casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/hpipm_s_dense_qp_res.h

@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_RES_H_
+#define HPIPM_S_DENSE_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_dense_qp_dim.h>
+#include <hpipm_s_dense_qp.h>
+#include <hpipm_s_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_res
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	float obj; // (primal) objective
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_ns; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
+//
+hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
+//
+void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
+//
+void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
+//
+void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
+//
+void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QP_RES_H_
+
+
+

casadi/include/hpipm_s_dense_qp_sol.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_SOL_H_
+#define HPIPM_S_DENSE_QP_SOL_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_sol
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_svec *v;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	float obj;
+	int valid_obj;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
+//
+void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
+//
+void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
+//
+void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
+//
+void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
+//
+void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_SOL_H_

casadi/include/hpipm_s_dense_qp_utils.h

@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_UTILS_H_
+#define HPIPM_S_DENSE_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+#include "hpipm_s_dense_qp.h"
+#include "hpipm_s_dense_qp_sol.h"
+#include "hpipm_s_dense_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
+//
+//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
+//
+void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
+//
+//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
+//
+void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
+//
+//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
+//
+void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_UTILS_H_
+
+

casadi/include/hpipm_s_ocp_qcqp.h

@@ -0,0 +1,322 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_OCP_QCQP_H_
+#define HPIPM_S_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_smat *DCt; // inequality constraints matrix
+	struct blasfeo_smat **Hq; // hessians of quadratic constraints
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
+	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 **idxe; // indices of constraints within [bu, bx, g, q] that are equalities, subset of [0, ..., nbu+nbx+ng+nq-1]
+	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_ocp_qcqp_strsize();
+//
+hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
+//
+void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
+
+// setters
+//
+void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxe(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbxe(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbue(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxge(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxqe(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbxe(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbue(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jge(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jqe(int stage, float *vec, struct s_ocp_qcqp *qp);
+
+// getters
+//
+void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
+//
+void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_H_
+