casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/licenses/superscs-external/LICENSE.txt

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+The MIT License (MIT)
+
+Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+                   Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+                   Panagiotis (Panos) Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

casadi/include/licenses/tinyxml2-9.0.0/LICENSE.txt

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+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.

casadi/include/licenses/trlib-external/LICENSE

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+MIT License
+
+Copyright (c) 2016--2017 Felix Lenders
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

casadi/include/osqp/auxil.h

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+#ifndef AUXIL_H
+# define AUXIL_H
+
+# ifdef __cplusplus
+extern "C" {
+# endif // ifdef __cplusplus
+
+# include "types.h"
+
+
+/***********************************************************
+* Auxiliary functions needed to compute ADMM iterations * *
+***********************************************************/
+# if EMBEDDED != 1
+
+/**
+ * Compute rho estimate from residuals
+ * @param work Workspace
+ * @return     rho estimate
+ */
+c_float compute_rho_estimate(OSQPWorkspace *work);
+
+/**
+ * Adapt rho value based on current unscaled primal/dual residuals
+ * @param work Workspace
+ * @return     Exitflag
+ */
+c_int   adapt_rho(OSQPWorkspace *work);
+
+/**
+ * Set values of rho vector based on constraint types
+ * @param work Workspace
+ */
+void    set_rho_vec(OSQPWorkspace *work);
+
+/**
+ * Update values of rho vector based on updated constraints.
+ * If the constraints change, update the linear systems solver.
+ *
+ * @param work Workspace
+ * @return     Exitflag
+ */
+c_int   update_rho_vec(OSQPWorkspace *work);
+
+# endif // EMBEDDED
+
+/**
+ * Swap c_float vector pointers
+ * @param a first vector
+ * @param b second vector
+ */
+void swap_vectors(c_float **a,
+                  c_float **b);
+
+
+/**
+ * Cold start workspace variables xz and y
+ * @param work Workspace
+ */
+void cold_start(OSQPWorkspace *work);
+
+
+/**
+ * Update x_tilde and z_tilde variable (first ADMM step)
+ * @param work [description]
+ */
+void update_xz_tilde(OSQPWorkspace *work);
+
+
+/**
+ * Update x (second ADMM step)
+ * Update also delta_x (For for dual infeasibility)
+ * @param work Workspace
+ */
+void update_x(OSQPWorkspace *work);
+
+
+/**
+ * Update z (third ADMM step)
+ * @param work Workspace
+ */
+void update_z(OSQPWorkspace *work);
+
+
+/**
+ * Update y variable (fourth ADMM step)
+ * Update also delta_y to check for primal infeasibility
+ * @param work Workspace
+ */
+void update_y(OSQPWorkspace *work);
+
+
+/**
+ * Compute objective function from data at value x
+ * @param  work OSQPWorkspace structure
+ * @param  x    Value x
+ * @return      Objective function value
+ */
+c_float compute_obj_val(OSQPWorkspace *work,
+                        c_float       *x);
+
+/**
+ * Check whether QP has solution
+ * @param info OSQPInfo
+ */
+c_int has_solution(OSQPInfo *info);
+
+/**
+ * Store the QP solution
+ * @param work Workspace
+ */
+void store_solution(OSQPWorkspace *work);
+
+
+/**
+ * Update solver information
+ * @param work               Workspace
+ * @param iter               Iteration number
+ * @param compute_objective  Boolean (if compute the objective or not)
+ * @param polish             Boolean (if called from polish)
+ */
+void update_info(OSQPWorkspace *work,
+                 c_int          iter,
+                 c_int          compute_objective,
+                 c_int          polish);
+
+
+/**
+ * Reset solver information (after problem updates)
+ * @param info               Information structure
+ */
+void reset_info(OSQPInfo *info);
+
+
+/**
+ * Update solver status (value and string)
+ * @param info OSQPInfo
+ * @param status_val new status value
+ */
+void update_status(OSQPInfo *info,
+                   c_int     status_val);
+
+
+/**
+ * Check if termination conditions are satisfied
+ * If the boolean flag is ON, it checks for approximate conditions (10 x larger
+ * tolerances than the ones set)
+ *
+ * @param  work        Workspace
+ * @param  approximate Boolean
+ * @return      Residuals check
+ */
+c_int check_termination(OSQPWorkspace *work,
+                        c_int          approximate);
+
+
+# ifndef EMBEDDED
+
+/**
+ * Validate problem data
+ * @param  data OSQPData to be validated
+ * @return      Exitflag to check
+ */
+c_int validate_data(const OSQPData *data);
+
+
+/**
+ * Validate problem settings
+ * @param  settings OSQPSettings to be validated
+ * @return          Exitflag to check
+ */
+c_int validate_settings(const OSQPSettings *settings);
+
+
+# endif // #ifndef EMBEDDED
+
+# ifdef __cplusplus
+}
+# endif // ifdef __cplusplus
+
+#endif // ifndef AUXIL_H

