casadi 3.5.6.pre2__cp39-none-win_amd64.whl → 3.6.0__cp39-none-win_amd64.whl

casadi/include/highs/util/HighsTimer.h

@@ -0,0 +1,335 @@
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+/*                                                                       */
+/*    This file is part of the HiGHS linear optimization suite           */
+/*                                                                       */
+/*    Written and engineered 2008-2022 at the University of Edinburgh    */
+/*                                                                       */
+/*    Available as open-source under the MIT License                     */
+/*                                                                       */
+/*    Authors: Julian Hall, Ivet Galabova, Leona Gottwald and Michael    */
+/*    Feldmeier                                                          */
+/*                                                                       */
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+/**@file util/HighsTimer.h
+ * @brief Profiling facility for computational components in HiGHS
+ */
+#ifndef UTIL_HIGHSTIMER_H_
+#define UTIL_HIGHSTIMER_H_
+
+#include <cassert>
+#include <chrono>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+#include "util/HighsInt.h"
+
+/**
+ * @brief Clock record structure
+ */
+/*
+struct HighsClockRecord {
+  HighsInt calls;
+  double start;
+  double time;
+  std::string name;
+  std::string ch3_name;
+};
+*/
+/**
+ * @brief Class for profiling facility for computational components in HiGHS
+ */
+class HighsTimer {
+ public:
+  HighsTimer() {
+    num_clock = 0;
+    HighsInt i_clock = clock_def("Run HiGHS", "RnH");
+    assert(i_clock == 0);
+    run_highs_clock = i_clock;
+
+    presolve_clock = clock_def("Presolve", "Pre");
+    solve_clock = clock_def("Solve", "Slv");
+    postsolve_clock = clock_def("Postsolve", "Pst");
+  }
+
+  /**
+   * @brief Define a clock
+   */
+  HighsInt clock_def(
+      const char* name,  //!< Full-length name (<=16 characters) for the clock
+      const char* ch3_name = "N/A"  //!< 3-character name for the clock
+  ) {
+    HighsInt i_clock = num_clock;
+    clock_num_call.push_back(0);
+    clock_start.push_back(initial_clock_start);
+    clock_time.push_back(0);
+    clock_names.push_back(name);
+    clock_ch3_names.push_back(ch3_name);
+    num_clock++;
+    return i_clock;
+  }
+
+  /**
+   * @brief Zero an external clock record
+   */
+  /*
+    void clockInit(HighsClockRecord& x_clock  //!< Record for the external clock
+    ) {
+      x_clock.calls = 0;
+      x_clock.start = 0;
+      x_clock.time = 0;
+      x_clock.name = "";
+      x_clock.ch3_name = "";
+    }
+    */
+
+  /**
+   * @brief Add to an external clock record
+   */
+  /*
+    void clockAdd(HighsClockRecord x_clock,  //!< Record for the external clock
+                  HighsInt i_clock                //!< Clock of record to be
+    added ) { assert(i_clock >= 0); assert(i_clock < num_clock); x_clock.calls
+    += clock_num_call[i_clock]; x_clock.start = initial_clock_start;
+      x_clock.time += clock_time[i_clock];
+    }
+    */
+
+  /**
+   * @brief Reset a HighsTimer instance to its state after the
+   * constructor
+   */
+  void resetHighsTimer() {
+    this->num_clock = 0;
+    this->clock_num_call.clear();
+    this->clock_start.clear();
+    this->clock_names.clear();
+    this->clock_ch3_names.clear();
+    HighsInt i_clock = clock_def("Run HiGHS", "RnH");
+    assert(i_clock == 0);
+    this->run_highs_clock = i_clock;
+    this->presolve_clock = clock_def("Presolve", "Pre");
+    this->solve_clock = clock_def("Solve", "Slv");
+    this->postsolve_clock = clock_def("Postsolve", "Pst");
+  }
+
+  /**
+   * @brief Zero the data for all clocks
+   */
+  void zeroAllClocks() {
+    for (HighsInt i = 0; i < num_clock; i++) {
+      clock_num_call[i] = 0;
