casadi 3.6.5__cp310-none-macosx_11_0_arm64.whl → 3.6.6__cp310-none-macosx_11_0_arm64.whl

casadi/include/alpaqa/dl/dl-problem.h

@@ -1,476 +0,0 @@
-#pragma once
-
-#include <stddef.h>
-#include <stdint.h>
-#include <string.h>
-
-#define ALPAQA_DL_ABI_VERSION 0xA1A000000001
-
-#ifdef __cplusplus
-extern "C" {
-#define ALPAQA_DL_ABI_VERSION_DEFAULT = ALPAQA_DL_ABI_VERSION
-#else
-#define ALPAQA_DL_ABI_VERSION_DEFAULT
-#endif
-
-typedef double alpaqa_real_t;
-typedef ptrdiff_t alpaqa_length_t;
-typedef alpaqa_length_t alpaqa_index_t;
-
-typedef struct {
-    uint64_t abi_version ALPAQA_DL_ABI_VERSION_DEFAULT;
-    alpaqa_length_t n, m;
-
-    // clang-format off
-    alpaqa_real_t (*eval_f)(
-        void *instance,
-        const alpaqa_real_t *x);
-    void (*eval_grad_f)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *grad_fx);
-    void (*eval_g)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *gx);
-    void (*eval_grad_g_prod)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        alpaqa_real_t *grad_gxy);
-    void (*eval_jac_g)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_index_t *inner_idx,
-        alpaqa_index_t *outer_ptr,
-        alpaqa_real_t *J_values);
-    alpaqa_length_t (*get_jac_g_num_nonzeros)(
-        void *instance);
-    void (*eval_grad_gi)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_index_t i,
-        alpaqa_real_t *grad_gi);
-    void (*eval_hess_L_prod)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        alpaqa_real_t scale,
-        const alpaqa_real_t *v,
-        alpaqa_real_t *Hv);
-    void (*eval_hess_L)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        alpaqa_real_t scale,
-        alpaqa_index_t *inner_idx,
-        alpaqa_index_t *outer_ptr,
-        alpaqa_real_t *H_values);
-    alpaqa_length_t (*get_hess_L_num_nonzeros)(
-        void *instance);
-    void (*eval_hess_ψ_prod)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        const alpaqa_real_t *Σ,
-        alpaqa_real_t scale,
-        const alpaqa_real_t *zl,
-        const alpaqa_real_t *zu,
-        const alpaqa_real_t *v,
-        alpaqa_real_t *Hv);
-    void (*eval_hess_ψ)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        const alpaqa_real_t *Σ,
-        alpaqa_real_t scale,
-        const alpaqa_real_t *zl,
-        const alpaqa_real_t *zu,
-        alpaqa_index_t *inner_idx,
-        alpaqa_index_t *outer_ptr,
-        alpaqa_real_t *H_values);
-    alpaqa_length_t (*get_hess_ψ_num_nonzeros)(
-        void *instance);
-    alpaqa_real_t (*eval_f_grad_f)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *grad_fx);
-    alpaqa_real_t (*eval_f_g)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *g);
-    void (*eval_grad_f_grad_g_prod)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        alpaqa_real_t *grad_f,
-        alpaqa_real_t *grad_gxy);
-    void (*eval_grad_L)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        alpaqa_real_t *grad_L,
-        alpaqa_real_t *work_n);
-    alpaqa_real_t (*eval_ψ)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        const alpaqa_real_t *Σ,
-        const alpaqa_real_t *zl,
-        const alpaqa_real_t *zu,
-        alpaqa_real_t *ŷ);
-    void (*eval_grad_ψ)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        const alpaqa_real_t *Σ,
-        const alpaqa_real_t *zl,
-        const alpaqa_real_t *zu,
-        alpaqa_real_t *grad_ψ,
-        alpaqa_real_t *work_n,
-        alpaqa_real_t *work_m);
-    alpaqa_real_t (*eval_ψ_grad_ψ)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *y,
-        const alpaqa_real_t *Σ,
-        const alpaqa_real_t *zl,
-        const alpaqa_real_t *zu,
-        alpaqa_real_t *grad_ψ,
-        alpaqa_real_t *work_n,
-        alpaqa_real_t *work_m);
-    alpaqa_real_t (*eval_prox_grad_step)(
-        void *instance,
-        alpaqa_real_t γ,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *grad_ψ,
-        alpaqa_real_t *x̂,
-        alpaqa_real_t *p);
-    void (*initialize_box_C)(
-        void *instance,
-        alpaqa_real_t *lb,
-        alpaqa_real_t *ub);
-    void (*initialize_box_D)(
-        void *instance,
-        alpaqa_real_t *lb,
-        alpaqa_real_t *ub);
-    void (*initialize_l1_reg)(
-        void *instance,
-        alpaqa_real_t *lambda,
-        alpaqa_length_t *size);
-    // clang-format on
-} alpaqa_problem_functions_t;
-
-/// Opaque type for a C++-only map of extra functions.
