wip

third_party/SConscript

@@ -0,0 +1,6 @@
+Import('env')
+
+env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
+env.Append(CPPPATH=[Dir('json11')])
+
+env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE'])

third_party/acados/acados_template/.gitignore

@@ -0,0 +1,6 @@
+__pycache__/
+
+# Cython intermediates
+*_pyx.c
+*_pyx.o
+*_pyx.so

third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h

@@ -0,0 +1,101 @@
+/*
+ * 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_

third_party/acados/acados_template/c_templates_tera/acados_solver.in.h

@@ -0,0 +1,241 @@
+/*
+ * 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_

third_party/acados/acados_template/c_templates_tera/constraints.in.h

@@ -0,0 +1,110 @@
+/*
+ * 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

third_party/acados/acados_template/c_templates_tera/cost.in.h

@@ -0,0 +1,238 @@
+/*
+ * 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

third_party/acados/acados_template/c_templates_tera/model.in.h

@@ -0,0 +1,218 @@
+/*
+ * 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

third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h

@@ -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);

third_party/acados/build.sh

@@ -0,0 +1,56 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+ARCHNAME="x86_64"
+BLAS_TARGET="X64_AUTOMATIC"
+if [ -f /TICI ]; then
+  ARCHNAME="larch64"
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+fi
+
+ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
+  ARCHNAME="Darwin"
+fi
+
+if [ ! -d acados_repo/ ]; then
+  git clone https://github.com/acados/acados.git $DIR/acados_repo
+  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
+fi
+cd acados_repo
+git fetch --all
+git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
+git submodule update --depth=1 --recursive --init
+
+# build
+mkdir -p build
+cd build
+cmake $ACADOS_FLAGS ..
+make -j20 install
+
+INSTALL_DIR="$DIR/$ARCHNAME"
+rm -rf $INSTALL_DIR
+mkdir -p $INSTALL_DIR
+
+rm $DIR/acados_repo/lib/*.json
+
+rm -rf $DIR/include $DIR/acados_template
+cp -r $DIR/acados_repo/include $DIR
+cp -r $DIR/acados_repo/lib $INSTALL_DIR
+cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
+#pip3 install -e $DIR/acados/interfaces/acados_template
+
+# build tera
+cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  cargo build --verbose --release --target aarch64-apple-darwin
+  cargo build --verbose --release --target x86_64-apple-darwin
+  lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
+else
+  cargo build --verbose --release
+fi
+cp target/release/t_renderer $INSTALL_DIR/

third_party/acados/include/acados/dense_qp/dense_qp_common.h

@@ -0,0 +1,147 @@
+/*
+ * 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_DENSE_QP_DENSE_QP_COMMON_H_
+#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_dense_qp.h"
+#include "hpipm/include/hpipm_d_dense_qp_res.h"
+#include "hpipm/include/hpipm_d_dense_qp_sol.h"
+// acados
+#include "acados/utils/types.h"
+
+typedef struct d_dense_qp_dim dense_qp_dims;
+typedef struct d_dense_qp dense_qp_in;
+typedef struct d_dense_qp_sol dense_qp_out;
+typedef struct d_dense_qp_res dense_qp_res;
+typedef struct d_dense_qp_res_ws dense_qp_res_ws;
+
+
+
+#ifndef QP_SOLVER_CONFIG_
+#define QP_SOLVER_CONFIG_
+typedef struct
+{
+    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *args);
+    void (*opts_update)(void *config, void *dims, void *args);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
+    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
+    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} qp_solver_config;
+#endif
+
+
+
+#ifndef QP_INFO_
+#define QP_INFO_
+typedef struct
+{
+    double solve_QP_time;
+    double condensing_time;
+    double interface_time;
+    double total_time;
+    int num_iter;
+    int t_computed;
+} qp_info;
+#endif
+
+
+
+/* config */
+//
+acados_size_t dense_qp_solver_config_calculate_size();
+//
+qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
+
+/* dims */
+//
+acados_size_t dense_qp_dims_calculate_size();
+//
+dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
+//
+void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
+//
+
+/* in */
+//
+acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
+
+/* out */
+//
+acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
+
+/* res */
+//
+acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
+//
+acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
+//
+void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
+//
+void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
+
+/* misc */
+//
+void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
+//
+void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
+//
+void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_

third_party/acados/include/acados/dense_qp/dense_qp_daqp.h

@@ -0,0 +1,110 @@
+/*
+ * 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_DENSE_QP_DENSE_QP_DAQP_H_
+#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// daqp
+#include "daqp/include/types.h"
+
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+
+typedef struct dense_qp_daqp_opts_
+{
+    DAQPSettings* daqp_opts;
+    int warm_start;
+} dense_qp_daqp_opts;
+
+
+typedef struct dense_qp_daqp_memory_
+{
+    double* lb_tmp;
+    double* ub_tmp;
+    int* idxb;
+    int* idxv_to_idxb;
+    int* idxs;
+    int* idxdaqp_to_idxs;
+
+    double* Zl;
+    double* Zu;
+    double* zl;
+    double* zu;
+    double* d_ls;
+    double* d_us;
+
+    double time_qp_solver_call;
+    int iter;
+    DAQPWorkspace * daqp_work;
+
+} dense_qp_daqp_memory;
+
+// opts
+acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+// memory 
+acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+// functions
+int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_daqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_

third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h

@@ -0,0 +1,91 @@
+/*
+ * 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_DENSE_QP_DENSE_QP_HPIPM_H_
+#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_dense_qp.h"
+#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
+#include "hpipm/include/hpipm_d_dense_qp_sol.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct dense_qp_hpipm_opts_
+{
+    struct d_dense_qp_ipm_arg *hpipm_opts;
+} dense_qp_hpipm_opts;
+
+
+
+typedef struct dense_qp_hpipm_memory_
+{
+    struct d_dense_qp_ipm_ws *hpipm_workspace;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_hpipm_memory;
+
+
+
+//
+acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
+//
+void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
+//
+acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
+//
+void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
+//
+int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_hpipm_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_

third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h

@@ -0,0 +1,125 @@
+/*
+ * 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_DENSE_QP_DENSE_QP_OOQP_H_
+#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+enum dense_qp_ooqp_termination_code
+{
+  DENSE_SUCCESSFUL_TERMINATION = 0,
+  DENSE_NOT_FINISHED,
+  DENSE_MAX_ITS_EXCEEDED,
+  DENSE_INFEASIBLE,
+  DENSE_UNKNOWN
+};
+
+typedef struct dense_qp_ooqp_opts_
+{
+    int printLevel;
+    int useDiagonalWeights;  // TODO(dimitris): implement option
+    int fixHessian;
+    int fixDynamics;
+    int fixInequalities;
+} dense_qp_ooqp_opts;
+
+typedef struct dense_qp_ooqp_workspace_
+{
+    double *x;
+    double *gamma;
+    double *phi;
+    double *y;
+    double *z;
+    double *lambda;
+    double *pi;
+    double objectiveValue;
+} dense_qp_ooqp_workspace;
+
+typedef struct dense_qp_ooqp_memory_
+{
+    int firstRun;
+    int nx;
+    int my;
+    int mz;
+    double *c;
+    double *dQ;
+    double *xlow;
+    char *ixlow;
+    double *xupp;
+    char *ixupp;
+    double *dA;
+    double *bA;
+    double *dC;
+    double *clow;
+    char *iclow;
+    double *cupp;
+    char *icupp;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_ooqp_memory;
+
+//
+acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
+//
+void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
+                                  void *raw_memory);
+//
+acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
+                  void *memory_, void *work_);
+//
+void dense_qp_ooqp_destroy(void *mem_, void *work);
+//
+void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_ooqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_

third_party/acados/include/acados/dense_qp/dense_qp_qore.h

@@ -0,0 +1,124 @@
+/*
+ * 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_DENSE_QP_DENSE_QP_QORE_H_
+#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// qore
+#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct dense_qp_qore_opts_
+{
+    int nsmax;       // maximum size of Schur complement
+    int print_freq;  // print frequency,
+                     // prtfreq  < 0: disable printing;
+                     // prtfreq == 0: print on each call and include working set changes;
+                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
+                     // changes;
+    int warm_start;  // warm start with updated matrices H and C
+    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
+                        // solution
+    int hot_start;      // hot start with unchanged matrices H and C
+    int max_iter;       // maximum number of iterations
+    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
+} dense_qp_qore_opts;
+
+typedef struct dense_qp_qore_memory_
+{
+    double *H;
+    double *HH;
+    double *g;
+    double *gg;
+    double *Zl;
+    double *Zu;
+    double *zl;
+    double *zu;
+    double *A;
+    double *b;
+    double *C;
+    double *CC;
+    double *Ct;
+    double *CCt;
+    double *d_lb0;
+    double *d_ub0;
+    double *d_lb;
+    double *d_ub;
+    double *d_lg;
+    double *d_ug;
+    double *d_ls;
+    double *d_us;
+    double *lb;
+    double *ub;
+    int *idxb;
+    int *idxb_stacked;
+    int *idxs;
+    double *prim_sol;
+    double *dual_sol;
+    QoreProblemDense *QP;
+    int num_iter;
+    dense_qp_in *qp_stacked;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_qore_memory;
+
+acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qore_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_

third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h

@@ -0,0 +1,126 @@
+/*
+ * 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_DENSE_QP_DENSE_QP_QPOASES_H_
+#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct dense_qp_qpoases_opts_
+{
+    double max_cputime;  // maximum cpu time in seconds
+    int max_nwsr;        // maximum number of working set recalculations
+    int warm_start;      // warm start with dual_sol in memory
+    int use_precomputed_cholesky;
+    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
+                   // with frozen sensitivities)
+    int set_acado_opts;  // use same options as in acado code generation
+    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
+    double tolerance;  // terminationTolerance
+} dense_qp_qpoases_opts;
+
+typedef struct dense_qp_qpoases_memory_
+{
+    double *H;
+    double *HH;
+    double *R;
+    double *g;
+    double *gg;
+    double *Zl;
+    double *Zu;
+    double *zl;
+    double *zu;
+    double *A;
+    double *b;
+    double *d_lb0;
+    double *d_ub0;
+    double *d_lb;
+    double *d_ub;
+    double *C;
+    double *CC;
+    double *d_lg0;
+    double *d_ug0;
+    double *d_lg;
+    double *d_ug;
+    double *d_ls;
+    double *d_us;
+    int *idxb;
+    int *idxb_stacked;
+    int *idxs;
+    double *prim_sol;
+    double *dual_sol;
+    void *QPB;       // NOTE(giaf): cast to QProblemB to use
+    void *QP;        // NOTE(giaf): cast to QProblem to use
+    double cputime;  // cputime of qpoases
+    int nwsr;        // performed number of working set recalculations
+    int first_it;    // to be used with hotstart
+    dense_qp_in *qp_stacked;
+    double time_qp_solver_call; // equal to cputime
+    int iter;
+
+} dense_qp_qpoases_memory;
+
+acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qpoases_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_

third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h

@@ -0,0 +1,446 @@
+/*
+ * 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.;
+ */
+
+
+
+/// \defgroup ocp_nlp ocp_nlp
+/// @{
+/// @}
+
+/// \defgroup ocp_nlp_solver ocp_nlp_solver
+/// @{
+/// @}
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \ingroup ocp_nlp_solver
+/// @{
+
+/// \defgroup ocp_nlp_common ocp_nlp_common
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct ocp_nlp_config
+{
+    int N;  // number of stages
+
+    // solver-specific implementations of memory management functions
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
+    void (*opts_update)(void *config, void *dims, void *opts_);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
+    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
+    // evaluate solver // TODO rename into solve
+    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
+                            char *field, int stage, int index, void *sens_nlp_out);
+    // prepare memory
+    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    // initalize this struct with default values
+    void (*config_initialize_default)(void *config);
+    // general getter
+    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
+    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
+    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
+    // config structs of submodules
+    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
+    ocp_nlp_dynamics_config **dynamics;
+    ocp_nlp_cost_config **cost;
+    ocp_nlp_constraints_config **constraints;
+    ocp_nlp_reg_config *regularize;
+
+} ocp_nlp_config;
+
+//
+acados_size_t ocp_nlp_config_calculate_size(int N);
+//
+ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+/// Structure to store dimensions/number of variables.
+typedef struct ocp_nlp_dims
+{
+    void **cost;
+    void **dynamics;
+    void **constraints;
+    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
+    ocp_nlp_reg_dims *regularize;
+
+    int *nv;  // number of primal variables (states+controls+slacks)
+    int *nx;  // number of differential states
+    int *nu;  // number of inputs
+    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
+    int *nz;  // number of algebraic variables
+    int *ns;  // number of slack variables
+    int N;    // number of shooting nodes
+
+    void *raw_memory; // Pointer to allocated memory, to be used for freeing
+} ocp_nlp_dims;
+
+//
+acados_size_t ocp_nlp_dims_calculate_size(void *config);
+//
+ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
+
+/// Sets the dimension of optimization variables
+/// (states, constrols, algebraic variables, slack variables).
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param field The type of optimization variables, either nx, nu, nz, or ns.
+/// \param value_array Number of variables for each stage.
+void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
+                               const char *field, const void* value_array);
+
+/// Sets the dimensions of constraints functions for a stage
+/// (bounds on states, bounds on controls, equality constraints,
+/// inequality constraints).
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
+/// \param value_field Number of constraints/bounds for the given stage.
+void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
+                                  const char *field, const void* value_field);
+
+/// Sets the dimensions of the cost terms for a stage.
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field Type of cost term, can be eiter ny.
+/// \param value_field Number of cost terms/residuals for the given stage.
+void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
+                           const void* value_field);
+
+/// Sets the dimensions of the dynamics for a stage.
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field TBD
+/// \param value TBD
+void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
+                               const void* value);
+
+/************************************************
+ * Inputs
+ ************************************************/
+
+/// Struct for storing the inputs of an OCP NLP solver
+typedef struct ocp_nlp_in
+{
+    /// Length of sampling intervals/timesteps.
+    double *Ts;
+
+    /// Pointers to cost functions (TBC).
+    void **cost;
+
+    /// Pointers to dynamics functions (TBC).
+    void **dynamics;
+
+    /// Pointers to constraints functions (TBC).
+    void **constraints;
+
+    /// Pointer to allocated memory, to be used for freeing.
+    void *raw_memory;
+
+} ocp_nlp_in;
+
+//
+acados_size_t ocp_nlp_in_calculate_size_self(int N);
+//
+acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
+//
+ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
+//
+ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
+
+
+/************************************************
+ * out
+ ************************************************/
+
+typedef struct ocp_nlp_out
+{
+    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
+    struct blasfeo_dvec *z;  // algebraic vairables
+    struct blasfeo_dvec *pi;  // multipliers for dynamics
+    struct blasfeo_dvec *lam;  // inequality mulitpliers
+    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
+
+    // NOTE: the inequalities are internally organized in the following order:
+    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+    double inf_norm_res;
+
+    void *raw_memory; // Pointer to allocated memory, to be used for freeing
+
+} ocp_nlp_out;
+
+//
+acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
+//
+ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                void *raw_memory);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+/// Globalization types
+typedef enum
+{
+    FIXED_STEP,
+    MERIT_BACKTRACKING,
+} ocp_nlp_globalization_t;
+
+typedef struct ocp_nlp_opts
+{
+    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
+    void *regularize;
+    void **dynamics;     // dynamics_opts
+    void **cost;         // cost_opts
+    void **constraints;  // constraints_opts
+    double step_length;  // step length in case of FIXED_STEP
+    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
+    int reuse_workspace;
+    int num_threads;
+    int print_level;
+
+    // TODO: move to separate struct?
+    ocp_nlp_globalization_t globalization;
+    int full_step_dual;
+    int line_search_use_sufficient_descent;
+    int globalization_use_SOC;
+    double alpha_min;
+    double alpha_reduction;
+    double eps_sufficient_descent;
+} ocp_nlp_opts;
+
+//
+acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
+
+
+/************************************************
+ * residuals
+ ************************************************/
+
+typedef struct ocp_nlp_res
+{
+    struct blasfeo_dvec *res_stat;  // stationarity
+    struct blasfeo_dvec *res_eq;  // dynamics
+    struct blasfeo_dvec *res_ineq;  // inequality constraints
+    struct blasfeo_dvec *res_comp;  // complementarity
+    struct blasfeo_dvec tmp;  // tmp
+    double inf_norm_res_stat;
+    double inf_norm_res_eq;
+    double inf_norm_res_ineq;
+    double inf_norm_res_comp;
+    acados_size_t memsize;
+} ocp_nlp_res;
+
+//
+acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
+//
+ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
+//
+void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct ocp_nlp_memory
+{
+//    void *qp_solver_mem; // xcond solver mem instead ???
+    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
+    void *regularize_mem;
+    void **dynamics;     // dynamics memory
+    void **cost;         // cost memory
+    void **constraints;  // constraints memory
+
+    // residuals
+    ocp_nlp_res *nlp_res;
+
+    // qp in & out
+    ocp_qp_in *qp_in;
+    ocp_qp_out *qp_out;
+    // QP stuff not entering the qp_in struct
+    struct blasfeo_dmat *dzduxt; // dzdux transposed
+    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
+
+    struct blasfeo_dvec *cost_grad;
+    struct blasfeo_dvec *ineq_fun;
+    struct blasfeo_dvec *ineq_adj;
+    struct blasfeo_dvec *dyn_fun;
+    struct blasfeo_dvec *dyn_adj;
+
+    double cost_value;
+
+    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
+    struct blasfeo_dvec *sim_guess;
+
+    int *sqp_iter; // pointer to iteration number
+
+} ocp_nlp_memory;
+
+//
+acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
+//
+ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                      ocp_nlp_opts *opts, void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct ocp_nlp_workspace
+{
+
+    void *qp_work;
+    void **dynamics;     // dynamics_workspace
+    void **cost;         // cost_workspace
+    void **constraints;  // constraints_workspace
+
+    // for globalization: -> move to module?!
+    ocp_nlp_out *tmp_nlp_out;
+    ocp_nlp_out *weight_merit_fun;
+    struct blasfeo_dvec tmp_nxu;
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dvec dxnext_dy;
+
+} ocp_nlp_workspace;
+
+//
+acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
+//
+ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
+
+
+
+/************************************************
+ * function
+ ************************************************/
+
+void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
+//
+int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
+            int check_early_termination);
+//
+double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
+                         ocp_nlp_res *res, ocp_nlp_memory *mem);
+//
+void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+/// @}
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h

