/************************************************************************************************** * * * 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_SIM_ERK_H_ #define HPIPM_D_SIM_ERK_H_ #include "hpipm_common.h" #ifdef __cplusplus extern "C" { #endif struct d_sim_erk_arg { struct d_sim_rk_data *rk_data; // integrator data double h; // step size int steps; // number of steps // int for_sens; // compute adjoint sensitivities // int adj_sens; // compute adjoint sensitivities hpipm_size_t memsize; }; struct d_sim_erk_ws { void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde void *ode_args; // pointer to ode args struct d_sim_erk_arg *erk_arg; // erk arg double *K; // internal variables double *x_for; // states and forward sensitivities double *x_traj; // states at all steps double *l; // adjoint sensitivities double *p; // parameter double *x_tmp; // temporary states and forward sensitivities double *adj_in; double *adj_tmp; int nx; // number of states int np; // number of parameters int nf; // number of forward sensitivities int na; // number of adjoint sensitivities int nf_max; // max number of forward sensitivities int na_max; // max number of adjoint sensitivities hpipm_size_t memsize; }; // hpipm_size_t d_sim_erk_arg_memsize(); // void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem); // void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg); // hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max); // void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory); // void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work); // number of directions for forward sensitivities void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work); // parameters (e.g. inputs) void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work); // state void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work); // forward sensitivities void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work); // ode funtion void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work); // forward vde function void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work); // ode_args, passed straight to the ode/vde_for/vde_adj functions void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work); // state void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x); // forward sensitivities void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs); // void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_D_SIM_ERK_H_