casadi/include/osqp/constants.h

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+#ifndef CONSTANTS_H
+# define CONSTANTS_H
+
+# ifdef __cplusplus
+extern "C" {
+# endif // ifdef __cplusplus
+
+
+/*******************
+* OSQP Versioning *
+*******************/
+#include "version.h"
+
+/******************
+* Solver Status  *
+******************/
+# define OSQP_DUAL_INFEASIBLE_INACCURATE (4)
+# define OSQP_PRIMAL_INFEASIBLE_INACCURATE (3)
+# define OSQP_SOLVED_INACCURATE (2)
+# define OSQP_SOLVED (1)
+# define OSQP_MAX_ITER_REACHED (-2)
+# define OSQP_PRIMAL_INFEASIBLE (-3)    /* primal infeasible  */
+# define OSQP_DUAL_INFEASIBLE (-4)      /* dual infeasible */
+# define OSQP_SIGINT (-5)               /* interrupted by user */
+# ifdef PROFILING
+#  define OSQP_TIME_LIMIT_REACHED (-6)
+# endif // ifdef PROFILING
+# define OSQP_NON_CVX (-7)              /* problem non convex */
+# define OSQP_UNSOLVED (-10)            /* Unsolved. Only setup function has been called */
+
+
+/*************************
+* Linear System Solvers *
+*************************/
+enum linsys_solver_type { QDLDL_SOLVER, MKL_PARDISO_SOLVER, UNKNOWN_SOLVER=99 };
+extern const char * LINSYS_SOLVER_NAME[];
+
+
+/******************
+* Solver Errors  *
+******************/
+enum osqp_error_type {
+    OSQP_DATA_VALIDATION_ERROR = 1,  /* Start errors from 1 */
+    OSQP_SETTINGS_VALIDATION_ERROR,
+    OSQP_LINSYS_SOLVER_LOAD_ERROR,
+    OSQP_LINSYS_SOLVER_INIT_ERROR,
+    OSQP_NONCVX_ERROR,
+    OSQP_MEM_ALLOC_ERROR,
+    OSQP_WORKSPACE_NOT_INIT_ERROR,
+};
+extern const char * OSQP_ERROR_MESSAGE[];
+
+
+/**********************************
+* Solver Parameters and Settings *
+**********************************/
+
+# define RHO (0.1)
+# define SIGMA (1E-06)
+# define MAX_ITER (4000)
+# define EPS_ABS (1E-3)
+# define EPS_REL (1E-3)
+# define EPS_PRIM_INF (1E-4)
+# define EPS_DUAL_INF (1E-4)
+# define ALPHA (1.6)
+# define LINSYS_SOLVER (QDLDL_SOLVER)
+
+# define RHO_MIN (1e-06)
+# define RHO_MAX (1e06)
+# define RHO_EQ_OVER_RHO_INEQ (1e03)
+# define RHO_TOL (1e-04) ///< tolerance for detecting if an inequality is set to equality
+
+
+# ifndef EMBEDDED
+#  define DELTA (1E-6)
+#  define POLISH (0)
+#  define POLISH_REFINE_ITER (3)
+#  define VERBOSE (1)
+# endif // ifndef EMBEDDED
+
+# define SCALED_TERMINATION (0)
+# define CHECK_TERMINATION (25)
+# define WARM_START (1)
+# define SCALING (10)
+
+# define MIN_SCALING (1e-04) ///< minimum scaling value
+# define MAX_SCALING (1e+04) ///< maximum scaling value
+
+
+# ifndef OSQP_NULL
+#  define OSQP_NULL 0
+# endif /* ifndef OSQP_NULL */
+
+# ifndef OSQP_NAN
+#  define OSQP_NAN ((c_float)0x7fc00000UL)  // not a number
+# endif /* ifndef OSQP_NAN */
+
+# ifndef OSQP_INFTY
+#  define OSQP_INFTY ((c_float)1e30)        // infinity
+# endif /* ifndef OSQP_INFTY */
+
+# ifndef OSQP_DIVISION_TOL
+#  define OSQP_DIVISION_TOL ((c_float)1.0 / OSQP_INFTY)
+# endif /* ifndef OSQP_DIVISION_TOL */
+
+
+# if EMBEDDED != 1
+#  define ADAPTIVE_RHO (1)
+#  define ADAPTIVE_RHO_INTERVAL (0)
+#  define ADAPTIVE_RHO_FRACTION (0.4)           ///< fraction of setup time after which we update rho
+#  define ADAPTIVE_RHO_MULTIPLE_TERMINATION (4) ///< multiple of check_termination after which we update rho (if PROFILING disabled)
+#  define ADAPTIVE_RHO_FIXED (100)              ///< number of iterations after which we update rho if termination_check  and PROFILING are disabled
+#  define ADAPTIVE_RHO_TOLERANCE (5)            ///< tolerance for adopting new rho; minimum ratio between new rho and the current one
+# endif // if EMBEDDED != 1
+
+# ifdef PROFILING
+#  define TIME_LIMIT (0)                        ///< Disable time limit as default
+# endif // ifdef PROFILING
+
+/* Printing */
+# define PRINT_INTERVAL 200
+
+
+# ifdef __cplusplus
+}
+# endif // ifdef __cplusplus
+
+#endif // ifndef CONSTANTS_H