@@ -0,0 +1,238 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+    int nb;  // nbx + nbu
+    int nbu; // number of input box constraints
+    int nbx; // number of state box constraints
+    int ng;  // number of general linear constraints
+    int nh;  // number of nonlinear path constraints
+    int ns;  // nsbu + nsbx + nsg + nsh
+    int nsbu;  // number of softened input bounds
+    int nsbx;  // number of softened state bounds
+    int nsg;  // number of softened general linear constraints
+    int nsh;  // number of softened nonlinear constraints
+    int nbue; // number of input box constraints which are equality
+    int nbxe; // number of state box constraints which are equality
+    int nge;  // number of general linear constraints which are equality
+    int nhe;  // number of nonlinear path constraints which are equality
+} ocp_nlp_constraints_bgh_dims;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
+//
+void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
+                                      const char *field, const int* value);
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    int *idxb;
+    int *idxs;
+    int *idxe;
+    struct blasfeo_dvec d;  // gathers bounds
+    struct blasfeo_dmat DCt;  // general linear constraint matrix
+            // lg <= [D, C] * [u; x] <= ug
+    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
+    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
+    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
+} ocp_nlp_constraints_bgh_model;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+//
+void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_constraints_bgh_opts;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
+    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
+    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
+    int *idxb;                   // pointer to idxb[ii] in qp_in
+    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
+    int *idxe;                   // pointer to idxe[ii] in qp_in
+} ocp_nlp_constraints_bgh_memory;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
+//
+void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat tmp_nz_nh;
+    struct blasfeo_dmat tmp_nv_nh;
+    struct blasfeo_dmat tmp_nz_nv;
+    struct blasfeo_dmat hess_z;
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dvec tmp_nh;
+} ocp_nlp_constraints_bgh_workspace;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/* functions */
+
+//
+void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
+//
+void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
+                                    void *mem, void *work);
+//
+void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+
+//
+void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h

@@ -0,0 +1,218 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/* dims */
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+    int nb;   // nbx + nbu
+    int nbu;
+    int nbx;
+    int ng;   // number of general linear constraints
+    int nphi; // dimension of convex outer part
+    int ns;   // nsbu + nsbx + nsg + nsphi
+    int nsbu; // number of softened input bounds
+    int nsbx; // number of softened state bounds
+    int nsg;  // number of softened general linear constraints
+    int nsphi;  // number of softened nonlinear constraints
+    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
+    int nbue; // number of input box constraints which are equality
+    int nbxe; // number of state box constraints which are equality
+    int nge;  // number of general linear constraints which are equality
+    int nphie;  // number of nonlinear path constraints which are equality
+} ocp_nlp_constraints_bgp_dims;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
+//
+void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+/* model */
+
+typedef struct
+{
+    //  ocp_nlp_constraints_bgp_dims *dims;
+    int *idxb;
+    int *idxs;
+    int *idxe;
+    struct blasfeo_dvec d;
+    struct blasfeo_dmat DCt;
+    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
+    external_function_generic *nl_constr_phi_o_r_fun;
+    external_function_generic *nl_constr_r_fun_jac;
+} ocp_nlp_constraints_bgp_model;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+//
+void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+/* options */
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_constraints_bgp_opts;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
+
+/* memory */
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
+    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
+    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
+    int *idxb;                   // pointer to idxb[ii] in qp_in
+    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
+    int *idxe;                   // pointer to idxe[ii] in qp_in
+} ocp_nlp_constraints_bgp_memory;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
+    void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
+//
+void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
+
+/* workspace */
+
+typedef struct
+{
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dmat jac_r_ux_tran;
+    struct blasfeo_dmat tmp_nr_nphi_nr;
+    struct blasfeo_dmat tmp_nv_nr;
+    struct blasfeo_dmat tmp_nv_nphi;
+    struct blasfeo_dmat tmp_nz_nphi;
+} ocp_nlp_constraints_bgp_workspace;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/* functions */
+
+//
+void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
+//
+void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
+        void *opts, void *mem, void *work);
+//
+void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
+        void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
+        void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
+        void *opts_, void *memory_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h

@@ -0,0 +1,108 @@
+/*
+ * 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.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
+    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config, void *opts, char *field, void *value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
+    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
+    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
+    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
+    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
+    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
+    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
+    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
+    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*config_initialize_default)(void *config);
+    // dimension setters
+    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
+} ocp_nlp_constraints_config;
+
+//
+acados_size_t ocp_nlp_constraints_config_calculate_size();
+//
+ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h

@@ -0,0 +1,107 @@
+/*
+ * 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.;
+ */
+
+
+///
+/// \defgroup ocp_nlp_cost ocp_nlp_cost
+///
+
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config, void *opts, const char *field, void *value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+	double *(*memory_get_fun_ptr)(void *memory);
+    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
+    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
+    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+
+    // computes the function value, gradient and hessian (approximation) of the cost function
+    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    // computes the cost function value (intended for globalization)
+    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*config_initialize_default)(void *config);
+    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+
+} ocp_nlp_cost_config;
+
+//
+acados_size_t ocp_nlp_cost_config_calculate_size();
+//
+ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h

@@ -0,0 +1,207 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
+/// \brief This module implements convex-over-nonlinear costs of the form
+/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_conl_dims;
+
+//
+acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    external_function_generic *conl_cost_fun;
+    external_function_generic *conl_cost_fun_jac_hess;
+    struct blasfeo_dvec y_ref;
+    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
+    struct blasfeo_dvec z;              // gradient of slacks as vector
+    double scaling;
+} ocp_nlp_cost_conl_model;
+
+//
+acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
+} ocp_nlp_cost_conl_opts;
+
+//
+acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+typedef struct
+{
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    double fun;                         ///< value of the cost function
+} ocp_nlp_cost_conl_memory;
+
+//
+acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat W;             // hessian of outer loss function
+    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
+    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
+    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
+    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
+    struct blasfeo_dmat tmp_nv_ny;
+    struct blasfeo_dvec tmp_ny;
+    struct blasfeo_dvec tmp_2ns;
+} ocp_nlp_cost_conl_workspace;
+
+//
+acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_conl_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+/// @}
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h

@@ -0,0 +1,187 @@
+/*
+ * 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_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_external_dims;
+
+//
+acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    external_function_generic *ext_cost_fun;  // function
+    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
+    external_function_generic *ext_cost_fun_jac;  // function, gradient
+    struct blasfeo_dvec Z;
+    struct blasfeo_dvec z;
+    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
+    double scaling;
+} ocp_nlp_cost_external_model;
+
+//
+acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
+} ocp_nlp_cost_external_opts;
+
+//
+acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_external_memory;
+
+//
+acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nunx_nunx;
+    struct blasfeo_dmat tmp_nz_nz;
+    struct blasfeo_dmat tmp_nz_nunx;
+    struct blasfeo_dvec tmp_nunxnz;
+    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
+} ocp_nlp_cost_external_workspace;
+
+//
+acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_external_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
+                                      void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
+                                               void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
+                                       void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_

third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h

@@ -0,0 +1,243 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
+/// \brief This module implements linear-least squares costs of the form
+/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
+/// @{
+
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     dims                                   //
+////////////////////////////////////////////////////////////////////////////////
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_ls_dims;
+
+
+///  Calculate the size of the ocp_nlp_cost_ls_dims struct
+///
+///  \param[in] config_ structure containing configuration of ocp_nlp_cost
+///  module
+///  \param[out] []
+///  \return \c size of ocp_nlp_dims struct
+acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
+
+
+///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
+///
+///  \param[in] config structure containing configuration of ocp_nlp_cost
+///  module
+///  \param[in] raw_memory pointer to memory location
+///  \param[out] []
+///  \return dims
+void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     model                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+/// structure containing the data describing the linear least-square cost
+typedef struct
+{
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
+    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
+    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
+    struct blasfeo_dvec y_ref;          ///< yref
+    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
+    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
+    double scaling;
+    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
+    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
+} ocp_nlp_cost_ls_model;
+
+//
+acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
+                              const char *field, void *value_);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                   options                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+typedef struct
+{
+    int dummy; // struct can't be void
+} ocp_nlp_cost_ls_opts;
+
+//
+acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     memory                                 //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+/// structure containing the memory associated with cost_ls component
+/// of the ocp_nlp module
+typedef struct
+{
+    struct blasfeo_dmat hess;           ///< hessian of cost function
+    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
+    struct blasfeo_dvec res;            ///< ls residual r(x)
+    struct blasfeo_dvec grad;           ///< gradient of cost function
+    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_ls_memory;
+
+//
+acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                 workspace                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
+    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
+    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
+    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
+    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
+} ocp_nlp_cost_ls_workspace;
+
+//
+acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                 functions                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+// computations that are done once when solver is created
+void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_ls_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
+                                void *mem_, void *work_);
+//
+void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
+                                        void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+/// @}
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h

@@ -0,0 +1,211 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
+/// \brief This module implements nonlinear-least squares costs of the form
+/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_nls_dims;
+
+//
+acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    external_function_generic *nls_y_fun;  // evaluation of nls function
+    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
+    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
+    struct blasfeo_dmat W;                //
+    struct blasfeo_dvec y_ref;
+    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
+    struct blasfeo_dvec z;              // gradient of slacks as vector
+    double scaling;
+    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
+} ocp_nlp_cost_nls_model;
+
+//
+acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    bool gauss_newton_hess;  // gauss-newton hessian approximation
+} ocp_nlp_cost_nls_opts;
+
+//
+acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
+    struct blasfeo_dmat Jt;      // jacobian of nls fun
+    struct blasfeo_dvec res;     // nls residual r(x)
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    double fun;                         ///< value of the cost function
+} ocp_nlp_cost_nls_memory;
+
+//
+acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_ny;
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat Vz;
+    struct blasfeo_dmat Cyt_tilde;
+    struct blasfeo_dvec tmp_ny;
+    struct blasfeo_dvec tmp_2ns;
+    struct blasfeo_dvec tmp_nz;
+} ocp_nlp_cost_nls_workspace;
+
+//
+acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_nls_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+/// @}
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h

@@ -0,0 +1,119 @@
+/*
+ * 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.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    void (*config_initialize_default)(void *config);
+    sim_config *sim_solver;
+    /* dims */
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
+    /* model */
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
+    /* opts */
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    /* memory */
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
+    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
+    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
+    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
+    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
+    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
+    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
+    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
+    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
+    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
+    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
+    /* workspace */
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+} ocp_nlp_dynamics_config;
+
+//
+acados_size_t ocp_nlp_dynamics_config_calculate_size();
+//
+ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h

@@ -0,0 +1,209 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+#include "acados_c/sim_interface.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    void *sim;
+    int nx;   // number of states at the current stage
+    int nz;   // number of algebraic states at the current stage
+    int nu;   // number of inputs at the current stage
+    int nx1;  // number of states at the next stage
+    int nu1;  // number of inputes at the next stage
+} ocp_nlp_dynamics_cont_dims;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
+//
+void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    void *sim_solver;
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_dynamics_cont_opts;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
+    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
+    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
+    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
+    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
+    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
+    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
+    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
+    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
+    struct blasfeo_dvec *sim_guess;     // initializations for integrator
+    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
+    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
+    void *sim_solver;                   // sim solver memory
+} ocp_nlp_dynamics_cont_memory;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat hess;
+    sim_in *sim_in;
+    sim_out *sim_out;
+    void *sim_solver;  // sim solver workspace
+} ocp_nlp_dynamics_cont_workspace;
+
+acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    void *sim_model;
+    // double *state_transition; // TODO
+    double T;  // simulation time
+} ocp_nlp_dynamics_cont_model;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
+//
+void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h

@@ -0,0 +1,192 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;   // number of states at the current stage
+    int nu;   // number of inputs at the current stage
+    int nx1;  // number of states at the next stage
+    int nu1;  // number of inputes at the next stage
+} ocp_nlp_dynamics_disc_dims;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
+//
+void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_dynamics_disc_opts;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
+//
+int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
+                                        void *mem_, void *work_);
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
+    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
+    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
+    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
+    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
+    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_dynamics_disc_memory;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+} ocp_nlp_dynamics_disc_workspace;
+
+acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    external_function_generic *disc_dyn_fun;
+    external_function_generic *disc_dyn_fun_jac;
+    external_function_generic *disc_dyn_fun_jac_hess;
+} ocp_nlp_dynamics_disc_model;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
+//
+void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h

