {{ model.name | upper }}_NSN {{ dims.ns_e }}
#define {{ model.name | upper }}_NG {{ dims.ng }}
#define {{ model.name | upper }}_NBXN {{ dims.nbx_e }}
#define {{ model.name | upper }}_NGN {{ dims.ng_e }}
#define {{ model.name | upper }}_NY0 {{ dims.ny_0 }}
#define {{ model.name | upper }}_NY {{ dims.ny }}
#define {{ model.name | upper }}_NYN {{ dims.ny_e }}
#define {{ model.name | upper }}_N {{ dims.N }}
#define {{ model.name | upper }}_NH {{ dims.nh }}
#define {{ model.name | upper }}_NPHI {{ dims.nphi }}
#define {{ model.name | upper }}_NHN {{ dims.nh_e }}
#define {{ model.name | upper }}_NPHIN {{ dims.nphi_e }}
#define {{ model.name | upper }}_NR {{ dims.nr }}
#ifdef __cplusplus
extern "C" {
#endif
{%- if not solver_options.custom_update_filename %}
{%- set custom_update_filename = "" %}
{% else %}
{%- set custom_update_filename = solver_options.custom_update_filename %}
{%- endif %}
// ** capsule for solver data **
typedef struct {{ model.name }}_solver_capsule
{
// acados objects
ocp_nlp_in *nlp_in;
ocp_nlp_out *nlp_out;
ocp_nlp_out *sens_out;
ocp_nlp_solver *nlp_solver;
void *nlp_opts;
ocp_nlp_plan_t *nlp_solver_plan;
ocp_nlp_config *nlp_config;
ocp_nlp_dims *nlp_dims;
// number of expected runtime parameters
unsigned int nlp_np;
/* external functions */
// dynamics
{% if solver_options.integrator_type == "ERK" %}
external_function_param_casadi *forw_vde_casadi;
external_function_param_casadi *expl_ode_fun;
{% if solver_options.hessian_approx == "EXACT" %}
external_function_param_casadi *hess_vde_casadi;
{%- endif %}
{% elif solver_options.integrator_type == "IRK" %}
external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z;
external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z;
{% if solver_options.hessian_approx == "EXACT" %}
external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess;
{%- endif %}
{% elif solver_options.integrator_type == "LIFTED_IRK" %}
external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u;
{% elif solver_options.integrator_type == "GNSF" %}
external_function_param_casadi *gnsf_phi_fun;
external_function_param_casadi *gnsf_phi_fun_jac_y;
external_function_param_casadi *gnsf_phi_jac_y_uhat;
external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
external_function_param_casadi *gnsf_get_matrices_fun;
{% elif solver_options.integrator_type == "DISCRETE" %}
external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
{%- if solver_options.hessian_approx == "EXACT" %}
external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
{%- endif %}
{%- endif %}
// cost
{% if cost.cost_type == "NONLINEAR_LS" %}
external_function_param_casadi *cost_y_fun;
external_function_param_casadi *cost_y_fun_jac_ut_xt;
external_function_param_casadi *cost_y_hess;
{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
external_function_param_casadi *conl_cost_fun;
external_function_param_casadi *conl_cost_fun_jac_hess;
{%- elif cost.cost_type == "EXTERNAL" %}
external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
{% endif %}
{% if cost.cost_type_0 == "NONLINEAR_LS" %}
external_function_param_casadi cost_y_0_fun;
external_function_param_casadi cost_y_0_fun_jac_ut_xt;
external_function_param_casadi cost_y_0_hess;
{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
external_function_param_casadi conl_cost_0_fun;
external_function_param_casadi conl_cost_0_fun_jac_hess;
{% elif cost.cost_type_0 == "EXTERNAL" %}
external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
{%- endif %}
{% if cost.cost_type_e == "NONLINEAR_LS" %}
external_function_param_casadi cost_y_e_fun;
external_function_param_casadi cost_y_e_fun_jac_ut_xt;
external_function_param_casadi cost_y_e_hess;
{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
external_function_param_casadi conl_cost_e_fun;
external_function_param_casadi conl_cost_e_fun_jac_hess;
{% elif cost.cost_type_e == "EXTERNAL" %}
external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
{%- endif %}
// constraints
{%- if constraints.constr_type == "BGP" %}
external_function_param_casadi *phi_constraint;
{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
external_function_param_casadi *nl_constr_h_fun_jac;
external_function_param_casadi *nl_constr_h_fun;
{%- if solver_options.hessian_approx == "EXACT" %}
external_function_param_casadi *nl_constr_h_fun_jac_hess;
{%- endif %}
{%- endif %}
{% if constraints.constr_type_e == "BGP" %}
external_function_param_casadi phi_e_constraint;
{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
external_function_param_casadi nl_constr_h_e_fun_jac;
external_function_param_casadi nl_constr_h_e_fun;
{%- if solver_options.hessian_approx == "EXACT" %}
external_function_param_casadi nl_constr_h_e_fun_jac_hess;
{%- endif %}
{%- endif %}
{%- if custom_update_filename != "" %}
void * custom_update_memory;
{%- endif %}
} {{ model.name }}_solver_capsule;
ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem);
/**
* Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
* the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
* generation, the time-steps from code generation is used.
