casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/hpipm_d_tree_ocp_qcqp_sol.h

@@ -0,0 +1,99 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_TREE_OCP_QCQP_SOL_H_
+#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_tree_ocp_qcqp_sol
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
+

casadi/include/hpipm_d_tree_ocp_qcqp_utils.h

@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_TREE_OCP_QP_UTILS_H_
+#define HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+#include "hpipm_d_tree_ocp_qcqp.h"
+#include "hpipm_d_tree_ocp_qcqp_sol.h"
+#include "hpipm_d_tree_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
+//
+//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
+//
+void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+

casadi/include/hpipm_d_tree_ocp_qp.h

@@ -0,0 +1,195 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_TREE_OCP_QP_H_
+#define HPIPM_D_TREE_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dmat *BAbt; // Nn-1
+	struct blasfeo_dmat *RSQrq; // Nn
+	struct blasfeo_dmat *DCt; // Nn
+	struct blasfeo_dvec *b; // Nn-1
+	struct blasfeo_dvec *rqz; // Nn
+	struct blasfeo_dvec *d; // Nn
+	struct blasfeo_dvec *d_mask; // Nn
+	struct blasfeo_dvec *m; // Nn
+	struct blasfeo_dvec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+//	int **idxs; // index of soft constraints
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
+//
+void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_H_

casadi/include/hpipm_d_tree_ocp_qp_dim.h

@@ -0,0 +1,111 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_TREE_OCP_QP_DIM_H_
+#define HPIPM_D_TREE_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_dim
+	{
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_dim_strsize();
+//
+hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
+//
+void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
+//
+void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_DIM_H_