-typedef struct alpaqa_function_dict_s alpaqa_function_dict_t;
-
-typedef struct {
-    /// Owning pointer.
-    void *instance;
-    /// Non-owning pointer, lifetime at least as long as @ref instance.
-    alpaqa_problem_functions_t *functions;
-    /// Pointer to the function to clean up @ref instance.
-    void (*cleanup)(void *);
-    /// Pointer to a map of extra functions (C++ only).
-    alpaqa_function_dict_t *extra_functions;
-} alpaqa_problem_register_t;
-
-typedef struct {
-    uint64_t abi_version ALPAQA_DL_ABI_VERSION_DEFAULT;
-    alpaqa_length_t N, nx, nu, nh, nh_N, nc, nc_N;
-
-    // clang-format off
-    void (*get_U)(
-        void *instance,
-        alpaqa_real_t *lb,
-        alpaqa_real_t *ub);
-    void (*get_D)(
-        void *instance,
-        alpaqa_real_t *lb,
-        alpaqa_real_t *ub);
-    void (*get_D_N)(
-        void *instance,
-        alpaqa_real_t *lb,
-        alpaqa_real_t *ub);
-    void (*get_x_init)(
-        void *instance,
-        alpaqa_real_t *x_init);
-    void (*eval_f)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *u,
-        alpaqa_real_t *fxu);
-    void (*eval_jac_f)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *u,
-        alpaqa_real_t *J_fxu);
-    void (*eval_grad_f_prod)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *u,
-        const alpaqa_real_t *p,
-        alpaqa_real_t *grad_fxu_p);
-    void (*eval_h)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *u,
-        alpaqa_real_t *h);
-    void (*eval_h_N)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *h);
-    alpaqa_real_t (*eval_l)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *h);
-    alpaqa_real_t (*eval_l_N)(
-        void *instance,
-        const alpaqa_real_t *h);
-    void (*eval_qr)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *xu,
-        const alpaqa_real_t *h,
-        alpaqa_real_t *qr);
-    void (*eval_q_N)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *h,
-        alpaqa_real_t *q);
-    void (*eval_add_Q)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *xu,
-        const alpaqa_real_t *h,
-        alpaqa_real_t *Q);
-    void (*eval_add_Q_N)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *h,
-        alpaqa_real_t *Q);
-    void (*eval_add_R_masked)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *xu,
-        const alpaqa_real_t *h,
-        const alpaqa_index_t *mask,
-        alpaqa_real_t *R,
-        alpaqa_real_t *work);
-    void (*eval_add_S_masked)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *xu,
-        const alpaqa_real_t *h,
-        const alpaqa_index_t *mask,
-        alpaqa_real_t *S,
-        alpaqa_real_t *work);
-    void (*eval_add_R_prod_masked)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *xu,
-        const alpaqa_real_t *h,
-        const alpaqa_index_t *mask_J,
-        const alpaqa_index_t *mask_K,
-        const alpaqa_real_t *v,
-        alpaqa_real_t *out,
-        alpaqa_real_t *work);
-    void (*eval_add_S_prod_masked)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *xu,
-        const alpaqa_real_t *h,
-        const alpaqa_index_t *mask_K,
-        const alpaqa_real_t *v,
-        alpaqa_real_t *out,
-        alpaqa_real_t *work);
-    alpaqa_length_t (*get_R_work_size)(
-        void *instance);
-    alpaqa_length_t (*get_S_work_size)(
-        void *instance);
-    void (*eval_constr)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *c);
-    void (*eval_constr_N)(
-        void *instance,
-        const alpaqa_real_t *x,
-        alpaqa_real_t *c);
-    void (*eval_grad_constr_prod)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *p,
-        alpaqa_real_t *grad_cx_p);
-    void (*eval_grad_constr_prod_N)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *p,
-        alpaqa_real_t *grad_cx_p);
-    void (*eval_add_gn_hess_constr)(
-        void *instance,
-        alpaqa_index_t timestep,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *M,
-        alpaqa_real_t *out);
-    void (*eval_add_gn_hess_constr_N)(
-        void *instance,
-        const alpaqa_real_t *x,
-        const alpaqa_real_t *M,
-        alpaqa_real_t *out);
-    // clang-format on
-} alpaqa_control_problem_functions_t;
-
-typedef struct {
-    /// Owning pointer.
-    void *instance;
-    /// Non-owning pointer, lifetime at least as long as @ref instance.
-    alpaqa_control_problem_functions_t *functions;
-    /// Pointer to the function to clean up @ref instance.
-    void (*cleanup)(void *);
-    /// Pointer to a map of extra functions (C++ only).