*/
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
/**
* Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
* nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
*/
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
/**
* This function is used for updating an already initialized solver with a different number of qp_cond_N.
*/
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // ACADOS_SOLVER_{{ model.name }}_H_

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third_party/acados/acados_template/c_templates_tera/constraints.in.h vendored Normal file
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/*
* 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 {{ model.name }}_CONSTRAINTS
#define {{ model.name }}_CONSTRAINTS
#ifdef __cplusplus
extern "C" {
#endif
{% if dims.nphi > 0 %}
int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
const int *{{ model.name }}_phi_constraint_sparsity_in(int);
const int *{{ model.name }}_phi_constraint_sparsity_out(int);
int {{ model.name }}_phi_constraint_n_in(void);
int {{ model.name }}_phi_constraint_n_out(void);
{% endif %}
{% if dims.nphi_e > 0 %}
int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
int {{ model.name }}_phi_e_constraint_n_in(void);
int {{ model.name }}_phi_e_constraint_n_out(void);
{% endif %}
{% if dims.nh > 0 %}
int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
int {{ model.name }}_constr_h_fun_n_in(void);
int {{ model.name }}_constr_h_fun_n_out(void);
{% if solver_options.hessian_approx == "EXACT" -%}
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
{% endif %}
{% endif %}
{% if dims.nh_e > 0 %}
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
int {{ model.name }}_constr_h_e_fun_n_in(void);
int {{ model.name }}_constr_h_e_fun_n_out(void);
{% if solver_options.hessian_approx == "EXACT" -%}
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
{% endif %}
{% endif %}
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // {{ model.name }}_CONSTRAINTS

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/*
* 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 {{ model.name }}_COST
#define {{ model.name }}_COST
#ifdef __cplusplus
extern "C" {
#endif
// Cost at initial shooting node
{% if cost.cost_type_0 == "NONLINEAR_LS" %}
int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
int {{ model.name }}_cost_y_0_fun_n_in(void);
int {{ model.name }}_cost_y_0_fun_n_out(void);
int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
int {{ model.name }}_cost_y_0_hess_n_in(void);
int {{ model.name }}_cost_y_0_hess_n_out(void);
{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int);
const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int);
int {{ model.name }}_conl_cost_0_fun_n_in(void);
int {{ model.name }}_conl_cost_0_fun_n_out(void);
int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void);
int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void);
{% elif cost.cost_type_0 == "EXTERNAL" %}
{%- if cost.cost_ext_fun_type_0 == "casadi" %}
int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
{%- else %}
int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
{%- endif %}
{% endif %}
// Cost at path shooting node
{% if cost.cost_type == "NONLINEAR_LS" %}
int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
int {{ model.name }}_cost_y_fun_n_in(void);
int {{ model.name }}_cost_y_fun_n_out(void);
int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
int {{ model.name }}_cost_y_hess_n_in(void);
int {{ model.name }}_cost_y_hess_n_out(void);
{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_conl_cost_fun_sparsity_in(int);
const int *{{ model.name }}_conl_cost_fun_sparsity_out(int);
int {{ model.name }}_conl_cost_fun_n_in(void);
int {{ model.name }}_conl_cost_fun_n_out(void);
int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void);
int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void);
{% elif cost.cost_type == "EXTERNAL" %}
{%- if cost.cost_ext_fun_type == "casadi" %}
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(void);
int {{ model.name }}_cost_ext_cost_fun_n_out(void);
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(void);
int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
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(void);
int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
{%- else %}
int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
{%- endif %}
{% endif %}
// Cost at terminal shooting node
{% if cost.cost_type_e == "NONLINEAR_LS" %}
int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
int {{ model.name }}_cost_y_e_fun_n_in(void);
int {{ model.name }}_cost_y_e_fun_n_out(void);
int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
int {{ model.name }}_cost_y_e_hess_n_in(void);
int {{ model.name }}_cost_y_e_hess_n_out(void);
{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int);
const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int);
int {{ model.name }}_conl_cost_e_fun_n_in(void);
