wip

2024-04-27 03:23:42 -05:00
parent b1c566e71e
commit fbbdf2c03c
315 changed files with 79358 additions and 3 deletions
--- a/third_party/acados/include/qpOASES_e/Flipper.h
+++ b/third_party/acados/include/qpOASES_e/Flipper.h
@@ -0,0 +1,129 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Flipper.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_FLIPPER_H
+#define QPOASES_FLIPPER_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Constraints.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
+ *
+ *	This auxiliary class stores a copy of the current matrix factorisations. It
+ *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Bounds      *bounds;			/**< Data structure for problem's bounds. */
+	Constraints *constraints;		/**< Data structure for problem's constraints. */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
+	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
+
+	unsigned int nV;				/**< Number of variables. */
+	unsigned int nC;				/**< Number of constraints. */
+} Flipper;
+
+int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
+
+Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
+
+/** Constructor which takes the number of bounds and constraints. */
+void FlipperCON(	Flipper* _THIS,
+					unsigned int _nV,		/**< Number of bounds. */
+					unsigned int _nC		/**< Number of constraints. */
+					);
+
+/** Copy constructor (deep copy). */
+void FlipperCPY(	Flipper* FROM,
+					Flipper* TO
+					);
+
+/** Initialises object with given number of bounds and constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Flipper_init(	Flipper* _THIS,
+							unsigned int _nV,	/**< Number of bounds. */
+							unsigned int _nC	/**< Number of constraints. */
+							);
+
+
+/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
+ *	\return SUCCESSFUL_RETURN */
+returnValue Flipper_get(	Flipper* _THIS,
+							Bounds* const _bounds,				/**< Pointer to new bounds. */
+							real_t* const R,					/**< New matrix R. */
+							Constraints* const _constraints,	/**< Pointer to new constraints. */
+							real_t* const _Q,					/**< New matrix Q. */
+							real_t* const _T					/**< New matrix T. */
+							);
+
+/** Assigns new values to non-null arguments.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Flipper_set(	Flipper* _THIS,
+							const Bounds* const _bounds,			/**< Pointer to new bounds. */
+							const real_t* const _R,					/**< New matrix R. */
+							const Constraints* const _constraints,	/**< Pointer to new constraints. */
+							const real_t* const _Q,					/**< New matrix Q. */
+							const real_t* const _T					/**< New matrix T. */
+							);
+
+/** Returns dimension of matrix T.
+ *  \return Dimension of matrix T. */
+unsigned int Flipper_getDimT( Flipper* _THIS );
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_FLIPPER_H */
+
+
+/*
+ *	end of file
+ */