openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

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_