+      clock_start[i] = initial_clock_start;
+      clock_time[i] = 0;
+    }
+  }
+
+  /**
+   * @brief Start a clock
+   */
+  void start(HighsInt i_clock  //!< Index of the clock to be started
+  ) {
+    assert(i_clock >= 0);
+    assert(i_clock < num_clock);
+    // Check that the clock's been stopped. It should be set to
+    // getWallTime() >= 0 (or initialised to initial_clock_start > 0)
+    assert(clock_start[i_clock] > 0);
+    // Set the start to be the negation of the WallTick to check that
+    // the clock's been started when it's next stopped
+    clock_start[i_clock] = -getWallTime();
+  }
+
+  /**
+   * @brief Stop a clock
+   */
+  void stop(HighsInt i_clock  //!< Index of the clock to be stopped
+  ) {
+    assert(i_clock >= 0);
+    assert(i_clock < num_clock);
+    // Check that the clock's been started. It should be set to
+    // -getWallTime() <= 0
+    assert(clock_start[i_clock] < 0);
+    double wall_time = getWallTime();
+    double callClockTimes = wall_time + clock_start[i_clock];
+    clock_time[i_clock] += callClockTimes;
+    clock_num_call[i_clock]++;
+    // Set the start to be the WallTick to check that the clock's been
+    // stopped when it's next started
+    clock_start[i_clock] = wall_time;
+  }
+
+  /**
+   * @brief Read the time of a clock
+   */
+  double read(HighsInt i_clock  //!< Index of the clock to be read
+  ) {
+    assert(i_clock >= 0);
+    assert(i_clock < num_clock);
+    double read_time;
+    if (clock_start[i_clock] < 0) {
+      // The clock's been started, so find the current time
+      double wall_time = getWallTime();
+      read_time = clock_time[i_clock] + wall_time + clock_start[i_clock];
+    } else {
+      // The clock is currently stopped, so read the current time
+      read_time = clock_time[i_clock];
+    }
+    return read_time;
+  }
+
+  /**
+   * @brief Start the RunHighs clock
+   */
+  void startRunHighsClock() { start(run_highs_clock); }
+
+  /**
+   * @brief Stop the RunHighs clock
+   */
+  void stopRunHighsClock() { stop(run_highs_clock); }
+
+  /**
+   * @brief Read the RunHighs clock
+   */
+  double readRunHighsClock() { return read(run_highs_clock); }
+
+  /**
+   * @brief Test whether the RunHighs clock is running
+   */
+  bool runningRunHighsClock() { return clock_start[run_highs_clock] < 0; }
+
+  /**
+   * @brief Report timing information for the clock indices in the list
+   */
+  bool report(const char* grep_stamp,  //!< Character string used to extract
+                                       //!< output using grep
+              std::vector<HighsInt>& clock_list,  //!< List of indices to report
+              double ideal_sum_time = 0  //!< Ideal value for times to sum to
+  ) {
+    const double tolerance_percent_report = 1.0;
+    return reportOnTolerance(grep_stamp, clock_list, ideal_sum_time,
+                             tolerance_percent_report);
+  }
+
+  bool reportOnTolerance(
+      const char*
+          grep_stamp,  //!< Character string used to extract output using grep
+      std::vector<HighsInt>& clock_list,  //!< List of indices to report
+      double ideal_sum_time = 0,          //!< Ideal value for times to sum to
+      double tolerance_percent_report =
+          0  //!< Lower bound on percentage of total time
+             //!< before an individual clock is reported
+  ) {
+    HighsInt num_clock_list_entries = clock_list.size();
+    double current_run_highs_time = readRunHighsClock();
+    bool non_null_report = false;
+
+    // Check validity of the clock list and check no clocks are still
+    // running, determine whether there are any times to report and
+    // determine the total clock times
+    HighsInt sum_calls = 0;
+    double sum_clock_times = 0;
+    for (HighsInt i = 0; i < num_clock_list_entries; i++) {
+      HighsInt iClock = clock_list[i];
+      assert(iClock >= 0);
+      assert(iClock < num_clock);
