casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/hpipm_d_dense_qcqp_res.h

@@ -0,0 +1,108 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QCQP_RES_H_
+#define HPIPM_D_DENSE_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_dense_qcqp_dim.h>
+#include <hpipm_d_dense_qcqp.h>
+#include <hpipm_d_dense_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_res
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // infinity norm of residuals
+	double res_mu; // mu-residual
+	double obj; // (primal) objective
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nv; // work space of size nv
+	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_ns; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
+//
+void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
+//
+void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QCQP_RES_H_
+
+
+

casadi/include/hpipm_d_dense_qcqp_sol.h

@@ -0,0 +1,85 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QCQP_SOL_H_
+#define HPIPM_D_DENSE_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_sol
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dvec *v;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
+//
+void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_SOL_H_
+

casadi/include/hpipm_d_dense_qcqp_utils.h

@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QCQP_UTILS_H_
+#define HPIPM_D_DENSE_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+//#include "hpipm_d_dense_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
+//
+//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
+//
+void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
+//
+//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
+//
+//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
+
+

casadi/include/hpipm_d_dense_qp.h

@@ -0,0 +1,207 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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 <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#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_

casadi/include/hpipm_d_dense_qp_dim.h

@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_DIM_H_
+#define HPIPM_D_DENSE_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_dim
+	{
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int ns;  // number of softened constraints (nsb+nsg)
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_dim_memsize();
+//
+void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
+//
+void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_DIM_H_