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openpilot v0.9.6 release

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date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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2024-01-12 22:39:28 -07:00
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third_party/acados/acados_template/c_templates_tera/constraints.in.h vendored Normal file
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/*
* Copyright (c) The acados authors.
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef {{ model.name }}_CONSTRAINTS
#define {{ model.name }}_CONSTRAINTS
#ifdef __cplusplus
extern "C" {
#endif
{% if dims.nphi > 0 %}
int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
const int *{{ model.name }}_phi_constraint_sparsity_in(int);
const int *{{ model.name }}_phi_constraint_sparsity_out(int);
int {{ model.name }}_phi_constraint_n_in(void);
int {{ model.name }}_phi_constraint_n_out(void);
{% endif %}
{% if dims.nphi_e > 0 %}
int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
int {{ model.name }}_phi_e_constraint_n_in(void);
int {{ model.name }}_phi_e_constraint_n_out(void);
{% endif %}
{% if dims.nh > 0 %}
int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
int {{ model.name }}_constr_h_fun_n_in(void);
int {{ model.name }}_constr_h_fun_n_out(void);
{% if solver_options.hessian_approx == "EXACT" -%}
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
{% endif %}
{% endif %}
{% if dims.nh_e > 0 %}
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
int {{ model.name }}_constr_h_e_fun_n_in(void);
int {{ model.name }}_constr_h_e_fun_n_out(void);
{% if solver_options.hessian_approx == "EXACT" -%}
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
{% endif %}
{% endif %}
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // {{ model.name }}_CONSTRAINTS