+      // Check that the clock's not still running. It should be set to
+      // getWallTime() >= 0 (or initialised to initial_clock_start > 0)
+      assert(clock_start[iClock] > 0);
+      sum_calls += clock_num_call[iClock];
+      sum_clock_times += clock_time[iClock];
+    }
+    if (!sum_calls) return non_null_report;
+    if (sum_clock_times < 0) return non_null_report;
+
+    std::vector<double> percent_sum_clock_times(num_clock_list_entries);
+    double max_percent_sum_clock_times = 0;
+    for (HighsInt i = 0; i < num_clock_list_entries; i++) {
+      HighsInt iClock = clock_list[i];
+      percent_sum_clock_times[i] = 100.0 * clock_time[iClock] / sum_clock_times;
+      max_percent_sum_clock_times =
+          std::max(percent_sum_clock_times[i], max_percent_sum_clock_times);
+    }
+    if (max_percent_sum_clock_times < tolerance_percent_report)
+      return non_null_report;
+
+    non_null_report = true;
+
+    // Report one line per clock, the time, number of calls and time per call
+    printf("%s-time  Operation                       :    Time     ( Total",
+           grep_stamp);
+    if (ideal_sum_time > 0) printf(";  Ideal");
+    printf(";  Local):    Calls  Time/Call\n");
+    // Convert approximate seconds
+    double sum_time = 0;
+    for (HighsInt i = 0; i < num_clock_list_entries; i++) {
+      HighsInt iClock = clock_list[i];
+      double time = clock_time[iClock];
+      double percent_run_highs = 100.0 * time / current_run_highs_time;
+      double time_per_call = 0;
+      if (clock_num_call[iClock] > 0) {
+        time_per_call = time / clock_num_call[iClock];
+        if (percent_sum_clock_times[i] >= tolerance_percent_report) {
+          printf("%s-time  %-32s: %11.4e (%5.1f%%", grep_stamp,
+                 clock_names[iClock].c_str(), time, percent_run_highs);
+          if (ideal_sum_time > 0) {
+            double percent_ideal = 100.0 * time / ideal_sum_time;
+            printf("; %5.1f%%", percent_ideal);
+          }
+          printf("; %5.1f%%):%9" HIGHSINT_FORMAT " %11.4e\n",
+                 percent_sum_clock_times[i], clock_num_call[iClock],
+                 time_per_call);
+        }
+      }
+      sum_time += time;
+    }
+    double percent_sum_clock_times_all = 100.0;
+    assert(sum_time == sum_clock_times);
+    double percent_run_highs = 100.0 * sum_time / current_run_highs_time;
+    printf("%s-time  SUM                             : %11.4e (%5.1f%%",
+           grep_stamp, sum_time, percent_run_highs);
+    if (ideal_sum_time > 0) {
+      double percent_ideal = 100.0 * sum_time / ideal_sum_time;
+      printf("; %5.1f%%", percent_ideal);
+    }
+    printf("; %5.1f%%)\n", percent_sum_clock_times_all);
+    printf("%s-time  TOTAL                           : %11.4e\n", grep_stamp,
+           current_run_highs_time);
+    return non_null_report;
+  }
+
+  /**
+   * @brief Return the current wall-clock time
+   */
+  double getWallTime() {
+    using namespace std::chrono;
+    return duration_cast<duration<double> >(
+               wall_clock::now().time_since_epoch())
+        .count();
+  }
+
+  virtual ~HighsTimer() = default;
+
+  // private:
+  using wall_clock = std::chrono::high_resolution_clock;
+  using time_point = wall_clock::time_point;
+
+  // Dummy positive start time for clocks - so they can be checked as
+  // having been stopped
+  const double initial_clock_start = 1.0;
+
+  HighsInt num_clock = 0;
+  std::vector<HighsInt> clock_num_call;
+  std::vector<double> clock_start;
+  std::vector<double> clock_time;
+  std::vector<std::string> clock_names;
+  std::vector<std::string> clock_ch3_names;
+  // The index of the RunHighsClock - should always be 0
+  HighsInt run_highs_clock;
+  // Fundamental Highs clocks
+  HighsInt presolve_clock;
+  HighsInt solve_clock;
+  HighsInt postsolve_clock;
+};
+
+#endif /* UTIL_HIGHSTIMER_H_ */

