openpilot v0.9.6 release

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

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_