-    alpaqa_function_dict_t *extra_functions;
-} alpaqa_control_problem_register_t;
-
-#ifdef __cplusplus
-}
-#endif
-
-#ifndef __cplusplus
-#define ALPAQA_PROBLEM_FUNCTIONS_INIT(self)                                    \
-    do {                                                                       \
-        memset((self), 0, sizeof(*(self)));                                    \
-        (self)->abi_version = ALPAQA_DL_ABI_VERSION;                           \
-    } while (0)
-#endif
-
-#if defined(__cplusplus) && __cplusplus > 201703L
-
-#include <any>
-#include <functional>
-#include <map>
-#include <string>
-
-struct alpaqa_function_dict_s {
-    std::map<std::string, std::any> dict{};
-};
-
-namespace alpaqa {
-
-using function_dict_t             = alpaqa_function_dict_t;
-using problem_register_t          = alpaqa_problem_register_t;
-using control_problem_register_t  = alpaqa_control_problem_register_t;
-using problem_functions_t         = alpaqa_problem_functions_t;
-using control_problem_functions_t = alpaqa_control_problem_functions_t;
-
-/// Make the given function available to alpaqa.
-/// @see @ref alpaqa::dl::DLProblem::call_extra_func
-/// @see @ref alpaqa::dl::DLControlProblem::call_extra_func
-template <class Func>
-void register_function(function_dict_t *&extra_functions, std::string name,
-                       Func &&func) {
-    if (extra_functions == nullptr)
-        extra_functions = new function_dict_t{};
-    extra_functions->dict.insert_or_assign(
-        std::move(name), std::function{std::forward<Func>(func)});
-}
-
-template <class Func>
-void register_function(problem_register_t &result, std::string name,
-                       Func &&func) {
-    register_function(result.extra_functions, std::move(name),
-                      std::forward<Func>(func));
-}
-
-template <class Func>
-void register_function(control_problem_register_t &result, std::string name,
-                       Func &&func) {
-    register_function(result.extra_functions, std::move(name),
-                      std::forward<Func>(func));
-}
-
-template <class Result, class T, class Ret, class... Args>
-void register_member_function(Result &result, std::string name,
-                              Ret (T::*member)(Args...)) {
-    register_function(result, std::move(name),
-                      [member](void *self_, Args... args) -> Ret {
-                          auto *self = reinterpret_cast<T *>(self_);
-                          return (self->*member)(std::forward<Args>(args)...);
-                      });
-}
-
-template <class Result, class T, class Ret, class... Args>
-void register_member_function(Result &result, std::string name,
-                              Ret (T::*member)(Args...) const) {
-    register_function(result, std::move(name),
-                      [member](const void *self_, Args... args) -> Ret {
-                          const auto *self = reinterpret_cast<const T *>(self_);
-                          return (self->*member)(std::forward<Args>(args)...);
-                      });
-}
-
-namespace detail {
-template <auto Member, class Class, class Ret, class... Args>
-static auto member_caller(Ret (Class::*)(Args...)) {
-    return [](void *self_, Args... args) -> Ret {
-        auto *self = reinterpret_cast<Class *>(self_);
-        return (self->*Member)(std::forward<Args>(args)...);
-    };
-}
-
-template <auto Member, class Class, class Ret, class... Args>
-static auto member_caller(Ret (Class::*)(Args...) const) {
-    return []<class Self>(Self * self_, Args... args) -> Ret
-               requires std::is_void_v<Self>
-    {
-        const auto *self = reinterpret_cast<const Class *>(self_);
-        return (self->*Member)(std::forward<Args>(args)...);
-    };
-}
-
-template <auto Member, class Class, class Ret>
-static auto member_caller(Ret Class::*) {
-    return []<class Self>(Self * self_) -> decltype(auto)
-               requires std::is_void_v<Self>
-    {
-        using CClass = std::conditional_t<std::is_const_v<Self>,
-                                          std::add_const_t<Class>, Class>;
-        auto *self   = reinterpret_cast<CClass *>(self_);
-        return self->*Member;
-    };
-}
-} // namespace detail
-
-/// Wrap the given member function of signature into a lambda function that
-/// accepts the instance as a void pointer.
-///
-/// - `Ret Class::member(args...)` → `Ret(void *self, args...)`
-/// - `Ret Class::member(args...) const` → `Ret(const void *self, args...)`
-/// - `Type Class::member` → `Type &(void *self)`
-/// - `Type Class::member` → `const Type &(const void *self)`
-template <auto Member>
-static auto member_caller() {
-    return detail::member_caller<Member>(Member);
-}
-
-/// Cleans up the extra functions registered by @ref register_function.
-/// @note   This does not need to be called for the functions returned by the
-///         registration function, those functions will be cleaned up by alpaqa.
-/// @note   The @ref alpaqa_problem_register_t and
-///         @ref alpaqa_control_problem_register_t structs are part of the C API
-///         and do not automatically clean up their resources when destroyed,
-///         you have to do it manually by calling this function.
-inline void unregister_functions(function_dict_t *&extra_functions) {
-    delete extra_functions;
-}
-
-} // namespace alpaqa
-
-#endif
-
-#undef ALPAQA_DL_ABI_VERSION_DEFAULT