casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/hpipm_m_dense_qp_dim.h

@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_M_DENSE_QP_DIM_H_
+#define HPIPM_M_DENSE_QP_DIM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_M_DENSE_QP_DIM_H_

casadi/include/hpipm_m_ocp_qp.h

@@ -0,0 +1,49 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif

casadi/include/hpipm_m_ocp_qp_ipm_hard.h

@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+struct m_ipm_hard_ocp_qp_workspace
+	{
+	struct d_ipm_hard_core_qp_workspace *core_workspace;
+	struct blasfeo_dvec *dux;
+	struct blasfeo_dvec *dpi;
+	struct blasfeo_dvec *dt_lb;
+	struct blasfeo_dvec *dt_lg;
+	struct blasfeo_svec *sdux; // XXX
+	struct blasfeo_svec *sdpi; // XXX
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
+	struct blasfeo_dvec *res_d_lb; // d-residuals
+	struct blasfeo_dvec *res_d_ub; // d-residuals
+	struct blasfeo_dvec *res_d_lg; // d-residuals
+	struct blasfeo_dvec *res_d_ug; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	struct blasfeo_dvec *res_m_lb; // m-residuals
+	struct blasfeo_dvec *res_m_ub; // m-residuals
+	struct blasfeo_dvec *res_m_lg; // m-residuals
+	struct blasfeo_dvec *res_m_ug; // m-residuals
+	struct blasfeo_svec *sres_g; // q-residuals // XXX
+	struct blasfeo_svec *sres_b; // b-residuals // XXX
+	struct blasfeo_dvec *Qx_lb; // hessian update
+	struct blasfeo_dvec *Qx_lg; // hessian update
+	struct blasfeo_dvec *qx_lb; // gradient update
+	struct blasfeo_dvec *qx_lg; // gradient update
+	struct blasfeo_svec *sQx_lb; // hessian update // XXX
+	struct blasfeo_svec *sQx_lg; // hessian update // XXX
+	struct blasfeo_svec *sqx_lb; // gradient update // XXX
+	struct blasfeo_svec *sqx_lg; // gradient update // XXX
+	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
+	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
+	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
+	struct blasfeo_svec *Pb; // Pb // XXX
+	struct blasfeo_smat *L; // XXX
+	struct blasfeo_smat *AL; // XXX
+	struct blasfeo_svec *sSx; // scaling
+	struct blasfeo_svec *sSi; // scaling inverted
+	double *stat; // convergence statistics
+	double res_mu; // mu-residual
+	int iter; // iteration number
+	int compute_Pb;
+	int scale;
+	};
+
+
+
+struct m_ipm_hard_ocp_qp_arg
+	{
+	double alpha_min; // exit cond on step length
+	double mu_max; // exit cond on duality measure
+	double mu0; // initial value for duality measure
+	int iter_max; // exit cond in iter number
+	};
+
+
+
+//
+hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
+//
+void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
+//
+void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
+//
+void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif

casadi/include/hpipm_m_ocp_qp_kkt.h

@@ -0,0 +1,45 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
+void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif

casadi/include/hpipm_s_cast_qcqp.h

@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_S_CAST_QCQP_H_
+#define HPIPM_S_CAST_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp.h"
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
+//
+void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_CAST_QCQP_H_
+
+

casadi/include/hpipm_s_cond.h

@@ -0,0 +1,137 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_S_COND_H_
+#define HPIPM_S_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp.h"
+#include "hpipm_s_dense_qp_sol.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qp_dim.h"
+#include "hpipm_s_ocp_qp_sol.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_cond_qp_arg
+	{
+	int cond_last_stage; // condense last stage
+	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_cond_qp_ws
+	{
+	struct blasfeo_smat *Gamma;
+	struct blasfeo_smat *GammaQ;
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Lx;
+	struct blasfeo_smat *AL;
+	struct blasfeo_svec *Gammab;
+	struct blasfeo_svec *l;
+	struct blasfeo_svec *tmp_nbgM;
+	struct blasfeo_svec *tmp_nuxM;
+	int bs; // block size
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_cond_qp_arg_memsize();
+//
+void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
+//
+void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
+// condensing algorithm: 0 N2-nx3, 1 N3-nx2
+void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
+
+//
+void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
+//
+hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
+//
+void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+// TODO remove
+void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+//
+void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_H_

casadi/include/hpipm_s_cond_aux.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_S_COND_AUX_H_
+#define HPIPM_S_COND_AUX_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+//
+void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_AUX_H_