casadi/include/osqp/cs.h

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+#ifndef CS_H
+# define CS_H
+
+# ifdef __cplusplus
+extern "C" {
+# endif // ifdef __cplusplus
+
+# include "types.h"   // CSC matrix type
+# include "lin_alg.h" // Vector copy operations
+
+/*****************************************************************************
+* Create and free CSC Matrices                                              *
+*****************************************************************************/
+
+/**
+ * Create Compressed-Column-Sparse matrix from existing arrays
+    (no MALLOC to create inner arrays x, i, p)
+ * @param  m     First dimension
+ * @param  n     Second dimension
+ * @param  nzmax Maximum number of nonzero elements
+ * @param  x     Vector of data
+ * @param  i     Vector of row indices
+ * @param  p     Vector of column pointers
+ * @return       New matrix pointer
+ */
+csc* csc_matrix(c_int    m,
+                c_int    n,
+                c_int    nzmax,
+                c_float *x,
+                c_int   *i,
+                c_int   *p);
+
+
+/**
+ * Create uninitialized CSC matrix atricture
+    (uses MALLOC to create inner arrays x, i, p)
+ * @param  m       First dimension
+ * @param  n       Second dimension
+ * @param  nzmax   Maximum number of nonzero elements
+ * @param  values  Allocate values (0/1)
+ * @param  triplet Allocate CSC or triplet format matrix (1/0)
+ * @return         Matrix pointer
+ */
+csc* csc_spalloc(c_int m,
+                 c_int n,
+                 c_int nzmax,
+                 c_int values,
+                 c_int triplet);
+
+
+/**
+ * Free sparse matrix
+    (uses FREE to free inner arrays x, i, p)
+ * @param  A Matrix in CSC format
+ */
+void csc_spfree(csc *A);
+
+
+/**
+ * free workspace and return a sparse matrix result
+ * @param  C  CSC matrix
+ * @param  w  Workspace vector
+ * @param  x  Workspace vector
+ * @param  ok flag
+ * @return    Return result C if OK, otherwise free it
+ */
+csc* csc_done(csc  *C,
+              void *w,
+              void *x,
+              c_int ok);
+
+/*****************************************************************************
+* Copy Matrices                                                             *
+*****************************************************************************/
+
+/**
+ *  Copy sparse CSC matrix A to output.
+ *  output is allocated by this function (uses MALLOC)
+ */
+csc* copy_csc_mat(const csc *A);
+
+
+/**
+ *  Copy sparse CSC matrix A to B (B is preallocated, NO MALOC)
+ */
+void prea_copy_csc_mat(const csc *A,
+                       csc       *B);
+
+
+/*****************************************************************************
+* Matrices Conversion                                                       *
+*****************************************************************************/
+
+
+/**
+ * C = compressed-column CSC from matrix T in triplet form
+ *
+ * TtoC stores the vector of indices from T to C
+ *  -> C[TtoC[i]] = T[i]
+ *
+ * @param  T    matrix in triplet format
+ * @param  TtoC vector of indices from triplet to CSC format
+ * @return      matrix in CSC format
+ */
+csc* triplet_to_csc(const csc *T,
+                    c_int     *TtoC);
+
+
+/**
+ * C = compressed-row CSR from matrix T in triplet form
+ *
+ * TtoC stores the vector of indices from T to C
+ *  -> C[TtoC[i]] = T[i]
+ *
+ * @param  T    matrix in triplet format
+ * @param  TtoC vector of indices from triplet to CSR format
+ * @return      matrix in CSR format
+ */
+csc* triplet_to_csr(const csc *T,
+                    c_int     *TtoC);
+
+
+/**
+ * Convert sparse to dense
+ */
+c_float* csc_to_dns(csc *M);
+
+
+/**
+ * Convert square CSC matrix into upper triangular one
+ *
+ * @param  M         Matrix to be converted
+ * @return           Upper triangular matrix in CSC format
+ */
+csc* csc_to_triu(csc *M);
+
+
+/*****************************************************************************
+* Extra operations                                                          *
+*****************************************************************************/
+
+/**
+ * p [0..n] = cumulative sum of c [0..n-1], and then copy p [0..n-1] into c
+ *
+ * @param  p Create cumulative sum into p
+ * @param  c Vector of which we compute cumulative sum
+ * @param  n Number of elements
+ * @return   Exitflag
+ */
+c_int csc_cumsum(c_int *p,
+                 c_int *c,
+                 c_int  n);
+
+/**
+ * Compute inverse of permutation matrix stored in the vector p.
+ * The computed inverse is also stored in a vector.
+ */
+c_int* csc_pinv(c_int const *p,
+                c_int        n);
+
+/**
+ * C = A(p,p)= PAP' where A and C are symmetric the upper part stored;
+ *  NB: pinv not p!
+ * @param  A      Original matrix (upper-triangular)
+ * @param  pinv   Inverse of permutation vector
+ * @param  AtoC   Mapping from indices of A-x to C->x
+ * @param  values Are values of A allocated?
+ * @return        New matrix (allocated)
+ */
+csc* csc_symperm(const csc   *A,
+                 const c_int *pinv,
+                 c_int       *AtoC,
+                 c_int        values);
+
+
+# ifdef __cplusplus
+}
+# endif // ifdef __cplusplus
+
+#endif // ifndef CS_H