@@ -0,0 +1,122 @@
+/*
+ * 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.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_reg ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+
+
+/* dims */
+
+//typedef ocp_qp_dims ocp_nlp_reg_dims;
+typedef struct
+{
+    int *nx;
+    int *nu;
+    int *nbu;
+    int *nbx;
+    int *ng;
+    int N;
+} ocp_nlp_reg_dims;
+
+//
+acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
+//
+ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
+//
+void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
+
+
+
+/* config */
+
+typedef struct
+{
+    /* dims */
+    acados_size_t (*dims_calculate_size)(int N);
+    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
+    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
+    /* opts */
+    acados_size_t (*opts_calculate_size)(void);
+    void *(*opts_assign)(void *raw_memory);
+    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
+    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
+    /* memory */
+    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
+    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
+    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
+    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    /* functions */
+    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
+    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
+} ocp_nlp_reg_config;
+
+//
+acados_size_t ocp_nlp_reg_config_calculate_size(void);
+//
+void *ocp_nlp_reg_config_assign(void *raw_memory);
+
+
+
+/* regularization help functions */
+void acados_reconstruct_A(int dim, double *A, double *V, double *d);
+void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
+void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h

@@ -0,0 +1,146 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double delta;
+    double epsilon;
+//    double gamma; // 0.0
+} ocp_nlp_reg_convexify_opts;
+
+//
+acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct {
+    double *R;
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+    double *reg_hess; // TODO move to workspace
+
+    struct blasfeo_dmat Q_tilde;
+    struct blasfeo_dmat Q_bar;
+    struct blasfeo_dmat BAQ;
+    struct blasfeo_dmat L;
+    struct blasfeo_dmat delta_eye;
+    struct blasfeo_dmat St_copy;
+
+    struct blasfeo_dmat *original_RSQrq;
+    struct blasfeo_dmat tmp_RSQ;
+
+	struct blasfeo_dvec tmp_nuxM;
+	struct blasfeo_dvec tmp_nbgM;
+
+//    struct blasfeo_dvec grad;
+//    struct blasfeo_dvec b2;
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
+    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
+    struct blasfeo_dvec **b;  // pointer to b in qp_in
+    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
+    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
+    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
+    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
+	int **idxb; // pointer to idxb in qp_in
+
+} ocp_nlp_reg_convexify_memory;
+
+//
+acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h

@@ -0,0 +1,121 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double epsilon;
+} ocp_nlp_reg_mirror_opts;
+
+//
+acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_mirror_memory;
+
+//
+acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h

@@ -0,0 +1,106 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+
+/************************************************
+ * options
+ ************************************************/
+
+//
+acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+//
+acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+// not needed
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h

@@ -0,0 +1,121 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double epsilon;
+} ocp_nlp_reg_project_opts;
+
+//
+acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_project_memory;
+
+//
+acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h

@@ -0,0 +1,132 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double thr_eig;
+    double min_eig;
+    double min_pivot;
+	int pivoting;
+} ocp_nlp_reg_project_reduc_hess_opts;
+
+//
+acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat L; // TODO move to workspace
+    struct blasfeo_dmat L2; // TODO move to workspace
+    struct blasfeo_dmat L3; // TODO move to workspace
+    struct blasfeo_dmat Ls; // TODO move to workspace
+    struct blasfeo_dmat P; // TODO move to workspace
+    struct blasfeo_dmat AL; // TODO move to workspace
+
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_project_reduc_hess_memory;
+
+//
+acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h

@@ -0,0 +1,170 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_solver
+/// @{
+/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_opts *nlp_opts;
+    double tol_stat;     // exit tolerance on stationarity condition
+    double tol_eq;       // exit tolerance on equality constraints
+    double tol_ineq;     // exit tolerance on inequality constraints
+    double tol_comp;     // exit tolerance on complementarity condition
+    int max_iter;
+    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
+    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
+    bool warm_start_first_qp; // to set qp_warm_start in first iteration
+    int rti_phase;       // only phase 0 at the moment 
+    int initialize_t_slacks;  // 0-false or 1-true
+
+} ocp_nlp_sqp_opts;
+
+//
+acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    // nlp memory
+    ocp_nlp_memory *nlp_mem;
+
+    double time_qp_sol;
+    double time_qp_solver_call;
+    double time_qp_xcond;
+    double time_lin;
+    double time_reg;
+    double time_tot;
+    double time_glob;
+    double time_sim;
+    double time_sim_la;
+    double time_sim_ad;
+    double time_solution_sensitivities;
+
+    // statistics
+    double *stat;
+    int stat_m;
+    int stat_n;
+
+    int status;
+    int sqp_iter;
+
+} ocp_nlp_sqp_memory;
+
+//
+acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+    void *opts_, void *mem_, void *work_);
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_workspace *nlp_work;
+
+    // temp QP in & out (to be used as workspace in param sens)
+    ocp_qp_in *tmp_qp_in;
+    ocp_qp_out *tmp_qp_out;
+
+    // qp residuals
+    ocp_qp_res *qp_res;
+    ocp_qp_res_ws *qp_res_ws;
+
+} ocp_nlp_sqp_workspace;
+
+//
+acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
+                void *args, void *mem, void *work_);
+//
+void ocp_nlp_sqp_config_initialize_default(void *config_);
+//
+int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+                void *opts_, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+/// @}
+/// @}
+/// @}

third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h

@@ -0,0 +1,163 @@
+/*
+ * 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.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_solver
+/// @{
+/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_opts *nlp_opts;
+    int compute_dual_sol;
+    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
+    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
+    bool warm_start_first_qp; // to set qp_warm_start in first iteration
+    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
+
+} ocp_nlp_sqp_rti_opts;
+
+//
+acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
+//
+void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
+//
+void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
+//
+void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
+//
+void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
+    const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    // nlp memory
+    ocp_nlp_memory *nlp_mem;
+
+    double time_qp_sol;
+    double time_qp_solver_call;
+    double time_qp_xcond;
+    double time_lin;
+    double time_reg;
+    double time_tot;
+    double time_glob;
+    double time_solution_sensitivities;
+
+    // statistics
+    double *stat;
+    int stat_m;
+    int stat_n;
+
+    int status;
+
+} ocp_nlp_sqp_rti_memory;
+
+//
+acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
+//
+void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
+    void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_workspace *nlp_work;
+
+    // temp QP in & out (to be used as workspace in param sens)
+    ocp_qp_in *tmp_qp_in;
+    ocp_qp_out *tmp_qp_out;
+
+    // qp residuals
+    ocp_qp_res *qp_res;
+    ocp_qp_res_ws *qp_res_ws;
+
+
+} ocp_nlp_sqp_rti_workspace;
+
+//
+acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+//
+int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+    void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
+//
+int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+/// @}
+/// @}
+/// @}

third_party/acados/include/acados/ocp_qp/ocp_qp_common.h

@@ -0,0 +1,180 @@
+/*
+ * 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_OCP_QP_OCP_QP_COMMON_H_
+#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp.h"
+#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
+#include "hpipm/include/hpipm_d_ocp_qp_res.h"
+#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
+// acados
+#include "acados/utils/types.h"
+
+
+
+typedef struct d_ocp_qp_dim ocp_qp_dims;
+typedef struct d_ocp_qp ocp_qp_in;
+typedef struct d_ocp_qp_sol ocp_qp_out;
+typedef struct d_ocp_qp_res ocp_qp_res;
+typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
+
+
+
+#ifndef QP_SOLVER_CONFIG_
+#define QP_SOLVER_CONFIG_
+typedef struct
+{
+    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} qp_solver_config;
+#endif
+
+
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config, int N);
+    void *(*dims_assign)(void *config, int N, void *raw_memory);
+    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
+    void (*dims_get)(void *config, void *dims, const char *field, void* value);
+    // TODO add config everywhere !!!!!
+    acados_size_t (*opts_calculate_size)(void *dims);
+    void *(*opts_assign)(void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *dims, void *opts);
+    void (*opts_update)(void *dims, void *opts);
+    void (*opts_set)(void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
+    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config, void *mem, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
+    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} ocp_qp_xcond_config;
+
+
+
+/// Struct containing metrics of the qp solver.
+#ifndef QP_INFO_
+#define QP_INFO_
+typedef struct
+{
+    double solve_QP_time;
+    double condensing_time;
+    double interface_time;
+    double total_time;
+    int num_iter;
+    int t_computed;
+} qp_info;
+#endif
+
+
+
+/* config */
+//
+acados_size_t ocp_qp_solver_config_calculate_size();
+//
+qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
+//
+acados_size_t ocp_qp_condensing_config_calculate_size();
+//
+ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
+
+
+/* dims */
+//
+acados_size_t ocp_qp_dims_calculate_size(int N);
+//
+ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
+//
+void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
+//
+void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
+
+
+/* in */
+//
+acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
+
+
+/* out */
+//
+acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
+
+/* res */
+//
+acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
+//
+acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
+//
+void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
+
+
+/* misc */
+//
+void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
+//
+void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
+//
+void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h

@@ -0,0 +1,118 @@
+/*
+ * 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_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
+#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+typedef struct
+{
+    int N;
+    int *nx;
+    int *nu;
+    int *nb;
+    int *nc;
+    double **A;
+    double **B;
+    double **b;
+    double **Q;
+    double **S;
+    double **R;
+    double **q;
+    double **r;
+    int **idxb;
+    double **lb;
+    double **ub;
+    double **Cx;
+    double **Cu;
+    double **lc;
+    double **uc;
+} colmaj_ocp_qp_in;
+
+typedef struct
+{
+    double **x;
+    double **u;
+    double **pi;
+    double **lam;
+} colmaj_ocp_qp_out;
+
+typedef struct
+{
+    double **res_r;
+    double **res_q;
+    double **res_ls;
+    double **res_us;
+    double **res_b;
+    double **res_d_lb;
+    double **res_d_ub;
+    double **res_d_lg;
+    double **res_d_ug;
+    double **res_d_ls;
+    double **res_d_us;
+    double **res_m_lb;
+    double **res_m_ub;
+    double **res_m_lg;
+    double **res_m_ug;
+    double **res_m_ls;
+    double **res_m_us;
+    double res_nrm_inf[4];
+} colmaj_ocp_qp_res;
+
+//
+acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
+//
+acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
+//
+acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
+//
+void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
+//
+void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
+//
+void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h

@@ -0,0 +1,114 @@
+/*
+ * 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_OCP_QP_OCP_QP_FULL_CONDENSING_H_
+#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_red.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    ocp_qp_dims *red_dims; // dims of reduced qp
+    dense_qp_dims *fcond_dims;
+} ocp_qp_full_condensing_dims;
+
+
+
+typedef struct ocp_qp_full_condensing_opts_
+{
+    struct d_cond_qp_arg *hpipm_cond_opts;
+    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
+//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
+    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
+    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
+    int ric_alg;
+    int mem_qp_in; // allocate qp_in in memory
+} ocp_qp_full_condensing_opts;
+
+
+
+typedef struct ocp_qp_full_condensing_memory_
+{
+    struct d_cond_qp_ws *hpipm_cond_work;
+    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
+    // in memory
+    dense_qp_in *fcond_qp_in;
+    dense_qp_out *fcond_qp_out;
+    ocp_qp_in *red_qp; // reduced qp
+    ocp_qp_out *red_sol; // reduced qp sol
+    // only pointer
+    ocp_qp_in *ptr_qp_in;
+    qp_info *qp_out_info; // info in fcond_qp_in
+    double time_qp_xcond;
+} ocp_qp_full_condensing_memory;
+
+
+
+//
+acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
+//
+void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
+//
+void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
+//
+void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
+//
+void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
+//
+acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
+//
+void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
+//
+int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
+//
+int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
+//
+void ocp_qp_full_condensing_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h

@@ -0,0 +1,100 @@
+/*
+ * 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_OCP_QP_OCP_QP_HPIPM_H_
+#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+// struct of arguments to the solver
+// TODO(roversch): why not make this a typedef of the underlying struct?
+typedef struct ocp_qp_hpipm_opts_
+{
+    struct d_ocp_qp_ipm_arg *hpipm_opts;
+} ocp_qp_hpipm_opts;
+
+
+
+// TODO(roversch): why not make this a typedef of the underlying struct?
+// struct of the solver memory
+typedef struct ocp_qp_hpipm_memory_
+{
+    struct d_ocp_qp_ipm_ws *hpipm_workspace;
+    double time_qp_solver_call;
+    int iter;
+    int status;
+
+} ocp_qp_hpipm_memory;
+
+
+
+//
+acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
+//
+void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
+//
+acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_config_initialize_default(void *config);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h

@@ -0,0 +1,127 @@
+/*
+ * 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_OCP_QP_OCP_QP_HPMPC_H_
+#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
+
+typedef struct ocp_qp_hpmpc_opts_
+{
+    double tol;
+    int max_iter;
+    double mu0;
+    double alpha_min;
+    int warm_start;
+    int N2;  // horizion length of the partially condensed problem
+
+    // partial tightening
+    double sigma_mu;
+    int N;
+    int M;
+} ocp_qp_hpmpc_opts;
+
+// struct of the solver memory
+typedef struct ocp_qp_hpmpc_memory_
+{
+    struct blasfeo_dvec *hpi;
+    double *stats;
+
+    // workspace
+    void *hpmpc_work;  // raw workspace
+
+    // partial tightening-specific (init of extra variables)
+    struct blasfeo_dvec *lam0;
+    struct blasfeo_dvec *ux0;
+    struct blasfeo_dvec *pi0;
+    struct blasfeo_dvec *t0;
+
+    // 2. workspace
+    struct blasfeo_dmat *hsL;
+    struct blasfeo_dmat *hsric_work_mat;
+    struct blasfeo_dmat sLxM;
+    struct blasfeo_dmat sPpM;
+
+    struct blasfeo_dvec *hsQx;
+    struct blasfeo_dvec *hsqx;
+    struct blasfeo_dvec *hstinv;
+    struct blasfeo_dvec *hsrq;
+    struct blasfeo_dvec *hsdux;
+
+    struct blasfeo_dvec *hsdlam;
+    struct blasfeo_dvec *hsdt;
+    struct blasfeo_dvec *hsdpi;
+    struct blasfeo_dvec *hslamt;
+
+    struct blasfeo_dvec *hsPb;
+
+    void *work_ric;
+
+    int out_iter;
+
+    double time_qp_solver_call;
+    int iter;
+    int status;
+
+} ocp_qp_hpmpc_memory;
+
+acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpmpc_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h

