/************************************************************************************************** * * * 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_S_SIM_ERK_H_ #define HPIPM_S_SIM_ERK_H_ #ifdef __cplusplus extern "C" { #endif struct s_sim_erk_arg { struct s_sim_rk_data *rk_data; // integrator data float 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 s_sim_erk_ws { void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde void *ode_args; // pointer to ode args struct s_sim_erk_arg *erk_arg; // erk arg float *K; // internal variables float *x_for; // states and forward sensitivities float *x_traj; // states at all steps float *l; // adjoint sensitivities float *p; // parameter float *x_tmp; // temporary states and forward sensitivities float *adj_in; float *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 s_sim_erk_arg_memsize(); // void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem); // void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg); // hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max); // void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory); // void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work); // number of directions for forward sensitivities void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work); // parameters (e.g. inputs) void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work); // state void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work); // forward sensitivities void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work); // ode funtion void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work); // forward vde function void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work); // ode_args, passed straight to the ode/vde_for/vde_adj functions void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work); // state void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x); // forward sensitivities void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs); // void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work); #ifdef __cplusplus } /* extern "C" */ #endif #endif // HPIPM_D_SIM_ERK_H_