casadi/include/highs/util/HighsUtils.h

@@ -0,0 +1,193 @@
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+/*                                                                       */
+/*    This file is part of the HiGHS linear optimization suite           */
+/*                                                                       */
+/*    Written and engineered 2008-2022 at the University of Edinburgh    */
+/*                                                                       */
+/*    Available as open-source under the MIT License                     */
+/*                                                                       */
+/*    Authors: Julian Hall, Ivet Galabova, Leona Gottwald and Michael    */
+/*    Feldmeier                                                          */
+/*                                                                       */
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+/**@file util/HUtils.h
+ * @brief Class-independent utilities for HiGHS
+ */
+#ifndef UTIL_HIGHSUTILS_H_
+#define UTIL_HIGHSUTILS_H_
+
+#include <cassert>
+#include <string>
+#include <vector>
+
+#include "lp_data/HighsOptions.h"
+
+void highsSparseTranspose(HighsInt numRow, HighsInt numCol,
+                          const std::vector<HighsInt>& Astart,
+                          const std::vector<HighsInt>& Aindex,
+                          const std::vector<double>& Avalue,
+                          std::vector<HighsInt>& ARstart,
+                          std::vector<HighsInt>& ARindex,
+                          std::vector<double>& ARvalue);
+
+struct HighsIndexCollection {
+  HighsInt dimension_ = -1;
+  bool is_interval_ = false;
+  HighsInt from_ = -1;
+  HighsInt to_ = -2;
+  bool is_set_ = false;
+  HighsInt set_num_entries_ = -1;
+  std::vector<HighsInt> set_;
+  bool is_mask_ = false;
+  std::vector<HighsInt> mask_;
+};
+
+struct HighsValueDistribution {
+  std::string distribution_name_;
+  std::string value_name_;
+  HighsInt num_count_;
+  HighsInt num_zero_;
+  HighsInt num_one_;
+  double min_value_;
+  double max_value_;
+  std::vector<double> limit_;
+  std::vector<HighsInt> count_;
+  HighsInt sum_count_;
+};
+
+struct HighsScatterData {
+  HighsInt max_num_point_;
+  HighsInt num_point_;
+  HighsInt last_point_;
+  std::vector<double> value0_;
+  std::vector<double> value1_;
+  bool have_regression_coeff_;
+  double linear_coeff0_;
+  double linear_coeff1_;
+  double linear_regression_error_;
+  double log_coeff0_;
+  double log_coeff1_;
+  double log_regression_error_;
+  HighsInt num_error_comparison_;
+  HighsInt num_awful_linear_;
+  HighsInt num_awful_log_;
+  HighsInt num_bad_linear_;
+  HighsInt num_bad_log_;
+  HighsInt num_fair_linear_;
+  HighsInt num_fair_log_;
+  HighsInt num_better_linear_;
+  HighsInt num_better_log_;
+};
+
+const double awful_regression_error = 2.0;
+const double bad_regression_error = 0.2;
+const double fair_regression_error = 0.02;
+
+bool create(HighsIndexCollection& index_collection, const HighsInt from_col,
+            const HighsInt to_col, const HighsInt dimension);
+
+bool create(HighsIndexCollection& index_collection,
+            const HighsInt num_set_entries, const HighsInt* set,
+            const HighsInt dimension);
+
+void create(HighsIndexCollection& index_collection, const HighsInt* mask,
+            const HighsInt dimension);
+
+bool ok(const HighsIndexCollection& index_collection);
+
+void limits(const HighsIndexCollection& index_collection, HighsInt& from_k,
+            HighsInt& to_k);
+
+void updateOutInIndex(const HighsIndexCollection& index_collection,
+                      HighsInt& out_from_ix, HighsInt& out_to_ix,
+                      HighsInt& in_from_ix, HighsInt& in_to_ix,
+                      HighsInt& current_set_entry);
+
+HighsInt dataSize(const HighsIndexCollection& index_collection);
+
+bool highsVarTypeUserDataNotNull(const HighsLogOptions& log_options,
+                                 const HighsVarType* user_data,
+                                 const std::string name);
+bool intUserDataNotNull(const HighsLogOptions& log_options,
+                        const HighsInt* user_data, const std::string name);
+bool doubleUserDataNotNull(const HighsLogOptions& log_options,
+                           const double* user_data, const std::string name);
+
+double getNorm2(const std::vector<double> values);
+
+/**
+ * @brief Logical check of double being +Infinity
+ */
+bool highs_isInfinity(double val  //!< Value being tested against +Infinity
+);
+/**
+ * @brief Returns the relative difference of two doubles
+ */
+double highsRelativeDifference(const double v0, const double v1);
+
+/**
+ * @brief Analyse the values of a vector, assessing how many are in
+ * each power of ten, and possibly analyse the distribution of
+ * different values
+ */
+void analyseVectorValues(
+    const HighsLogOptions* log_options,
+    const std::string message,       //!< Message to be printed
+    HighsInt vecDim,                 //!< Dimension of vector
+    const std::vector<double>& vec,  //!< Vector of values
+    bool analyseValueList = false,   //!< Possibly analyse the distribution of
+                                     //!< different values in the vector
+    std::string model_name =
+        "Unknown"  //!< Model name to report if analysing distribution of
+                   //!< different values in the vector
+);
+
+void analyseMatrixSparsity(
+    const HighsLogOptions& log_options,
+    const char* message,                  //!< Message to be printed
+    HighsInt numCol,                      //!< Number of columns
+    HighsInt numRow,                      //!< Number of rows
+    const std::vector<HighsInt>& Astart,  //!< Matrix column starts
+    const std::vector<HighsInt>& Aindex   //!< Matrix row indices
+);
+
+bool initialiseValueDistribution(const std::string distribution_name,
+                                 const std::string value_name,
+                                 const double min_value_limit,
+                                 const double max_value_limit,
+                                 const double base_value_limit,
+                                 HighsValueDistribution& value_distribution);
+
+bool updateValueDistribution(const double value,
+                             HighsValueDistribution& value_distribution);
+
+HighsInt integerPercentage(const HighsInt of, const HighsInt in);
+double doublePercentage(const HighsInt of, const HighsInt in);
+
+bool logValueDistribution(const HighsLogOptions& log_options,
+                          const HighsValueDistribution& value_distribution,
+                          const HighsInt mu = 0);
+bool initialiseScatterData(const HighsInt max_num_point,
+                           HighsScatterData& scatter_data);
+bool updateScatterData(const double value0, const double value1,
+                       HighsScatterData& scatter_data);
+bool regressScatterData(HighsScatterData& scatter_data);
+bool predictFromScatterData(const HighsScatterData& scatter_data,
+                            const double value0, double& predicted_value1,
+                            const bool log_regression = false);
+bool printScatterData(std::string name, const HighsScatterData& scatter_data);
+void printScatterDataRegressionComparison(std::string name,
+                                          const HighsScatterData& scatter_data);
+bool computeScatterDataRegressionError(HighsScatterData& scatter_data,
+                                       const bool print = false);
+
+double nearestPowerOfTwoScale(const double value);
+
+// If assert_condition is false then, if NDEBUG is defined message is
+// printed and abort() is called, otherwise assert is called
+void highsAssert(const bool assert_condition, const std::string message = "");
+
+// If pause_condition is true, then keyboard input is required. Allows
+// breakpoints in VScode where optimization might prevent them.
+bool highsPause(const bool pause_condition, const std::string message = "");
+#endif  // UTIL_HIGHSUTILS_H_