@@ -0,0 +1,144 @@
+/*
+ * 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_OCP_QP_OCP_QP_OOQP_H_
+#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+enum ocp_qp_ooqp_termination_code
+{
+  SPARSE_SUCCESSFUL_TERMINATION = 0,
+  SPARSE_NOT_FINISHED,
+  SPARSE_MAX_ITS_EXCEEDED,
+  SPARSE_INFEASIBLE,
+  SPARSE_UNKNOWN
+};
+
+typedef struct ocp_qp_ooqp_opts_
+{
+    int printLevel;
+    int useDiagonalWeights;  // TODO(dimitris): implement option
+    int fixHessian;
+    int fixHessianSparsity;
+    int fixDynamics;
+    int fixDynamicsSparsity;
+    int fixInequalities;
+    int fixInequalitiesSparsity;
+} ocp_qp_ooqp_opts;
+
+typedef struct ocp_qp_ooqp_workspace_
+{
+    double *x;
+    double *gamma;
+    double *phi;
+    double *y;
+    double *z;
+    double *lambda;
+    double *pi;
+    double objectiveValue;
+    int *tmpInt;    // temporary vector to sort indicies sparse matrices
+    double *tmpReal;  // temporary vector to sort data of sparse matrices
+    // int ierr;
+} ocp_qp_ooqp_workspace;
+
+typedef struct ocp_qp_ooqp_memory_
+{
+    int firstRun;
+    double *c;
+    int nx;
+    int *irowQ;
+    int nnzQ;
+    int *jcolQ;
+    int *orderQ;
+    double *dQ;
+    double *xlow;
+    char *ixlow;
+    double *xupp;
+    char *ixupp;
+    int *irowA;
+    int nnzA;
+    int *jcolA;
+    int *orderA;
+    double *dA;
+    double *bA;
+    int my;
+    int *irowC;
+    int nnzC;
+    int *jcolC;
+    int *orderC;
+    double *dC;
+    double *clow;
+    int mz;
+    char *iclow;
+    double *cupp;
+    char *icupp;
+    int nnz;  // max(nnzQ, nnzA, nnzC)
+    double time_qp_solver_call;
+    int iter;
+    int status;
+
+} ocp_qp_ooqp_memory;
+
+//
+acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
+                void *work_);
+//
+void ocp_qp_ooqp_destroy(void *mem_, void *work);
+//
+void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_ooqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h

@@ -0,0 +1,103 @@
+/*
+ * 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_OCP_QP_OCP_QP_OSQP_H_
+#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// osqp
+#include "osqp/include/types.h"
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct ocp_qp_osqp_opts_
+{
+    OSQPSettings *osqp_opts;
+} ocp_qp_osqp_opts;
+
+
+typedef struct ocp_qp_osqp_memory_
+{
+    c_int first_run;
+
+    c_float *q;
+    c_float *l;
+    c_float *u;
+
+    c_int P_nnzmax;
+    c_int *P_i;
+    c_int *P_p;
+    c_float *P_x;
+
+    c_int A_nnzmax;
+    c_int *A_i;
+    c_int *A_p;
+    c_float *A_x;
+
+    OSQPData *osqp_data;
+    OSQPWorkspace *osqp_work;
+
+    double time_qp_solver_call;
+    int iter;
+    int status;
+
+} ocp_qp_osqp_memory;
+
+acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
+//
+acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_osqp_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h

@@ -0,0 +1,120 @@
+/*
+ * 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_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
+#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_red.h"
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    ocp_qp_dims *red_dims; // dims of reduced qp
+    ocp_qp_dims *pcond_dims;
+    int *block_size;
+    int N2;
+    int N2_bkp;
+} ocp_qp_partial_condensing_dims;
+
+
+
+typedef struct ocp_qp_partial_condensing_opts_
+{
+    struct d_part_cond_qp_arg *hpipm_pcond_opts;
+    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
+//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
+//    int *block_size;
+    int N2;
+    int N2_bkp;
+//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
+    int ric_alg;
+    int mem_qp_in; // allocate qp_in in memory
+} ocp_qp_partial_condensing_opts;
+
+
+
+typedef struct ocp_qp_partial_condensing_memory_
+{
+    struct d_part_cond_qp_ws *hpipm_pcond_work;
+    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
+    // in memory
+    ocp_qp_in *pcond_qp_in;
+    ocp_qp_out *pcond_qp_out;
+    ocp_qp_in *red_qp; // reduced qp
+    ocp_qp_out *red_sol; // reduced qp sol
+    // only pointer
+    ocp_qp_in *ptr_qp_in;
+    ocp_qp_in *ptr_pcond_qp_in;
+    qp_info *qp_out_info; // info in pcond_qp_in
+    double time_qp_xcond;
+} ocp_qp_partial_condensing_memory;
+
+
+
+//
+acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
+//
+void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
+//
+void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
+//
+void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
+//
+void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
+//
+acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
+//
+void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
+//
+acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
+//
+int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
+//
+int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
+//
+void ocp_qp_partial_condensing_config_initialize_default(void *config_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h

@@ -0,0 +1,119 @@
+/*
+ * 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_OCP_QP_OCP_QP_QPDUNES_H_
+#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "qpDUNES.h"
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef enum qpdunes_options_t_ {
+    QPDUNES_DEFAULT_ARGUMENTS,
+    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
+    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
+    QPDUNES_ACADO_SETTINGS
+} qpdunes_options_t;
+
+typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
+
+typedef struct ocp_qp_qpdunes_opts_
+{
+    qpOptions_t options;
+    qpdunes_stage_qp_solver_t stageQpSolver;
+    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
+    bool isLinearMPC;
+} ocp_qp_qpdunes_opts;
+
+typedef struct ocp_qp_qpdunes_memory_
+{
+    int firstRun;
+    int nx;
+    int nu;
+    int nz;
+    int nDmax;  // max(dims->ng)
+    qpData_t qpData;
+    double time_qp_solver_call;
+    int iter;
+    int status;
+
+} ocp_qp_qpdunes_memory;
+
+typedef struct ocp_qp_qpdunes_workspace_
+{
+    double *H;
+    double *Q;
+    double *R;
+    double *S;
+    double *g;
+    double *ABt;
+    double *b;
+    double *Ct;
+    double *lc;
+    double *uc;
+    double *zLow;
+    double *zUpp;
+} ocp_qp_qpdunes_workspace;
+
+//
+acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
+                   void *work_);
+//
+void ocp_qp_qpdunes_free_memory(void *mem_);
+//
+void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_qpdunes_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_

third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h

@@ -0,0 +1,150 @@
+/*
+ * 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_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
+#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    void *xcond_dims;
+} ocp_qp_xcond_solver_dims;
+
+
+
+typedef struct ocp_qp_xcond_solver_opts_
+{
+    void *xcond_opts;
+    void *qp_solver_opts;
+} ocp_qp_xcond_solver_opts;
+
+
+
+typedef struct ocp_qp_xcond_solver_memory_
+{
+    void *xcond_memory;
+    void *solver_memory;
+    void *xcond_qp_in;
+    void *xcond_qp_out;
+} ocp_qp_xcond_solver_memory;
+
+
+
+typedef struct ocp_qp_xcond_solver_workspace_
+{
+    void *xcond_work;
+    void *qp_solver_work;
+} ocp_qp_xcond_solver_workspace;
+
+
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config, int N);
+    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
+    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
+    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
+    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
+    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
+    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
+    ocp_qp_xcond_config *xcond;
+} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
+
+
+
+/* config */
+//
+acados_size_t ocp_qp_xcond_solver_config_calculate_size();
+//
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
+
+/* dims */
+//
+acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
+//
+void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+
+/* opts */
+//
+acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
+//
+void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
+//
+void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
+
+/* memory */
+//
+acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
+
+/* workspace */
+//
+acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+/* config */
+//
+int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
+
+//
+void ocp_qp_xcond_solver_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_

third_party/acados/include/acados/sim/sim_collocation_utils.h

@@ -0,0 +1,97 @@
+/*
+ * 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_SIM_COLLOCATION_UTILS_H_
+#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+
+
+// enum Newton_type_collocation
+// {
+//     exact = 0,
+//     simplified_in,
+//     simplified_inis
+// };
+
+
+
+// typedef struct
+// {
+//     enum Newton_type_collocation type;
+//     double *eig;
+//     double *low_tria;
+//     bool single;
+//     bool freeze;
+
+//     double *transf1;
+//     double *transf2;
+
+//     double *transf1_T;
+//     double *transf2_T;
+// } Newton_scheme;
+
+
+typedef enum
+{
+    GAUSS_LEGENDRE,
+    GAUSS_RADAU_IIA,
+} sim_collocation_type;
+
+
+//
+// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
+//
+// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
+//
+// acados_size_t gauss_simplified_work_calculate_size(int ns);
+// //
+// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
+//
+acados_size_t butcher_tableau_work_calculate_size(int ns);
+//
+// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
+//
+void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
+                               double *b_vec, double *A_mat, void *work);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_

third_party/acados/include/acados/sim/sim_common.h

@@ -0,0 +1,221 @@
+/*
+ * 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_SIM_COMMON_H_
+#define ACADOS_SIM_SIM_COMMON_H_
+
+#include <stdbool.h>
+
+#include "acados/sim/sim_collocation_utils.h"
+#include "acados/utils/timing.h"
+#include "acados/utils/types.h"
+
+#include "acados/utils/external_function_generic.h"
+
+// maximum number of integration stages
+#define NS_MAX 15
+
+
+
+typedef enum
+{
+    // ERK and LIFTED_ERK
+    EXPL_ODE_FUN,
+    EXPL_ODE_HES,  // wrt x and u ???
+    EXPL_VDE_FOR,
+    EXPL_VDE_ADJ,
+    // IRK
+    IMPL_ODE_FUN,
+    IMPL_ODE_FUN_JAC_X_XDOT,
+    IMPL_ODE_JAC_X_XDOT_U,
+    IMPL_ODE_FUN_JAC_X_XDOT_U,
+    IMPL_ODE_HESS,
+    // gnsf
+    PHI_FUN,
+    PHI_FUN_JAC_Y,
+    PHI_JAC_Y_UHAT,
+    LO_FUN,
+    GET_GNSF_MATRICES
+} sim_function_t;
+
+
+
+typedef struct
+{
+    void *dims;
+
+    double *x;  // x[NX] - initial state value for simulation
+    double *u;  // u[NU] - control - constant over simulation time
+
+    double *S_forw;  // forward seed [Sx, Su]
+    double *S_adj;   // backward seed
+
+    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
+
+    void *model;
+
+    double T;  // simulation time
+
+} sim_in;
+
+
+
+typedef struct
+{
+    double CPUtime;  // in seconds
+    double LAtime;   // in seconds
+    double ADtime;   // in seconds
+
+} sim_info;
+
+
+
+typedef struct
+{
+    double *xn;      // xn[NX]
+    double *S_forw;  // S_forw[NX*(NX+NU)]
+    double *S_adj;   //
+    double *S_hess;  //
+
+    double *zn;           // z - algebraic variables - reported at start of simulation interval
+    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
+                          // initial stat & control (x_n,u)
+
+    double *grad;  // gradient correction
+
+    sim_info *info;
+
+} sim_out;
+
+
+
+typedef struct
+{
+    int ns;  // number of integration stages
+
+    int num_steps;
+    int num_forw_sens;
+
+    int tableau_size;  // check that is consistent with ns
+            // only update when butcher tableau is changed
+            // kind of private -> no setter!
+    double *A_mat;
+    double *c_vec;
+    double *b_vec;
+
+    bool sens_forw;
+    bool sens_adj;
+    bool sens_hess;
+
+    bool output_z;        // 1 -- if zn should be computed
+    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
+    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
+    sim_collocation_type collocation_type;
+
+    // for explicit integrators: newton_iter == 0 && scheme == NULL
+    // && jac_reuse=false
+    int newton_iter;
+    bool jac_reuse;
+    // Newton_scheme *scheme;
+
+    double newton_tol; // optinally used in implicit integrators
+
+    // workspace
+    void *work;
+
+} sim_opts;
+
+
+
+typedef struct
+{
+    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
+    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
+    // opts
+    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
+    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
+    void (*opts_update)(void *config_, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
+    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
+    // mem
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
+    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
+    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
+    // work
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    // model
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *model, const char *field, void *value);
+    // config
+    void (*config_initialize_default)(void *config);
+    // dims
+    acados_size_t (*dims_calculate_size)();
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
+    void (*dims_get)(void *config, void *dims, const char *field, int *value);
+
+} sim_config;
+
+
+
+/* config */
+//
+acados_size_t sim_config_calculate_size();
+//
+sim_config *sim_config_assign(void *raw_memory);
+
+/* in */
+//
+acados_size_t sim_in_calculate_size(void *config, void *dims);
+//
+sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+
+/* out */
+//
+acados_size_t sim_out_calculate_size(void *config, void *dims);
+//
+sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
+
+/* opts */
+//
+void sim_opts_set_(sim_opts *opts, const char *field, void *value);
+//
+void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
+
+#endif  // ACADOS_SIM_SIM_COMMON_H_

third_party/acados/include/acados/sim/sim_erk_integrator.h

@@ -0,0 +1,140 @@
+/*
+ * 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_SIM_ERK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+} sim_erk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // explicit ode
+    external_function_generic *expl_ode_fun;
+    // hessian explicit ode
+    external_function_generic *expl_ode_hes;
+    // forward explicit vde
+    external_function_generic *expl_vde_for;
+    // adjoint explicit vde
+    external_function_generic *expl_vde_adj;
+
+} erk_model;
+
+
+
+typedef struct
+{
+	// memory
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+	// workspace structs
+} sim_erk_memory;
+
+
+
+typedef struct
+{
+	// workspace mem
+    double *rhs_forw_in;  // x + S + p
+
+    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
+    double *out_forw_traj;  // S or (steps+1)*nX for adj
+
+    double *rhs_adj_in;
+    double *out_adj_tmp;
+    double *adj_traj;
+
+} sim_erk_workspace;
+
+
+
+// dims
+acados_size_t sim_erk_dims_calculate_size();
+void *sim_erk_dims_assign(void *config_, void *raw_memory);
+void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
+void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// model
+acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
+void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
+int sim_erk_model_set(void *model, const char *field, void *value);
+
+// opts
+acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
+//
+void sim_erk_opts_update(void *config_, void *dims, void *opts_);
+//
+void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+
+// memory
+acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
+
+
+// workspace
+acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
+
+//
+int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
+//
+void sim_erk_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_

