casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/hpipm_s_dense_qp.h

@@ -0,0 +1,207 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_H_
+#define HPIPM_S_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_smat *Hv; // hessian & gradient
+	struct blasfeo_smat *A; // dynamics matrix
+	struct blasfeo_smat *Ct; // constraints matrix
+	struct blasfeo_svec *gz; // gradient & gradient of slacks
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *d; // 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)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
+
+// setters - colmaj
+//
+void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
+//
+void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
+//
+void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
+
+// getters - colmaj
+//
+void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
+//
+void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
+//
+void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
+//
+void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
+//
+void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
+//
+void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
+//
+void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
+//
+void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
+//
+void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
+//
+void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
+//
+void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
+//
+void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
+//
+void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
+//
+void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
+//
+void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
+//
+void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
+//
+void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
+//
+void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
+//
+void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
+//
+void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
+//
+void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
+//
+void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
+//
+void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
+//
+void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
+
+// setters - rowmaj
+//
+void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
+
+// getters - rowmaj
+//
+void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_H_

casadi/include/hpipm_s_dense_qp_dim.h

@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QP_DIM_H_
+#define HPIPM_S_DENSE_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_dim
+	{
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int ns;  // number of softened constraints (nsb+nsg)
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_dim_memsize();
+//
+void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
+//
+void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_DIM_H_
+
+

casadi/include/hpipm_s_dense_qp_ipm.h

@@ -0,0 +1,260 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QP_IPM_H_
+#define HPIPM_S_DENSE_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_dense_qp_dim.h>
+#include <hpipm_s_dense_qp.h>
+#include <hpipm_s_dense_qp_res.h>
+#include <hpipm_s_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_ipm_arg
+	{
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float reg_dual; // reg of dual hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int kkt_fact_alg; // 0 null-space, 1 schur-complement
+	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
+	int compute_obj; // compute obj on exit
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_dense_qp_res_ws *res_ws;
+	struct s_dense_qp_sol *sol_step;
+	struct s_dense_qp_sol *sol_itref;
+	struct s_dense_qp *qp_step;
+	struct s_dense_qp *qp_itref;
+	struct s_dense_qp_res *res;
+	struct s_dense_qp_res *res_itref;
+	struct s_dense_qp_res *res_step;
+	struct blasfeo_svec *Gamma; //
+	struct blasfeo_svec *gamma; //
+	struct blasfeo_svec *Zs_inv; //
+	struct blasfeo_smat *Lv; //
+	struct blasfeo_smat *AL; //
+	struct blasfeo_smat *Le; //
+	struct blasfeo_smat *Ctx; //
+	struct blasfeo_svec *lv; //
+	struct blasfeo_svec *sv; // scale for Lv
+	struct blasfeo_svec *se; // scale for Le
+	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
+	struct blasfeo_svec *tmp_ns; // work space of size ns
+	struct blasfeo_smat *lq0;
+	struct blasfeo_smat *lq1;
+	struct blasfeo_svec *tmp_m;
+	struct blasfeo_smat *A_LQ;
+	struct blasfeo_smat *A_Q;
+	struct blasfeo_smat *Zt;
+	struct blasfeo_smat *ZtH;
+	struct blasfeo_smat *ZtHZ;
+	struct blasfeo_svec *xy;
+	struct blasfeo_svec *Yxy;
+	struct blasfeo_svec *xz;
+	struct blasfeo_svec *tmp_nv;
+	struct blasfeo_svec *tmp_2ns;
+	struct blasfeo_svec *tmp_nv2ns;
+	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
+	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
+	struct blasfeo_smat *A_bkp; // pointer to backup A
+	struct blasfeo_svec *b_bkp; // pointer to backup b
+	struct blasfeo_smat *Ab_LU;
+	float *stat; // convergence statistics
+	int *ipiv_v;
+	int *ipiv_e;
+	int *ipiv_e1;
+	void *lq_work0;
+	void *lq_work1;
+	void *lq_work_null;
+	void *orglq_work_null;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // numer of recorded stat per ipm iter
+	int scale;
+	int use_hess_fact;
+	int use_A_fact;
+	int status;
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int ne_li; // number of linearly independent equality constraints
+	int ne_bkp; // ne backup
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
+//
+void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
+//
+void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
+//
+void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
+//
+void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
+//
+void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
+//
+void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
+//
+void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
+//
+void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
+//
+void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
+//
+void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
+//
+void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_IPM_H_

casadi/include/hpipm_s_dense_qp_kkt.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_DENSE_QP_KKT_H_
+#define HPIPM_S_DENSE_QP_KKT_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_KKT_H_