casadi/include/osqp/ctrlc.h

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+/*
+ * Interface for OSQP signal handling.
+ */
+
+#ifndef CTRLC_H
+# define CTRLC_H
+
+# ifdef __cplusplus
+extern "C" {
+# endif // ifdef __cplusplus
+
+# include "glob_opts.h"
+
+# if defined MATLAB
+
+/* No header file available here; define the prototypes ourselves */
+bool utIsInterruptPending(void);
+bool utSetInterruptEnabled(bool);
+
+# elif defined IS_WINDOWS
+
+/* Use Windows SetConsoleCtrlHandler for signal handling */
+#  include <windows.h>
+
+# else // if defined MATLAB
+
+/* Use sigaction for signal handling on non-Windows machines */
+#  include <signal.h>
+
+# endif // if defined MATLAB
+
+/* METHODS are the same for both */
+
+/**
+ * Start listener for ctrl-c interrupts
+ */
+void osqp_start_interrupt_listener(void);
+
+/**
+ * End listener for ctrl-c interrupts
+ */
+void osqp_end_interrupt_listener(void);
+
+/**
+ * Check if the solver has been interrupted
+ * @return  Boolean indicating if the solver has been interrupted
+ */
+int osqp_is_interrupted(void);
+
+
+# ifdef __cplusplus
+}
+# endif // ifdef __cplusplus
+
+
+#endif /* END IFDEF CTRLC */

casadi/include/osqp/error.h

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+#ifndef ERROR_H
+# define ERROR_H
+
+/* OSQP error handling */
+
+# ifdef __cplusplus
+extern "C" {
+# endif // ifdef __cplusplus
+
+# include "types.h"
+
+
+/* OSQP error macro */
+# if __STDC_VERSION__ >= 199901L
+/* The C99 standard gives the __func__ macro, which is preferred over __FUNCTION__ */
+#  define osqp_error(error_code) _osqp_error(error_code, __func__);
+#else
+#  define osqp_error(error_code) _osqp_error(error_code, __FUNCTION__);
+#endif
+
+
+
+/**
+ * Internal function to print error description and return error code.
+ * @param  Error code
+ * @param  Function name
+ * @return Error code
+ */
+  c_int _osqp_error(enum osqp_error_type error_code,
+		    const char * function_name);
+
+
+
+# ifdef __cplusplus
+}
+# endif // ifdef __cplusplus
+
+#endif // ifndef ERROR_H