third_party/acados/include/acados/sim/sim_gnsf.h

@@ -0,0 +1,364 @@
+/*
+ * 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_SIM_GNSF_H_
+#define ACADOS_SIM_SIM_GNSF_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+
+#include "acados/utils/timing.h"
+#include "acados/utils/types.h"
+#include "acados/sim/sim_common.h"
+
+#include "blasfeo/include/blasfeo_common.h"
+// #include "blasfeo/include/blasfeo_d_aux.h"
+// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+// #include "blasfeo/include/blasfeo_d_blas.h"
+// #include "blasfeo/include/blasfeo_d_kernel.h"
+// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
+// #include "blasfeo/include/blasfeo_target.h"
+
+/* 
+GNSF - Generalized Nonlinear Static Feedback Model
+has the following form
+https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
+
+Details on the algorithm can be found in master thesis of Jonathan Frey,
+which presents a slightly different format without the terms B_LO, c_LO.
+https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
+https://cdn.syscop.de/publications/Frey2018.pdf
+https://cdn.syscop.de/publications/Frey2019.pdf
+*/
+
+typedef struct
+{
+    int nx; // total number of differential states
+    int nu; // total number of inputs
+    int nz; // total number of algebraic states
+    int nx1; // number of differential states in NSF part
+    int nz1; // number of algebraic states in NSF part
+    int n_out; // output dimension of phi
+    int ny; // dimension of first input of phi
+    int nuhat; // dimension of second input of phi
+
+} sim_gnsf_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // phi: nonlinearity function
+    external_function_generic *phi_fun;
+    external_function_generic *phi_fun_jac_y;
+    external_function_generic *phi_jac_y_uhat;
+
+    // f_lo: linear output function
+    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
+
+    // to import model matrices
+    external_function_generic *get_gnsf_matrices;
+
+    // flag indicating, if model defining matrices are imported via external (casadi) function,
+    //    [default]: true -> auto;
+    bool auto_import_gnsf;
+
+    // booleans from structure detection
+    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
+    bool fully_linear; // indicates if model is fully linear LOS
+
+    /* model defining matrices */
+    // TODO: add setters to set manually
+    double *A;
+    double *B;
+    double *C;
+    double *E;
+
+    double *L_x;
+    double *L_xdot;
+    double *L_z;
+    double *L_u;
+
+    double *A_LO;
+    double *B_LO;
+    double *E_LO;
+
+    /* constant vector */
+    double *c;
+    double *c_LO;
+
+    // permutation vector - to have GNSF order of x, z within sim_gnsf only
+    int *ipiv_x;
+    int *ipiv_z;
+
+    double *ipiv_x_double;
+    double *ipiv_z_double;
+
+} gnsf_model;
+
+
+
+// pre_workspace - workspace used in the precomputation phase
+typedef struct
+{
+    struct blasfeo_dmat E11;
+    struct blasfeo_dmat E12;
+    struct blasfeo_dmat E21;
+    struct blasfeo_dmat E22;
+
+    struct blasfeo_dmat A1;
+    struct blasfeo_dmat A2;
+    struct blasfeo_dmat B1;
+    struct blasfeo_dmat B2;
+    struct blasfeo_dmat C1;
+    struct blasfeo_dmat C2;
+
+    struct blasfeo_dmat AA1;
+    struct blasfeo_dmat AA2;
+    struct blasfeo_dmat BB1;
+    struct blasfeo_dmat BB2;
+    struct blasfeo_dmat CC1;
+    struct blasfeo_dmat CC2;
+    struct blasfeo_dmat DD1;
+    struct blasfeo_dmat DD2;
+    struct blasfeo_dmat EE1;
+    struct blasfeo_dmat EE2;
+
+    struct blasfeo_dmat QQ1;
+
+    struct blasfeo_dmat LLZ;
+    struct blasfeo_dmat LLx;
+    struct blasfeo_dmat LLK;
+
+    int *ipivEE1;  // index of pivot vector
+    int *ipivEE2;
+    int *ipivQQ1;
+
+    // for algebraic sensitivity propagation
+    struct blasfeo_dmat Q1;
+
+    // for constant term in NSF
+    struct blasfeo_dvec cc1;
+    struct blasfeo_dvec cc2;
+
+} gnsf_pre_workspace;
+
+
+
+// workspace
+typedef struct
+{
+    double *Z_work;  // used to perform computations to get out->zn
+
+    int *ipiv;  // index of pivot vector
+
+    struct blasfeo_dvec *vv_traj;
+    struct blasfeo_dvec *yy_traj;
+    struct blasfeo_dmat *f_LO_jac_traj;
+
+    struct blasfeo_dvec K2_val;
+    struct blasfeo_dvec x0_traj;
+    struct blasfeo_dvec res_val;
+    struct blasfeo_dvec u0;
+    struct blasfeo_dvec lambda;
+    struct blasfeo_dvec lambda_old;
+
+    struct blasfeo_dvec yyu;
+    struct blasfeo_dvec yyss;
+
+    struct blasfeo_dvec K1_val;
+    struct blasfeo_dvec f_LO_val;
+    struct blasfeo_dvec x1_stage_val;
+    struct blasfeo_dvec Z1_val;
+
+    struct blasfeo_dvec K1u;
+    struct blasfeo_dvec Zu;
+    struct blasfeo_dvec ALOtimesx02;
+    struct blasfeo_dvec BLOtimesu0;
+
+    struct blasfeo_dvec uhat;
+
+    struct blasfeo_dmat J_r_vv;
+    struct blasfeo_dmat J_r_x1u;
+
+    struct blasfeo_dmat dK1_dx1;
+    struct blasfeo_dmat dK1_du;
+    struct blasfeo_dmat dZ_dx1;
+    struct blasfeo_dmat dZ_du;
+    struct blasfeo_dmat J_G2_K1;
+
+    struct blasfeo_dmat dK2_dx1;
+    struct blasfeo_dmat dK2_dvv;
+    struct blasfeo_dmat dxf_dwn;
+    struct blasfeo_dmat S_forw_new;
+    struct blasfeo_dmat S_algebraic_aux;
+
+    struct blasfeo_dmat dPsi_dvv;
+    struct blasfeo_dmat dPsi_dx;
+    struct blasfeo_dmat dPsi_du;
+
+    struct blasfeo_dmat dPHI_dyuhat;
+    struct blasfeo_dvec z0;
+
+    // memory only available if (opts->sens_algebraic)
+    // struct blasfeo_dvec y_one_stage;
+    // struct blasfeo_dvec x0dot_1;
+    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
+    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
+    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
+    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
+    // int *ipiv_vv0;
+
+} gnsf_workspace;
+
+
+
+// memory
+typedef struct
+{
+    bool first_call;
+
+    // simulation time for one step
+    double dt;
+
+    // (scaled) butcher table
+    double *A_dt;
+    double *b_dt;
+    double *c_butcher;
+
+    // value used to initialize integration variables - corresponding to value of phi
+    double *phi_guess;  //  n_out
+
+    struct blasfeo_dmat S_forw;
+    struct blasfeo_dmat S_algebraic;
+
+    // precomputed matrices
+    struct blasfeo_dmat KKv;
+    struct blasfeo_dmat KKx;
+    struct blasfeo_dmat KKu;
+
+    struct blasfeo_dmat YYv;
+    struct blasfeo_dmat YYx;
+    struct blasfeo_dmat YYu;
+
+    struct blasfeo_dmat ZZv;
+    struct blasfeo_dmat ZZx;
+    struct blasfeo_dmat ZZu;
+
+    struct blasfeo_dmat ALO;
+    struct blasfeo_dmat BLO;
+    struct blasfeo_dmat M2_LU;
+    int *ipivM2;
+
+    struct blasfeo_dmat dK2_dx2;
+    struct blasfeo_dmat dK2_du;
+    struct blasfeo_dmat dx2f_dx2u;
+
+    struct blasfeo_dmat Lu;
+
+    // precomputed vectors for constant term in NSF
+    struct blasfeo_dvec KK0;
+    struct blasfeo_dvec YY0;
+    struct blasfeo_dvec ZZ0;
+
+    // for algebraic sensitivities only;
+    // struct blasfeo_dmat *Z0x;
+    // struct blasfeo_dmat *Z0u;
+    // struct blasfeo_dmat *Z0v;
+
+    // struct blasfeo_dmat *Y0x;
+    // struct blasfeo_dmat *Y0u;
+    // struct blasfeo_dmat *Y0v;
+
+    // struct blasfeo_dmat *K0x;
+    // struct blasfeo_dmat *K0u;
+    // struct blasfeo_dmat *K0v;
+
+    // struct blasfeo_dmat *ELO_LU;
+    // int *ipiv_ELO;
+    // struct blasfeo_dmat *ELO_inv_ALO;
+
+    // struct blasfeo_dmat *Lx;
+    // struct blasfeo_dmat *Lxdot;
+    // struct blasfeo_dmat *Lz;
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+} sim_gnsf_memory;
+
+
+
+// gnsf dims
+acados_size_t sim_gnsf_dims_calculate_size();
+void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
+
+// get & set functions
+void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// opts
+acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
+void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
+void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
+void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
+void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+// model
+acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
+void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
+int sim_gnsf_model_set(void *model_, const char *field, void *value);
+
+// precomputation
+int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
+                       void *work_);
+
+// workspace & memory
+acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
+acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
+void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
+
+// interface
+void sim_gnsf_config_initialize_default(void *config_);
+
+// integrator
+int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_GNSF_H_

third_party/acados/include/acados/sim/sim_irk_integrator.h

@@ -0,0 +1,183 @@
+/*
+ * 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_SIM_IRK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+#include "blasfeo/include/blasfeo_common.h"
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+
+} sim_irk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // implicit fun - can either be fully implicit ode or dae
+    //          - i.e. dae has z as additional last argument & nz > 0
+    external_function_generic *impl_ode_fun;
+    // implicit ode & jac_x & jax_xdot & jac_z
+    external_function_generic *impl_ode_fun_jac_x_xdot_z;
+    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
+    external_function_generic *impl_ode_jac_x_xdot_u_z;
+    // hessian of implicit ode:
+    external_function_generic *impl_ode_hess;
+} irk_model;
+
+
+
+typedef struct
+{
+    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
+    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
+    struct blasfeo_dvec *xt;        // temporary x
+    struct blasfeo_dvec *xn;        // x at each integration step
+    struct blasfeo_dvec xtdot;      // temporary xdot
+
+    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
+    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
+
+    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
+    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
+    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
+    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
+
+    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
+
+    // only allocated if (opts->sens_algebraic || opts->output_z)
+    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
+    double *Z_work;  // used to perform computations to get out->zn (ns)
+
+    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
+    //      used for algebraic sensitivity generation
+    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
+    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
+
+    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
+    //                                  to store intermediate results
+    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
+
+    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
+    //                                  to store intermediate results
+    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
+
+    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
+    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
+
+    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
+    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
+
+    // ipiv: index of pivot vector
+    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
+    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
+    //              pivot vectors for dG_dxu
+    int *ipiv;  // index of pivot vector
+
+    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
+    struct blasfeo_dvec *xn_traj;  // xn trajectory
+    struct blasfeo_dvec *K_traj;   // K trajectory
+
+    /* the following variables are only available if (opts->sens_hess) */
+    // For Hessian propagation
+    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
+    // output of impl_ode_hess
+    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
+    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
+    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
+
+} sim_irk_workspace;
+
+
+typedef struct
+{
+    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
+    double *z;     // z[NZ] - initialization for algebraic variables z
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+} sim_irk_memory;
+
+
+// get & set functions
+void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// dims
+acados_size_t sim_irk_dims_calculate_size();
+void *sim_irk_dims_assign(void *config_, void *raw_memory);
+
+// model
+acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
+void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
+int sim_irk_model_set(void *model, const char *field, void *value);
+
+// opts
+acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
+void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
+void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
+void sim_irk_opts_update(void *config_, void *dims, void *opts_);
+void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+// memory
+acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
+void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
+
+// workspace
+acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
+void sim_irk_config_initialize_default(void *config);
+
+// main
+int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_

third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h

@@ -0,0 +1,157 @@
+/*
+ * 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_SIM_LIFTED_IRK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+} sim_lifted_irk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // implicit ode
+    external_function_generic *impl_ode_fun;
+    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
+    external_function_generic *impl_ode_fun_jac_x_xdot_u;
+
+} lifted_irk_model;
+
+
+
+typedef struct
+{
+
+    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
+    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
+    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
+
+    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
+    struct blasfeo_dvec *xt;      // temporary x
+    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
+    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
+    struct blasfeo_dvec *dxn;     // dx at each integration step
+    struct blasfeo_dvec *w;       // stacked x and u
+
+    int *ipiv;  // index of pivot vector
+
+} sim_lifted_irk_workspace;
+
+
+
+typedef struct
+{
+    // memory for lifted integrators
+    struct blasfeo_dmat *S_forw;    // forward sensitivities
+    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
+    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
+    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
+
+    struct blasfeo_dvec *K;         // internal variables (nx*ns)
+    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
+    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
+
+    int update_sens;
+    // int init_K;
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+} sim_lifted_irk_memory;
+
+
+
+/* dims */
+void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+acados_size_t sim_lifted_irk_dims_calculate_size();
+//
+void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
+
+/* model */
+//
+acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
+//
+void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
+
+/* opts */
+//
+acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
+//
+void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
+//
+void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+/* memory */
+//
+acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+
+/* workspace */
+//
+acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+void sim_lifted_irk_config_initialize_default(void *config);
+
+/* solver */
+//
+int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
+        void *mem_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_

third_party/acados/include/acados/utils/external_function_generic.h

@@ -0,0 +1,242 @@
+/*
+ * 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_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
+#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+/************************************************
+ * generic external function
+ ************************************************/
+
+// type of arguments
+typedef enum {
+    COLMAJ,
+    BLASFEO_DMAT,
+    BLASFEO_DVEC,
+    COLMAJ_ARGS,
+    BLASFEO_DMAT_ARGS,
+    BLASFEO_DVEC_ARGS,
+    IGNORE_ARGUMENT
+} ext_fun_arg_t;
+
+struct colmaj_args
+{
+    double *A;
+    int lda;
+};
+
+struct blasfeo_dmat_args
+{
+    struct blasfeo_dmat *A;
+    int ai;
+    int aj;
+};
+
+struct blasfeo_dvec_args
+{
+    struct blasfeo_dvec *x;
+    int xi;
+};
+
+// prototype of an external function
+typedef struct
+{
+    // public members (have to be before private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+    // private members
+    // .....
+} external_function_generic;
+
+
+
+/************************************************
+ * generic external parametric function
+ ************************************************/
+
+// prototype of a parametric external function
+typedef struct
+{
+    // public members for core (have to be before private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+	// public members for interfaces
+    void (*get_nparam)(void *, int *);
+    void (*set_param)(void *, double *);
+    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*fun)(void **, void **, void *);
+    double *p;  // parameters
+    int np;     // number of parameters
+    // .....
+} external_function_param_generic;
+
+//
+acados_size_t external_function_param_generic_struct_size();
+//
+void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
+//
+acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
+//
+void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
+//
+void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
+//
+void external_function_param_generic_get_nparam(void *self, int *np);
+//
+void external_function_param_generic_set_param(void *self, double *p);
+
+
+/************************************************
+ * casadi external function
+ ************************************************/
+
+typedef struct
+{
+    // public members (have to be the same as in the prototype, and before the private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*casadi_fun)(const double **, double **, int *, double *, void *);
+    int (*casadi_work)(int *, int *, int *, int *);
+    const int *(*casadi_sparsity_in)(int);
+    const int *(*casadi_sparsity_out)(int);
+    int (*casadi_n_in)(void);
+    int (*casadi_n_out)(void);
+    double **args;
+    double **res;
+    double *w;
+    int *iw;
+    int *args_size;     // size of args[i]
+    int *res_size;      // size of res[i]
+    int args_num;       // number of args arrays
+    int args_size_tot;  // total size of args arrays
+    int res_num;        // number of res arrays
+    int res_size_tot;   // total size of res arrays
+    int in_num;         // number of input arrays
+    int out_num;        // number of output arrays
+    int iw_size;        // number of ints for worksapce
+    int w_size;         // number of doubles for workspace
+} external_function_casadi;
+
+//
+acados_size_t external_function_casadi_struct_size();
+//
+void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_work(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
+//
+acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
+//
+void external_function_casadi_assign(external_function_casadi *fun, void *mem);
+//
+void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
+                                      ext_fun_arg_t *type_out, void **out);
+
+/************************************************
+ * casadi external parametric function
+ ************************************************/
+
+typedef struct
+{
+    // public members for core (have to be the same as in the prototype, and before the private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+	// public members for interfaces
+    void (*get_nparam)(void *, int *);
+    void (*set_param)(void *, double *);
+    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*casadi_fun)(const double **, double **, int *, double *, void *);
+    int (*casadi_work)(int *, int *, int *, int *);
+    const int *(*casadi_sparsity_in)(int);
+    const int *(*casadi_sparsity_out)(int);
+    int (*casadi_n_in)(void);
+    int (*casadi_n_out)(void);
+    double **args;
+    double **res;
+    double *w;
+    int *iw;
+    int *args_size;     // size of args[i]
+    int *res_size;      // size of res[i]
+    int args_num;       // number of args arrays
+    int args_size_tot;  // total size of args arrays
+    int res_num;        // number of res arrays
+    int res_size_tot;   // total size of res arrays
+    int in_num;         // number of input arrays
+    int out_num;        // number of output arrays
+    int iw_size;        // number of ints for worksapce
+    int w_size;         // number of doubles for workspace
+    int np;             // number of parameters
+} external_function_param_casadi;
+
+//
+acados_size_t external_function_param_casadi_struct_size();
+//
+void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
+//
+acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
+//
+void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
+//
+void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
+                                            ext_fun_arg_t *type_out, void **out);
+//
+void external_function_param_casadi_get_nparam(void *self, int *np);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_

