wip

third_party/acados/include/acados_c/dense_qp_interface.h

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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 INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+
+typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;
+
+typedef struct
+{
+    dense_qp_solver_t qp_solver;
+} dense_qp_solver_plan;
+
+typedef struct
+{
+    qp_solver_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} dense_qp_solver;
+
+qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
+//
+dense_qp_dims *dense_qp_dims_create();
+//
+dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
+//
+dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
+                                 void *raw_memory);
+//
+dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
+//
+void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
+                                 double *res);
+//
+bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
+//
+bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
+//
+bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
+//
+bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_