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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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81
third_party/acados/include/acados_c/condensing_interface.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 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_

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third_party/acados/include/acados_c/dense_qp_interface.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 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_

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third_party/acados/include/acados_c/external_function_interface.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 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_

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third_party/acados/include/acados_c/ocp_nlp_interface.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 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_

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/*
* Copyright (c) The acados authors.
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_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_

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/*
* Copyright (c) The acados authors.
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_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_