/************************************************************************************************** * * * This file is part of HPIPM. * * * * HPIPM -- High-Performance Interior Point Method. * * 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 HPIPM_D_DENSE_QP_H_ #define HPIPM_D_DENSE_QP_H_ #include #include #include "hpipm_d_dense_qp_dim.h" #ifdef __cplusplus extern "C" { #endif struct d_dense_qp { struct d_dense_qp_dim *dim; struct blasfeo_dmat *Hv; // hessian of cost & vector work space struct blasfeo_dmat *A; // equality constraint matrix struct blasfeo_dmat *Ct; // inequality constraints matrix struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks struct blasfeo_dvec *b; // equality constraint vector struct blasfeo_dvec *d; // inequality constraints vector struct blasfeo_dvec *d_mask; // inequality constraints mask vector struct blasfeo_dvec *m; // rhs of complementarity condition struct blasfeo_dvec *Z; // (diagonal) hessian of slacks int *idxb; // indices of box constrained variables within [u; x] int *idxs_rev; // index of soft constraints (reverse storage) hpipm_size_t memsize; // memory size in bytes }; // hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim); // void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory); // setters - colmaj // void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp); // void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us); // void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp); // void d_dense_qp_set_H(double *H, struct d_dense_qp *qp); // void d_dense_qp_set_g(double *g, struct d_dense_qp *qp); // void d_dense_qp_set_A(double *A, struct d_dense_qp *qp); // void d_dense_qp_set_b(double *b, struct d_dense_qp *qp); // void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp); // void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp); // void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp); // void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp); // void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp); // void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp); // void d_dense_qp_set_C(double *C, struct d_dense_qp *qp); // void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp); // void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp); // void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp); // void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp); // void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp); // void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp); // void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp); // void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp); // void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp); // void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp); // void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp); // void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp); // void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp); // void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp); // void d_dense_qp_set_us(double *us, struct d_dense_qp *qp); // void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp); // getters - colmaj // void d_dense_qp_get_H(struct d_dense_qp *qp, double *H); // void d_dense_qp_get_g(struct d_dense_qp *qp, double *g); // void d_dense_qp_get_A(struct d_dense_qp *qp, double *A); // void d_dense_qp_get_b(struct d_dense_qp *qp, double *b); // void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb); // void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb); // void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb); // void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub); // void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub); // void d_dense_qp_get_C(struct d_dense_qp *qp, double *C); // void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg); // void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg); // void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug); // void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug); // void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs); // void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev); // void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl); // void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu); // void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl); // void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu); // void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls); // void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls); // void d_dense_qp_get_us(struct d_dense_qp *qp, double *us); // void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us); // setters - rowmaj // void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp); // getters - rowmaj // void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_D_DENSE_QP_H_