third_party/acados/include/acados/utils/math.h

@@ -0,0 +1,103 @@
+/*
+ * 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_UTILS_MATH_H_
+#define ACADOS_UTILS_MATH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+#if defined(__MABX2__)
+double fmax(double a, double b);
+int isnan(double x);
+#endif
+
+#define MIN(a,b) (((a)<(b))?(a):(b))
+#define MAX(a,b) (((a)>(b))?(a):(b))
+
+void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
+// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
+// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
+// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
+void daxpy_3l(int n, double da, double *dx, double *dy);
+void dscal_3l(int n, double da, double *dx);
+double twonormv(int n, double *ptrv);
+
+/* copies a matrix into another matrix */
+void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
+
+/* solution of a system of linear equations */
+void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
+
+/* matrix exponential */
+void expm(int row, double *A);
+
+int idamax_3l(int n, double *x);
+
+void dswap_3l(int n, double *x, int incx, double *y, int incy);
+
+void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
+             int lda);
+
+void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
+
+void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
+
+void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
+
+void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
+
+void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
+
+double onenorm(int row, int col, double *ptrA);
+
+// double twonormv(int n, double *ptrv);
+
+void padeapprox(int m, int row, double *A);
+
+void expm(int row, double *A);
+
+// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
+//                                      int *nvd, int *ned, int *nbd, int *ngd);
+
+void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
+
+double minimum_of_doubles(double *x, int n);
+
+void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_MATH_H_

third_party/acados/include/acados/utils/mem.h

@@ -0,0 +1,110 @@
+/*
+ * 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_UTILS_MEM_H_
+#define ACADOS_UTILS_MEM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include <stdbool.h>
+
+#include "types.h"
+
+// blasfeo
+#include "blasfeo/include/blasfeo_d_aux.h"
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+
+// TODO(dimitris): probably does not belong here
+typedef struct
+{
+    int (*fun)(void *);
+    acados_size_t (*calculate_args_size)(void *);
+    void *(*assign_args)(void *);
+    void (*initialize_default_args)(void *);
+    acados_size_t (*calculate_memory_size)(void *);
+    void *(*assign_memory)(void *);
+    acados_size_t (*calculate_workspace_size)(void *);
+} module_solver;
+
+// make int counter of memory multiple of a number (typically 8 or 64)
+void make_int_multiple_of(acados_size_t num, acados_size_t *size);
+
+// align char pointer to number (typically 8 for pointers and doubles,
+// 64 for blasfeo structs) and return offset
+int align_char_to(int num, char **c_ptr);
+
+// switch between malloc and calloc (for valgrinding)
+void *acados_malloc(size_t nitems, acados_size_t size);
+
+// uses always calloc
+void *acados_calloc(size_t nitems, acados_size_t size);
+
+// allocate vector of pointers to vectors of doubles and advance pointer
+void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
+
+// allocate vector of pointers to vectors of ints and advance pointer
+void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
+
+// allocate vector of pointers to strvecs and advance pointer
+void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
+
+// allocate vector of pointers to strmats and advance pointer
+void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
+
+// allocate vector of pointers to vector of pointers to strmats and advance pointer
+void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
+
+// allocate vector of chars and advance pointer
+void assign_and_advance_char(int n, char **v, char **ptr);
+
+// allocate vector of ints and advance pointer
+void assign_and_advance_int(int n, int **v, char **ptr);
+
+// allocate vector of bools and advance pointer
+void assign_and_advance_bool(int n, bool **v, char **ptr);
+
+// allocate vector of doubles and advance pointer
+void assign_and_advance_double(int n, double **v, char **ptr);
+
+// allocate strvec and advance pointer
+void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
+
+// allocate strmat and advance pointer
+void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_MEM_H_

third_party/acados/include/acados/utils/print.h

@@ -0,0 +1,110 @@
+/*
+ * 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_UTILS_PRINT_H_
+#define ACADOS_UTILS_PRINT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_common_frontend.h"
+#include "acados/utils/types.h"
+
+// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
+
+// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
+//                        const int_t ncols);
+
+// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
+
+// void print_array(char *file_name, real_t *array, int_t size);
+
+// void print_int_array(char *file_name, const int_t *array, int_t size);
+
+void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
+
+void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
+
+// ocp nlp
+// TODO(andrea): inconsistent naming
+void ocp_nlp_dims_print(ocp_nlp_dims *dims);
+// TODO(andrea): inconsistent naming
+void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
+// TODO(andrea): inconsistent naming
+void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
+
+// ocp qp
+// TODO: move printing routines below that print qp structures to HPIPM!
+void print_ocp_qp_dims(ocp_qp_dims *dims);
+
+// void print_dense_qp_dims(dense_qp_dims *dims);
+
+void print_ocp_qp_in(ocp_qp_in *qp_in);
+
+void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
+
+void print_ocp_qp_out(ocp_qp_out *qp_out);
+
+void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
+
+void print_ocp_qp_res(ocp_qp_res *qp_res);
+
+void print_dense_qp_in(dense_qp_in *qp_in);
+// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
+
+// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
+
+// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
+
+// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
+
+// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
+
+void print_qp_info(qp_info *info);
+
+// void acados_warning(char warning_string[]);
+
+// void acados_error(char error_string[]);
+
+// void acados_not_implemented(char feature_string[]);
+
+// blasfeo
+// void print_blasfeo_target();
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_PRINT_H_

third_party/acados/include/acados/utils/strsep.h

@@ -0,0 +1,69 @@
+/*
+ * 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_UTILS_STRSEP_H_
+#define ACADOS_UTILS_STRSEP_H_
+
+#ifdef __cplusplus
+#include <string>
+#define STD(x) std::x
+namespace std
+{
+#else
+#include <string.h>
+#define STD(x) x
+#endif
+
+char* strsep_acados(char** stringp, const char* delim)
+{
+    char* result;
+
+    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
+
+    result = *stringp;
+
+    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
+
+    if (**stringp)
+        *(*stringp)++ = '\0';
+    else
+        *stringp = NULL;
+
+    return result;
+}
+
+#ifdef __cplusplus
+}  // namespace std
+#endif
+
+#undef STD
+
+#endif  // ACADOS_UTILS_STRSEP_H_

third_party/acados/include/acados/utils/timing.h

@@ -0,0 +1,122 @@
+/*
+ * 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_UTILS_TIMING_H_
+#define ACADOS_UTILS_TIMING_H_
+
+#include "acados/utils/types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef MEASURE_TIMINGS
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+/* Use Windows QueryPerformanceCounter for timing. */
+#include <Windows.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    LARGE_INTEGER tic;
+    LARGE_INTEGER toc;
+    LARGE_INTEGER freq;
+} acados_timer;
+
+#elif defined(__APPLE__)
+
+#include <mach/mach_time.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    uint64_t tic;
+    uint64_t toc;
+    mach_timebase_info_data_t tinfo;
+} acados_timer;
+
+#elif defined(__MABX2__)
+
+#include <brtenv.h>
+
+typedef struct acados_timer_
+{
+    double time;
+} acados_timer;
+
+#else
+
+/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+#include <time.h>
+
+#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
+
+#include <sys/stat.h>
+#include <sys/time.h>
+
+typedef struct acados_timer_
+{
+    struct timeval tic;
+    struct timeval toc;
+} acados_timer;
+
+#else  // ANSI C Mode
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    struct timespec tic;
+    struct timespec toc;
+} acados_timer;
+
+#endif  // __STDC_VERSION__ >= 199901L
+
+#endif  // (defined _WIN32 || defined _WIN64)
+
+#else
+
+// Dummy type when timings are off
+typedef real_t acados_timer;
+
+#endif  // MEASURE_TIMINGS
+
+/** A function for measurement of the current time. */
+void acados_tic(acados_timer* t);
+
+/** A function which returns the elapsed time. */
+real_t acados_toc(acados_timer* t);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TIMING_H_

third_party/acados/include/acados/utils/types.h

@@ -0,0 +1,91 @@
+/*
+ * 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_UTILS_TYPES_H_
+#define ACADOS_UTILS_TYPES_H_
+
+/* Symbol visibility in DLLs */
+#ifndef ACADOS_SYMBOL_EXPORT
+  #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+    #if defined(STATIC_LINKED)
+      #define ACADOS_SYMBOL_EXPORT
+    #else
+      #define ACADOS_SYMBOL_EXPORT __declspec(dllexport)
+    #endif
+  #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
+    #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
+  #else
+    #define ACADOS_SYMBOL_EXPORT
+  #endif
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+
+#define MAX_STR_LEN 256
+#define ACADOS_EPS 1e-12
+#define ACADOS_NEG_INFTY -1.0e9
+#define ACADOS_POS_INFTY +1.0e9
+#define UNUSED(x) ((void)(x))
+
+
+
+typedef double real_t;
+typedef int int_t;
+typedef size_t acados_size_t;
+
+
+typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
+
+
+
+// enum of return values
+enum return_values
+{
+    ACADOS_SUCCESS,
+    ACADOS_NAN_DETECTED,
+    ACADOS_MAXITER,
+    ACADOS_MINSTEP,
+    ACADOS_QP_FAILURE,
+    ACADOS_READY,
+};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TYPES_H_

third_party/acados/include/acados_c/condensing_interface.h

@@ -0,0 +1,81 @@
+/*
+ * 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_CONDENSING_INTERFACE_H_
+#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_full_condensing.h"
+#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
+
+typedef enum {
+    PARTIAL_CONDENSING,
+    FULL_CONDENSING,
+} condensing_t;
+
+typedef struct
+{
+    condensing_t condensing_type;
+} condensing_plan;
+
+typedef struct
+{
+    ocp_qp_xcond_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} condensing_module;
+
+ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
+//
+void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
+//
+acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
+//
+condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
+                                            void *opts_, void *raw_memory);
+//
+condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
+                                            void *opts_);
+//
+int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
+//
+int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_

third_party/acados/include/acados_c/dense_qp_interface.h

@@ -0,0 +1,91 @@
+/*
+ * 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_

third_party/acados/include/acados_c/external_function_interface.h

@@ -0,0 +1,89 @@
+/*
+ * 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_EXTERNAL_FUNCTION_INTERFACE_H_
+#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/external_function_generic.h"
+
+
+
+/************************************************
+ * generic external parametric function
+ ************************************************/
+
+//
+void external_function_param_generic_create(external_function_param_generic *fun, int np);
+//
+void external_function_param_generic_free(external_function_param_generic *fun);
+
+
+
+/************************************************
+ * casadi external function
+ ************************************************/
+
+//
+void external_function_casadi_create(external_function_casadi *fun);
+//
+void external_function_casadi_free(external_function_casadi *fun);
+//
+void external_function_casadi_create_array(int size, external_function_casadi *funs);
+//
+void external_function_casadi_free_array(int size, external_function_casadi *funs);
+
+
+
+/************************************************
+ * casadi external parametric function
+ ************************************************/
+
+//
+void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
+//
+void external_function_param_casadi_free(external_function_param_casadi *fun);
+//
+void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
+                                                 int np);
+//
+void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_