casadi/include/highs/util/stringutil.h

@@ -0,0 +1,41 @@
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+/*                                                                       */
+/*    This file is part of the HiGHS linear optimization suite           */
+/*                                                                       */
+/*    Written and engineered 2008-2022 at the University of Edinburgh    */
+/*                                                                       */
+/*    Available as open-source under the MIT License                     */
+/*                                                                       */
+/*    Authors: Julian Hall, Ivet Galabova, Leona Gottwald and Michael    */
+/*    Feldmeier                                                          */
+/*                                                                       */
+/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+#ifndef STRINGUTIL_H
+#define STRINGUTIL_H
+
+#include <ctype.h>
+
+#include <cstring>
+#include <string>
+
+void strRemoveWhitespace(char* str);
+char* strClone(const char* str);
+int strIsWhitespace(const char* str);
+void strToLower(char* str);
+void strTrim(char* str);
+
+const std::string non_chars = "\t\n\v\f\r ";
+std::string& ltrim(std::string& str, const std::string& chars = non_chars);
+std::string& rtrim(std::string& str, const std::string& chars = non_chars);
+std::string& trim(std::string& str, const std::string& chars = non_chars);
+
+bool is_empty(std::string& str, const std::string& chars = non_chars);
+bool is_empty(char c, const std::string& chars = non_chars);
+bool is_end(std::string& str, int end, const std::string& chars = non_chars);
+
+// todo: replace with pair of references rather than string ret value to avoid
+// copy and also using function below. or do it properly with iterators.
+std::string first_word(std::string& str, int start);
+int first_word_end(std::string& str, int start);
+
+#endif

casadi/include/hpipm_aux_mem.h

@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_AUX_MEM_H_
+#define HPIPM_AUX_MEM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_AUX_MEM_H_
+

casadi/include/hpipm_aux_string.h

@@ -0,0 +1,50 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_AUX_STRING_H_
+#define HPIPM_AUX_STRING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define MAX_STR_LEN 5
+int hpipm_strcmp(char *str1, char *str2);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_AUX_STRING_H_