int {{ model.name }}_conl_cost_e_fun_n_out(void);
int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void);
int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void);
{% elif cost.cost_type_e == "EXTERNAL" %}
{%- if cost.cost_ext_fun_type_e == "casadi" %}
int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
{%- else %}
int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
{%- endif %}
{% endif %}
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // {{ model.name }}_COST

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/*
* 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 {{ model.name }}_MODEL
#define {{ model.name }}_MODEL
#ifdef __cplusplus
extern "C" {
#endif
{%- if solver_options.hessian_approx %}
{%- set hessian_approx = solver_options.hessian_approx %}
{%- elif solver_options.sens_hess %}
{%- set hessian_approx = "EXACT" %}
{%- else %}
{%- set hessian_approx = "GAUSS_NEWTON" %}
{%- endif %}
{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
{% if model.dyn_ext_fun_type == "casadi" %}
// implicit ODE: function
int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
int {{ model.name }}_impl_dae_fun_n_in(void);
int {{ model.name }}_impl_dae_fun_n_out(void);
// implicit ODE: function + jacobians
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
// implicit ODE: jacobians only
int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
// implicit ODE - for lifted_irk
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
{%- if hessian_approx == "EXACT" %}
// implicit ODE - hessian
int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
int {{ model.name }}_impl_dae_hess_n_in(void);
int {{ model.name }}_impl_dae_hess_n_out(void);
{% endif %}
{% else %}{# ext_fun_type #}
{%- if hessian_approx == "EXACT" %}
int {{ model.dyn_impl_dae_hess }}(void **, void **, void *);
{% endif %}
int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *);
int {{ model.dyn_impl_dae_jac }}(void **, void **, void *);
int {{ model.dyn_impl_dae_fun }}(void **, void **, void *);
{% endif %}{# ext_fun_type #}
{% elif solver_options.integrator_type == "GNSF" %}
/* GNSF Functions */
{% if model.gnsf.purely_linear != 1 %}
// phi_fun
int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
int {{ model.name }}_gnsf_phi_fun_n_in(void);
int {{ model.name }}_gnsf_phi_fun_n_out(void);
// phi_fun_jac_y
int {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
int {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
int {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
// phi_jac_y_uhat
int {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
{% if model.gnsf.nontrivial_f_LO == 1 %}
// f_lo_fun_jac_x1k1uz
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
{%- endif %}
{%- endif %}
// used to import model matrices
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
{% elif solver_options.integrator_type == "ERK" %}
/* explicit ODE */
// explicit ODE
int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
int {{ model.name }}_expl_ode_fun_n_in(void);
int {{ model.name }}_expl_ode_fun_n_out(void);
// explicit forward VDE
int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
int {{ model.name }}_expl_vde_forw_n_in(void);
int {{ model.name }}_expl_vde_forw_n_out(void);
// explicit adjoint VDE
int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
int {{ model.name }}_expl_vde_adj_n_in(void);
int {{ model.name }}_expl_vde_adj_n_out(void);
{%- if hessian_approx == "EXACT" %}
int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
int {{ model.name }}_expl_ode_hess_n_in(void);
int {{ model.name }}_expl_ode_hess_n_out(void);
{%- endif %}
{% elif solver_options.integrator_type == "DISCRETE" %}
{% if model.dyn_ext_fun_type == "casadi" %}
int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
{%- if hessian_approx == "EXACT" %}
int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
{%- endif %}
{% else %}
{%- if hessian_approx == "EXACT" %}
int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
{% endif %}
int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
int {{ model.dyn_disc_fun }}(void **, void **, void *);
{% endif %}
{% endif %}
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // {{ model.name }}_MODEL

44
third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h vendored Normal file
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@@ -0,0 +1,44 @@
/*
* 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.;
*/
#include "acados_solver_{{ model.name }}.h"
// Called at the end of solver creation.
// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
int custom_update_init_function({{ model.name }}_solver_capsule* capsule);
// Custom update function that can be called between solver calls
int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
// Called just before destroying the solver.
// Responsible to free allocated memory, stored at capsule->custom_update_memory.
int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule);