casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/hpipm_s_cond_qcqp.h

@@ -0,0 +1,130 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QCQP_H_
+#define HPIPM_S_COND_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
+
+
+
+struct s_cond_qcqp_arg
+	{
+	struct s_cond_qp_arg *qp_arg;
+	int cond_last_stage; // condense last stage
+//	int cond_variant; // TODO
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_cond_qcqp_ws
+	{
+	struct s_cond_qp_ws *qp_ws;
+	struct blasfeo_smat *hess_array; // TODO remove
+	struct blasfeo_smat *zero_hess; // TODO remove
+	struct blasfeo_svec *zero_grad; // TODO remove
+	struct blasfeo_svec *grad_array; // TODO remove
+	struct blasfeo_svec *tmp_nvc;
+	struct blasfeo_svec *tmp_nuxM;
+	struct blasfeo_smat *GammaQ;
+	struct blasfeo_smat *tmp_DCt;
+	struct blasfeo_smat *tmp_nuM_nxM;
+//	struct blasfeo_svec *d_qp;
+//	struct blasfeo_svec *d_mask_qp;
+	hpipm_size_t memsize;
+	};
+
+
+//
+hpipm_size_t s_cond_qcqp_arg_memsize();
+//
+void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
+//
+void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
+
+//
+void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
+//
+hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
+//
+void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
+//
+void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_QCQP_H_
+

casadi/include/hpipm_s_core_qp_ipm.h

@@ -0,0 +1,101 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_CORE_QP_IPM_
+#define HPIPM_S_CORE_QP_IPM_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_core_qp_ipm_workspace
+	{
+	float *v; // primal variables
+	float *pi; // equality constraints multipliers
+	float *lam; // inequality constraints multipliers
+	float *t; // inequality constraints slacks
+	float *t_inv; // inverse of t
+	float *v_bkp; // backup of primal variables
+	float *pi_bkp; // backup of equality constraints multipliers
+	float *lam_bkp; // backup of inequality constraints multipliers
+	float *t_bkp; // backup of inequality constraints slacks
+	float *dv; // step in v
+	float *dpi; // step in pi
+	float *dlam; // step in lam
+	float *dt; // step in t
+	float *res_g; // q-residuals
+	float *res_b; // b-residuals
+	float *res_d; // d-residuals
+	float *res_m; // m-residuals
+	float *res_m_bkp; // m-residuals
+	float *Gamma; // Hessian update
+	float *gamma; // gradient update
+	float alpha_prim; // step length
+	float alpha_dual; // step length
+	float alpha; // step length
+	float sigma; // centering XXX
+	float mu; // duality measuere
+	float mu_aff; // affine duality measuere
+	float nc_inv; // 1.0/nc, where nc is the total number of constraints
+	float nc_mask_inv; // 1.0/nc_mask
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float t_min_inv; // inverse of min value in t vector
+	float tau_min; // min value of barrier parameter
+	int nv; // number of primal variables
+	int ne; // number of equality constraints
+	int nc; // (twice the) number of (two-sided) inequality constraints
+	int nc_mask; // total number of ineq constr after masking
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
+//
+void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
+//
+void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_

casadi/include/hpipm_s_core_qp_ipm_aux.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_S_CORE_QP_IPM_AUX_
+#define HPIPM_S_CORE_QP_IPM_AUX_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_AUX_

casadi/include/hpipm_s_dense_qcqp.h

@@ -0,0 +1,200 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_DENSE_QCQP_H_
+#define HPIPM_S_DENSE_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_smat *Hv; // hessian of cost & vector work space
+	struct blasfeo_smat *A; // equality constraint matrix
+	struct blasfeo_smat *Ct; // inequality constraints matrix
+	struct blasfeo_smat *Hq; // hessians of quadratic constraints
+	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *b; // equality constraint vector
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
+
+//
+void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
+
+// getters (COLMAJ)
+
+void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
+//
+void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
+//
+void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
+//
+void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
+//
+void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
+//
+void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
+//
+void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
+//
+void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
+//
+void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
+//
+void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
+//
+void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
+//
+void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
+//
+void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
+//
+void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
+//
+void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
+//
+void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
+//
+void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
+//
+void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
+//
+void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
+//
+void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
+//
+void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
+//
+void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
+//
+void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
+//
+void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_H_
+
+

casadi/include/hpipm_s_dense_qcqp_dim.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_S_DENSE_QCQP_DIM_H_
+#define HPIPM_S_DENSE_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_dim
+	{
+	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nq;  // number of quadratic constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int nsq; // number of softened quadratic constraints
+	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_dim_memsize();
+//
+void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
+//
+void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_DIM_H_
+
+