third_party/acados/include/acados_c/ocp_nlp_interface.h

@@ -0,0 +1,428 @@
+/*
+ * 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_NLP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
+#include "acados/sim/sim_erk_integrator.h"
+#include "acados/sim/sim_irk_integrator.h"
+#include "acados/sim/sim_lifted_irk_integrator.h"
+#include "acados/sim/sim_gnsf.h"
+#include "acados/utils/types.h"
+// acados_c
+#include "acados_c/ocp_qp_interface.h"
+#include "acados_c/sim_interface.h"
+
+
+/// Solution methods for optimal control problems.
+typedef enum
+{
+    SQP,
+    SQP_RTI,
+    INVALID_NLP_SOLVER,
+} ocp_nlp_solver_t;
+
+
+/// Types of the cost function.
+typedef enum
+{
+    LINEAR_LS,
+    NONLINEAR_LS,
+    CONVEX_OVER_NONLINEAR,
+    EXTERNAL,
+    INVALID_COST,
+} ocp_nlp_cost_t;
+
+
+/// Types of the system dynamics, discrete or continuous time.
+typedef enum
+{
+    CONTINUOUS_MODEL,
+    DISCRETE_MODEL,
+    INVALID_DYNAMICS,
+} ocp_nlp_dynamics_t;
+
+
+/// Constraint types
+typedef enum
+{
+    /// Comprises simple bounds, polytopic constraints,
+    /// general non-linear constraints.
+    BGH,
+
+    /// Comprises simple bounds, polytopic constraints,
+    /// general non-linear constraints, and positive definite constraints.
+    BGP,
+
+    INVALID_CONSTRAINT,
+} ocp_nlp_constraints_t;
+
+
+/// Regularization types
+typedef enum
+{
+    NO_REGULARIZE,
+    MIRROR,
+    PROJECT,
+    PROJECT_REDUC_HESS,
+    CONVEXIFY,
+    INVALID_REGULARIZE,
+} ocp_nlp_reg_t;
+
+
+/// Structure to store the configuration of a non-linear program
+typedef struct ocp_nlp_plan_t
+{
+    /// QP solver configuration.
+    ocp_qp_solver_plan_t ocp_qp_solver_plan;
+
+    /// Simulation solver configuration for each stage.
+    sim_solver_plan_t *sim_solver_plan;
+
+    /// Nlp solver type.
+    ocp_nlp_solver_t nlp_solver;
+
+    /// Regularization type, defaults to no regularization.
+    ocp_nlp_reg_t regularization;
+
+    /// Cost type for each stage.
+    ocp_nlp_cost_t *nlp_cost;
+
+    /// Dynamics type for each stage.
+    ocp_nlp_dynamics_t *nlp_dynamics;
+
+    /// Constraints type for each stage.
+    ocp_nlp_constraints_t *nlp_constraints;
+
+    /// Horizon length.
+    int N;
+
+} ocp_nlp_plan_t;
+
+
+/// Structure to store the state/configuration for the non-linear programming solver
+typedef struct ocp_nlp_solver
+{
+    ocp_nlp_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} ocp_nlp_solver;
+
+
+/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
+/// default/invalid state.
+///
+/// \param N Horizon length
+ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
+
+/// Destructor for plan struct, frees memory.
+///
+/// \param plan_ The plan struct to destroy.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_);
+
+
+/// Constructs an nlp configuration struct from a plan.
+///
+/// \param plan The plan (user nlp configuration).
+ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
+
+/// Desctructor of the nlp configuration.
+///
+/// \param config_ The configuration struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_);
+
+
+/// Constructs an struct that contains the dimensions of the variables.
+///
+/// \param config_ The configuration struct.
+ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
+
+/// Destructor of The dimension struct.
+///
+/// \param dims_ The dimension struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_);
+
+
+/// Constructs an input struct for a non-linear programs.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the inputs struct.
+///
+/// \param in The inputs struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in);
+
+
+/// Sets the sampling times for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field Has to be "Ts" (TBC other options).
+/// \param value The sampling times (floating point).
+ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
+        const char *field, void *value);
+
+///
+// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
+//         const char *field, void *value);
+
+/// Sets the function pointers to the dynamics functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param fun_type The name of the function type, either impl_ode_fun,
+///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
+/// \param fun_ptr Function pointer to the dynamics function.
+ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int stage, const char *fun_type, void *fun_ptr);
+
+
+/// Sets the function pointers to the cost functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either nls_res_jac,
+///     y_ref, W (others TBC)
+/// \param value Cost values.
+ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int stage, const char *field, void *value);
+
+
+/// Sets the function pointers to the constraints functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either lb, ub (others TBC)
+/// \param value Constraints function or values.
+ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in, int stage, const char *field, void *value);
+
+///
+ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in, int stage, const char *field, void *value);
+
+/* out */
+
+/// Constructs an output struct for the non-linear program.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the output struct.
+///
+/// \param out The output struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out);
+
+
+/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param out The output struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either x, u, pi.
+/// \param value Initialization values.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value);
+
+
+/// Gets values of fields in the output struct of an nlp solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param out The output struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either x, u, z, pi.
+/// \param value Pointer to the output memory.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value);
+
+//
+ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value);
+
+// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
+ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field);
+
+ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+/* opts */
+
+/// Creates an options struct for the non-linear program.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the options.
+///
+/// \param opts The options struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts);
+
+/// Sets an option.
+///
+/// \param config The configuration struct.
+/// \param opts_ The options struct.
+/// \param field Name of the option.
+/// \param value Value of the option.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
+
+
+// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value);
+
+
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
+
+
+/// TBC
+/// Updates the options.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
+
+
+/* solver */
+
+/// Creates an ocp solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+/// \return The solver.
+ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
+
+/// Destructor of the solver.
+///
+/// \param solver The solver struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver);
+
+/// Solves the optimal control problem. Call ocp_nlp_precompute before
+/// calling this functions (TBC).
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+
+/// Resets the memory of the QP solver
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+/// Performs precomputations for the solver. Needs to be called before
+/// ocl_nlp_solve (TBC).
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+/// Computes cost function value.
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+/// Computes the residuals.
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+//
+ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
+
+/* get */
+/// \param config The configuration struct.
+/// \param solver The solver struct.
+/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
+/// \param return_value_ Pointer to the output memory.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
+        const char *field, void *return_value_);
+
+/* set */
+/// Sets the initial guesses for the integrator for the given stage.
+///
+/// \param config The configuration struct.
+/// \param solver The ocp_nlp_solver struct.
+/// \param stage Stage number.
+/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
+/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
+ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_

third_party/acados/include/acados_c/ocp_qp_interface.h

@@ -0,0 +1,263 @@
+/*
+ * 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_

third_party/acados/include/acados_c/sim_interface.h

@@ -0,0 +1,137 @@
+/*
+ * 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_SIM_INTERFACE_H_
+#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+
+
+
+typedef enum
+{
+    ERK,
+    IRK,
+    GNSF,
+    LIFTED_IRK,
+    INVALID_SIM_SOLVER,
+} sim_solver_t;
+
+
+
+typedef struct
+{
+    sim_solver_t sim_solver;
+} sim_solver_plan_t;
+
+
+
+typedef struct
+{
+    sim_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} sim_solver;
+
+
+
+/* config */
+//
+ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan);
+//
+ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config);
+
+/* dims */
+//
+ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_);
+//
+ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims);
+//
+ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
+//
+ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
+//
+ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
+
+/* in */
+//
+ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims);
+//
+ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out);
+//
+ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+
+
+/* out */
+//
+ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims);
+//
+ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out);
+//
+ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
+
+/* opts */
+//
+ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims);
+//
+ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts);
+//
+ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
+//
+ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
+
+/* solver */
+//
+ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
+//
+ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
+//
+ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
+//
+ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver);
+//
+ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
+//
+ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
+//
+ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_

third_party/acados/include/blasfeo/include/blasfeo.h

@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#include "blasfeo_processor_features.h"
+#include "blasfeo_target.h"
+#include "blasfeo_block_size.h"
+#include "blasfeo_stdlib.h"
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux.h"
+#include "blasfeo_d_aux_ext_dep.h"
+#include "blasfeo_d_kernel.h"
+#include "blasfeo_d_blas.h"
+#include "blasfeo_s_aux.h"
+#include "blasfeo_s_aux_ext_dep.h"
+#include "blasfeo_s_kernel.h"
+#include "blasfeo_s_blas.h"
+#include "blasfeo_i_aux_ext_dep.h"
+#include "blasfeo_v_aux_ext_dep.h"
+#include "blasfeo_timing.h"
+#include "blasfeo_memory.h"

third_party/acados/include/blasfeo/include/blasfeo_block_size.h

@@ -0,0 +1,447 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_BLOCK_SIZE_H_
+#define BLASFEO_BLOCK_SIZE_H_
+
+
+
+#define D_EL_SIZE 8 // double precision
+#define S_EL_SIZE 4 // single precision
+
+
+
+#if defined( TARGET_X64_INTEL_SKYLAKE_X )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
+// double
+#define D_PS 8 // panel size
+#define D_PLD 8 // 4 // GCD of panel length
+#define D_M_KERNEL 24 // max kernel size
+#define D_N_KERNEL 8 // max kernel size
+#define D_KC 128 //256 // 192
+#define D_NC 144 //72 //96 //72 // 120 // 512
+#define D_MC 2400 // 6000
+// single
+#define S_PS 16 // panel size
+#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
+#define S_M_KERNEL 32 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 128 //256
+#define S_NC 128 //144
+#define S_MC 3000
+
+#elif defined( TARGET_X64_INTEL_HASWELL )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_N_KERNEL 8 // max kernel size
+#define D_KC 256 // 192
+#define D_NC 64 //96 //72 // 120 // 512
+#define D_MC 1500
+// single
+#define S_PS 8 // panel size
+#define S_PLD 4 // 2 // GCD of panel length
+#define S_M_KERNEL 24 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 144
+#define S_MC 3000
+
+#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256 //320 //256 //320
+#define D_NC 72 //64 //72 //60 // 120
+#define D_MC 1000 // 800
+// single
+#define S_PS 8 // panel size
+#define S_PLD 4 // 2 // GCD of panel length
+#define S_M_KERNEL 16 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 144
+#define S_MC 2000
+
+#elif defined( TARGET_X64_INTEL_CORE )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+#elif defined( TARGET_X64_AMD_BULLDOZER )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_X86_AMD_JAGUAR )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_X86_AMD_BARCELONA )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_APPLE_M1)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ?
+#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 512 //256
+#define D_NC 128 //256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 512
+#define S_NC 256
+#define S_MC 6000
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 512 //256
+#define D_NC 128 //256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 512
+#define S_NC 256
+#define S_MC 6000
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 320
+#define D_NC 256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 128 //224 //256 //192
+#define D_NC 72 //40 //36 //48
+#define D_MC (4*192) //512 //488 //600
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
+#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 224
+#define D_NC 160
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
+#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 160
+#define D_NC 128
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
+// common
+#define CACHE_LINE_SIZE 32
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_GENERIC )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_N_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_N_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#else
+#error "Unknown architecture"
+#endif
+
+
+
+#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
+#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
+#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
+#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
+
+#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
+#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
+#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
+#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
+
+
+
+#endif  // BLASFEO_BLOCK_SIZE_H_

third_party/acados/include/blasfeo/include/blasfeo_common.h

@@ -0,0 +1,274 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_COMMON_H_
+#define BLASFEO_COMMON_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
+#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
+#elif defined (_MSC_VER)
+#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
+#else
+#define ALIGNED(VEC, BYTES) VEC
+#endif
+
+
+
+
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
+
+#include "blasfeo_block_size.h"
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#else
+
+#error : wrong LA or MF choice
+
+#endif
+
+
+
+// Explicitly panel-major matrix structure
+struct blasfeo_pm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+// Explicitly column-major matrix structure
+struct blasfeo_cm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+
+#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_COMMON_H_

third_party/acados/include/blasfeo/include/blasfeo_d_aux.h

@@ -0,0 +1,255 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_H_
+#define BLASFEO_D_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory size calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// y <= y + alpha*x
+void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// z[idx] += alpha * x
+void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// z[idx] <= alpha * x
+void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// z <= alpha * x[idx]
+void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+// print
+void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_dmat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// aux
+void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_H_

third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h

@@ -0,0 +1,145 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_H_
+#define BLASFEO_D_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/* column-major matrices */
+
+// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros(double **pA, int row, int col);
+// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align(double **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align_bytes(double **pA, int size);
+// free the memory allocated by d_zeros
+void d_free(double *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void d_free_align(double *pA);
+// print a column-major matrix
+void d_print_mat(int m, int n, double *A, int lda);
+// print the transposed of a column-major matrix
+void d_print_tran_mat(int row, int col, double *A, int lda);
+// print to file a column-major matrix
+void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file a column-major matrix in exponential format
+void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print to string a column-major matrix
+void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix
+void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print in exponential notation a column-major matrix
+void d_print_exp_mat(int m, int n, double *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void d_print_exp_tran_mat(int row, int col, double *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_dmat(struct blasfeo_dmat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_dvec(struct blasfeo_dvec *sa);
+// print a strmat
+void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print the transposed of a strmat
+void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_H_

third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h

@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
+#define BLASFEO_D_AUX_EXT_DEP_REF_H_
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_d_aux_exp_dep.h for help
+
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
+void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
+void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
+void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_

third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h

@@ -0,0 +1,75 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * ----------- TOMOVE
+ *
+ * expecting column major matrices
+ *
+ */
+
+#include "blasfeo_common.h"
+
+
+void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+// TODO remove ???
+void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// TODO ddiaad1
+void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
+
+
+void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+void drowin_lib(int kmax, double alpha, double *x, double *pD);
+void drowex_lib(int kmax, double alpha, double *pD, double *x);
+void drowad_lib(int kmax, double alpha, double *x, double *pD);
+void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dvecin_libsp(int kmax, int *idx, double *x, double *y);
+void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);

third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h

@@ -0,0 +1,208 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_AUX_REF_H_
+#define BLASFEO_D_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_ref_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_ref_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
+// y <= y + alpha*x
+void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_REF_H_

third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h

@@ -0,0 +1,226 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_TEST_H_
+#define BLASFEO_D_AUX_TEST_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// --- memory calculations
+int test_blasfeo_memsize_dmat(int m, int n);
+int test_blasfeo_memsize_diag_dmat(int m, int n);
+int test_blasfeo_memsize_dvec(int m);
+
+// --- creation
+void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- conversion
+void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
+void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+
+// --- cast
+void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
+void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
+void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
+
+// ------ copy / scale
+
+// B <= A
+void test_blasfeo_dgecp(int m, int n,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// A <= alpha*A
+void test_blasfeo_dgesc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj);
+
+// B <= alpha*A
+void test_blasfeo_dgecpsc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// // --- insert/extract
+// //
+// // <= sA[ai, aj]
+// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// // <= sA[ai, aj]
+// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+// // sx[xi] <= a
+// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// // <= sx[xi]
+// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// // A <= alpha
+
+// // --- set
+// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// // B <= A
+
+
+// // --- vector
+// // y <= x
+// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+// // x <= alpha*x
+// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
+// // TODO
+// // x <= alpha*x
+// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+
+
+// // B <= A, A lower triangular
+// void test_blasfeo_dtrcp_l(int m,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrcpsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj);
+
+
+// // B <= B + alpha*A
+// void test_blasfeo_dgead(int m, int n, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sC, int ci, int cj);
+
+// // y <= y + alpha*x
+// void test_blasfeo_dvecad(int m, double alpha,
+//                     struct blasfeo_dvec *sa, int ai,
+//                     struct blasfeo_dvec *sc, int ci);
+
+// // --- traspositions
+// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
+// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+// void test_drowsw_lib(int kmax, double *pA, double *pC);
+// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
+// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
+// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
+// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+// ext_dep
+
+void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+
+void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
+void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
+
+void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_TEST_H_

third_party/acados/include/blasfeo/include/blasfeo_d_blas.h

@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_BLAS_H_
+#define BLASFEO_D_BLAS_H_
+
+
+
+#include "blasfeo_d_blasfeo_api.h"
+#include "blasfeo_d_blas_api.h"
+
+
+
+#endif  // BLASFEO_D_BLAS_H_

third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h

@@ -0,0 +1,281 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_BLAS_API_H_
+#define BLASFEO_D_BLAS_API_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef BLAS_API
+#ifdef CBLAS_API
+#ifndef BLASFEO_CBLAS_ENUM
+#define BLASFEO_CBLAS_ENUM
+#ifdef FORTRAN_BLAS_API
+#ifndef CBLAS_H
+enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
+enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
+enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
+enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
+enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
+#endif // CBLAS_H
+#else // FORTRAN_BLAS_API
+enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
+enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
+enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
+enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
+enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
+#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
+#endif // FORTRAN_BLAS_API
+#endif // BLASFEO_CBLAS_ENUM
+#endif // CBLAS_API
+#endif // BLAS_API
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef BLAS_API
+
+
+
+#ifdef FORTRAN_BLAS_API
+
+
+
+// BLAS 1
+//
+void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+//
+void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
+//
+double ddot_(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 2
+//
+void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
+
+// BLAS 3
+//
+void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+//
+void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+//
+void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+
+
+
+// LAPACK
+//
+void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+//
+void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
+//
+void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
+//
+void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+//
+void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+// aux
+void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
+//
+void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
+//
+void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
+
+// CBLAS 2
+//
+void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
+
+// CBLAS 3
+//
+void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+//
+void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+//
+void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+//
+void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+
+
+
+#endif // CBLAS_API
+
+
+
+#else // BLASFEO_API
+
+
+
+// BLAS 1
+//
+void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+//
+double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
+//
+void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 2
+//
+void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
+
+// BLAS 3
+//
+void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+//
+void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+//
+void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+
+
+
+// LAPACK
+//
+void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+//
+void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
+//
+void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
+//
+void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
+//
+void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+// aux
+void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
+//
+void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
+//
+void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
+
+// CBLAS 2
+//
+void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
+
+// CBLAS 3
+//
+void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+//
+void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+//
+void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+//
+void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+
+
+
+#endif // CBLAS_API
+
+
+
+#endif // BLASFEO_API
+
+
+
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLAS_API_H_

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h

@@ -0,0 +1,364 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_BLASFEO_API_H_
+#define BLASFEO_D_BLASFEO_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
+// NB: Different arguments semantic compare to equivalent standard BLAS routine
+void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y
+void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z += x .* y
+void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// return x^T * y
+double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_drotg(double a, double b, double *c, double *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A^T * x
+void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(n)
+void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A lower triangular
+void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A lower triangular, unit diagonal
+void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A upper triangular
+void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A^T * x_t
+void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// D = C + alpha * x * y^T
+void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B^T
+void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
+void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
+void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
+void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
+void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+// D <= chol( C + A * B^T ) ; C, D lower triangular
+void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
+void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+int blasfeo_dgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// BLAS 3
+void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+// BLAS 2
+void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+// LAPACK
+void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_API_H_

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h

@@ -0,0 +1,147 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_BLASFEO_API_REF_H_
+#define BLASFEO_D_BLASFEO_API_REF_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// expose reference BLASFEO for testing
+
+// --- level 1
+
+void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
+void blasfeo_drotg_ref(double a, double b, double *c, double *s);
+void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
+void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+// --- level 2
+
+// dense
+void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
+void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+
+// diagonal
+void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+
+
+// --- level 3
+
+// dense
+void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+// diagonal
+void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+// --- lapack
+
+void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
+void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_API_REF_H_

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h

@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_BLASFEO_HP_API_H_
+#define BLASFEO_D_BLASFEO_HP_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+
+// D <= beta * C + alpha * A^T * B
+void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T; C, D lower triangular
+void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * A^T ; C, D lower triangular
+void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular
+void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_HP_API_H_
+

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h

@@ -0,0 +1,283 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_D_BLASFEO_REF_API_H_
+#define BLASFEO_D_BLASFEO_REF_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
+// NB: Different arguments semantic compare to equivalent standard BLAS routine
+void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y
+void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z += x .* y
+void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// return x^T * y
+double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_ref_drotg(double a, double b, double *c, double *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// D = C + alpha * x * y^T
+void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B^T
+void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
+void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
+void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
+void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
+void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
+void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_REF_API_H_
+

third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h

@@ -0,0 +1,69 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_I_AUX_EXT_DEP_H_
+#define BLASFEO_I_AUX_EXT_DEP_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+// i_aux_extern_depend_lib
+void int_zeros(int **pA, int row, int col);
+void int_zeros_align(int **pA, int row, int col);
+void int_free(int *pA);
+void int_free_align(int *pA);
+void int_print_mat(int row, int col, int *A, int lda);
+int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_I_AUX_EXT_DEP_H_

third_party/acados/include/blasfeo/include/blasfeo_m_aux.h

@@ -0,0 +1,57 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_M_AUX_H_
+#define BLASFEO_M_AUX_H_
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
+void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
+void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
+void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_M_AUX_H_

third_party/acados/include/blasfeo/include/blasfeo_memory.h

@@ -0,0 +1,62 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2020 by Gianluca Frison.                                                          *
+* 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 BLASFEO_MEMORY_H_
+#define BLASFEO_MEMORY_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+int blasfeo_is_init();
+//
+void blasfeo_init();
+//
+void blasfeo_quit();
+//
+void *blasfeo_get_buffer();
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // BLASFEO_MEMORY_H_

third_party/acados/include/blasfeo/include/blasfeo_naming.h

@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+/*
+ * ----------- Naming conventions
+ *
+ *  (precision)(data)
+ *
+ * 1) d(double)
+ *    s(single)
+ *
+ * 2) ge(general)
+ *    tr(triangular)
+ *    vec(vector)
+ *    row(row)
+ *    col(column)
+ *    dia(diagonal)
+ *
+ * 3) se(set)
+ *    cp(copy)
+ *    sc(scale)
+ *    ad(add)
+ *    tr(transpose)
+ *    in(insert)
+ *    ex(extract)
+ *    pe(premute)
+ *    sw(swap)
+ *
+ *    f(factorization)
+ *
+ *    lqf(LQ factorization)
+ *    qrf (factorization)
+ *    trf (LU factorization using partial pivoting with row interchanges.)
+ *
+ * 4) _l(lower) / _u(upper)
+ *    _lib8 (hp implementation, 8 rows kernel)
+ *    _lib4 (hp implementation, 4 rows kernel)
+ *    _lib0 (hp interface with reference implentation)
+ *    _lib (reference implementation)
+ *    _libref (reference implementation with dedicated namespace)
+ *
+ * 5) _sp(sparse)
+ *    _exp(exponential format)
+ */

third_party/acados/include/blasfeo/include/blasfeo_processor_features.h

@@ -0,0 +1,88 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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: Ian McInerney                                                                           *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_PROCESSOR_FEATURES_H_
+#define BLASFEO_PROCESSOR_FEATURES_H_
+
+/**
+ * Flags to indicate the different processor features
+ */
+//enum
+//{
+//    // x86-64 CPU features
+//    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
+//    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
+//    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
+//
+//    // ARM CPU features
+//    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
+//    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
+//} BLASFEO_PROCESSOR_FEATURES;
+
+/**
+ * Test the features that this processor provides against what the library was compiled with.
+ *
+ * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
+ * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
+ */
+int blasfeo_processor_cpu_features( int* features );
+
+/**
+ * Test the features that this processor provides against what the library was compiled with.
+ *
+ * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
+ * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
+ */
+void blasfeo_processor_library_features( int* features );
+
+/**
+ * Create a string listing the features the current processor supports.
+ *
+ * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
+ * @param featureString - Character array to store the feature string in
+ */
+void blasfeo_processor_feature_string( int features, char* featureString );
+
+/**
+ * Get a string listing the processor features that this library version needs to run.
+ *
+ * @param featureString - Character array to store the feature string in
+ */
+void blasfeo_processor_library_string( char* featureString );
+
+#endif  // BLASFEO_PROCESSOR_FEATURES_H_

third_party/acados/include/blasfeo/include/blasfeo_s_aux.h

@@ -0,0 +1,168 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_AUX_H_
+#define BLASFEO_S_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_memsize_smat(int m, int n);
+size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_memsize_svec(int m);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
+
+
+
+/*
+* Explicitly column-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_smat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_H_

third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h

@@ -0,0 +1,141 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_AUX_EXT_DEP_H_
+#define BLASFEO_S_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/************************************************
+* s_aux_extern_depend_lib.c
+************************************************/
+
+/* column-major matrices */
+
+// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros(float **pA, int row, int col);
+// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align(float **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align_bytes(float **pA, int size);
+// free the memory allocated by d_zeros
+void s_free(float *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void s_free_align(float *pA);
+// print a column-major matrix
+void s_print_mat(int m, int n, float *A, int lda);
+// print the transposed of a column-major matrix
+void s_print_tran_mat(int row, int col, float *A, int lda);
+// print to file a column-major matrix
+void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file a column-major matrix in exponential format
+void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print to string a column-major matrix
+void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix
+void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print in exponential notation a column-major matrix
+void s_print_exp_mat(int m, int n, float *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void s_print_exp_tran_mat(int row, int col, float *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_smat(struct blasfeo_smat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_svec(struct blasfeo_svec *sa);
+// print a strmat
+void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print the transpose of a strmat
+void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_H_

third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h

@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_AUX_EXT_DEP_REF_H_
+#define BLASFEO_S_AUX_EXT_DEP_REF_H_
+
+#if defined(EXT_DEP)
+
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_s_aux_exp_dep.h for help
+
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
+void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
+void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
+void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // EXT_DEP
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_

third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h

@@ -0,0 +1,64 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+// TODO remove
+//
+void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+void srowin_lib(int kmax, float alpha, float *x, float *pD);
+void srowex_lib(int kmax, float alpha, float *pD, float *x);
+void srowad_lib(int kmax, float alpha, float *x, float *pD);
+void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+void srowsw_lib(int kmax, float *pA, float *pC);
+void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void svecin_libsp(int kmax, int *idx, float *x, float *y);
+void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);

third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h

@@ -0,0 +1,147 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_AUX_REF_H_
+#define BLASFEO_S_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_ref_memsize_smat(int m, int n);
+size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_ref_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_ref_memsize_svec(int m);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_REF_H_
+

third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h

@@ -0,0 +1,177 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_AUX_TEST_H_
+#define BLASFEO_S_AUX_TEST_H_
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+int test_blasfeo_memsize_smat(int m, int n);
+int test_blasfeo_memsize_diag_smat(int m, int n);
+int test_blasfeo_memsize_svec(int m);
+
+void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+
+void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+
+void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+// copy and scale
+void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+
+// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+
+// // A <= alpha
+// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+
+
+// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+
+// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+
+// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
+// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+// void test_srowsw_lib(int kmax, float *pA, float *pC);
+// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
+// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
+// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+// ext_dep
+
+void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+
+void test_blasfeo_free_smat(struct blasfeo_smat *sA);
+void test_blasfeo_free_svec(struct blasfeo_svec *sa);
+
+void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_TEST_H_

third_party/acados/include/blasfeo/include/blasfeo_s_blas.h

@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_BLAS_H_
+#define BLASFEO_S_BLAS_H_
+
+
+
+#include "blasfeo_s_blasfeo_api.h"
+#include "blasfeo_s_blas_api.h"
+
+
+
+#endif  // BLASFEO_S_BLAS_H_

third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h

@@ -0,0 +1,182 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_BLAS_API_H_
+#define BLASFEO_S_BLAS_API_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef BLAS_API
+#ifdef CBLAS_API
+#ifndef BLASFEO_CBLAS_ENUM
+#define BLASFEO_CBLAS_ENUM
+#ifdef FORTRAN_BLAS_API
+#ifndef CBLAS_H
+enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
+enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
+enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
+enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#endif // CBLAS_H
+#else // FORTRAN_BLAS_API
+enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
+enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122};
+enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
+enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#endif // FORTRAN_BLAS_API
+#endif // BLASFEO_CBLAS_ENUM
+#endif // CBLAS_API
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef BLAS_API
+
+
+
+#ifdef FORTRAN_BLAS_API
+
+
+
+// BLAS 1
+//
+void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+//
+float sdot_(int *n, float *x, int *incx, float *y, int *incy);
+
+// BLAS 3
+//
+void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+//
+void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+
+
+// LAPACK
+//
+void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
+
+// CBLAS 3
+//
+void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
+//
+void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
+
+
+
+#endif // CBLAS_API
+
+
+
+#else // BLASFEO_API
+
+
+
+// BLAS 1
+//
+void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+//
+float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
+
+// BLAS 3
+//
+void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+//
+void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+
+
+// LAPACK
+//
+void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
+
+// CBLAS 3
+//
+void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
+//
+void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
+
+
+
+#endif // CBLAS_API
+
+
+
+#endif // BLASFEO_API
+
+
+
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLAS_API_H_

third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h

@@ -0,0 +1,284 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_BLASFEO_API_H_
+#define BLASFEO_S_BLASFEO_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y
+void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z += x .* y
+void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// return x^T * y
+float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_srotg(float a, float b, float *c, float *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// D = C + alpha * x * y^T
+void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^T ; B upper triangular
+void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
+void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
+void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
+void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
+void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_sgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
+
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// BLAS 3
+void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+// LAPACK
+void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_API_H_

third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h

@@ -0,0 +1,135 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_BLASFEO_API_REF_H_
+#define BLASFEO_S_BLASFEO_API_REF_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// expose reference BLASFEO for testing
+
+// --- level 1
+
+void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
+void blasfeo_srotg_ref(float a, float b, float *c, float *s);
+void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
+void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+// --- level 2
+
+// dense
+void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
+void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+
+// diagonal
+void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+
+
+// --- level 3
+
+// dense
+void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+// diagonal
+void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+// --- lapack
+
+void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
+void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_API_REF_H_

third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h

@@ -0,0 +1,252 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_BLASFEO_REF_API_H_
+#define BLASFEO_S_BLASFEO_REF_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y
+void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z += x .* y
+void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// return x^T * y
+float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_ref_srotg(float a, float b, float *c, float *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// D = C + alpha * x * y^T
+void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^T ; B upper triangular
+void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
+void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
+void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
+void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
+void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_REF_API_H_
+

third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h

@@ -0,0 +1,692 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_S_KERNEL_H_
+#define BLASFEO_S_KERNEL_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// utils
+void blasfeo_align_2MB(void *ptr, void **ptr_align);
+void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
+void blasfeo_align_64_byte(void *ptr, void **ptr_align);
+
+
+
+//
+// lib8
+//
+
+// 24x4
+void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
+void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
+
+// 16x8
+void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
+
+// 16x4
+void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
+void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
+void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+
+// 8x8
+void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
+void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+
+// 8x4
+void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
+void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
+void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
+void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
+void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
+
+// 4x8
+void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+
+// 8
+void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
+void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
+void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
+void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
+void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
+void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
+
+// -------- aux
+
+// ---- copy
+
+// lib4
+//
+void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
+
+void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
+void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
+void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
+
+// lib8
+//
+void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
+void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
+void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
+
+void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
+void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
+void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
+
+void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
+void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
+void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
+
+void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+// transpose
+//
+void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
+
+// add
+//
+void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
+void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
+void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+
+//
+// lib4
+//
+
+
+
+// level 2 BLAS
+// 4
+void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
+void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
+void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
+void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
+void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
+void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
+void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
+
+
+
+// level 3 BLAS
+// 12x4
+void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 12x4
+void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+// 8x4
+void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
+void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
+void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
+void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
+void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
+void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
+void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
+void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
+void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
+void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
+void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
+void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+// diag
+void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
+void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
+void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+
+
+
+// LAPACK
+// 16x4
+void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 12x4
+void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 8x4
+void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 4x4
+void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
+void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
+void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
+
+
+
+// merged routines
+// 4x4
+void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+
+
+
+// auxiliary routines
+void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
+void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
+// TODO
+void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
+void kernel_strset_4_lib4(int kmax, float alpha, float *A);
+void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+
+
+
+// pack
+// 24 lib 8
+void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 16 lib 8
+void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 8 lib 8
+void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
+void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
+void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 8 lib 4
+void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
+//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
+// 4
+void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
+void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
+void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// unpack
+// 8
+void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
+void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
+//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
+// 4
+void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
+void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
+void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
+void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
+void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
+
+// panel copy
+// 4
+void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
+void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
+void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
+void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
+
+
+
+/************************************************
+* BLAS API kernels
+************************************************/
+
+//#if defined(BLAS_API)
+
+// A, B panel-major bs=8; C, D column-major
+// 24x4
+void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 16x4
+void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
+void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+// 8x4
+void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A, B panel-major bs=4; C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+// 8x4
+void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
+void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
+void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
+void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
+
+// B panel-major bs=8; A, C, D column-major
+// 4x24
+void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x16
+void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// B panel-major bs=4; A, C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A panel-major bs=8; B, C, D column-major
+// 24x4
+void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 16x4
+void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A panel-major bs=4; B, C, D column-major
+// 8x8
+void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+// 8x4
+void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+
+// A, C, D panel-major; B, E column-major
+// TODO merge with above
+// 4x4
+void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+
+// A, B, C, D column-major
+void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// vector
+void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
+void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
+
+
+//#endif // BLAS_API
+
+
+
+// larger kernels
+// 24
+void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_KERNEL_H_

third_party/acados/include/blasfeo/include/blasfeo_stdlib.h

@@ -0,0 +1,62 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* 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 BLASFEO_STDLIB_H_
+#define BLASFEO_STDLIB_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#include <stdlib.h>
+
+//
+void blasfeo_malloc(void **ptr, size_t size);
+//
+void blasfeo_malloc_align(void **ptr, size_t size);
+//
+void blasfeo_free(void *ptr);
+//
+void blasfeo_free_align(void *ptr);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // BLASFEO_STDLIB_H_