casadi 3.6.7__cp313-none-manylinux2014_aarch64.whl

casadi/include/hpipm_s_ocp_qcqp_utils.h

@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_UTILS_H_
+#define HPIPM_S_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
+//
+void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
+//
+void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_UTILS_H_
+
+

casadi/include/hpipm_s_ocp_qp.h

@@ -0,0 +1,306 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QP_H_
+#define HPIPM_S_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp
+	{
+	struct s_ocp_qp_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_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] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
+	int *diag_H_flag; // flag the fact that Hessian is diagonal
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_strsize();
+//
+hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
+//
+void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
+
+// setters
+//
+void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
+
+// getters
+//
+void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
+//
+void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
+//
+void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_H_

casadi/include/hpipm_s_ocp_qp_dim.h

@@ -0,0 +1,141 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_QP_DIM_H_
+#define HPIPM_S_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_dim
+	{
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of (two-sided) box constraints
+	int *nbx; // number of (two-sided) state box constraints
+	int *nbu; // number of (two-sided) input box constraints
+	int *ng; // number of (two-sided) general constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of (two-sided) soft state box constraints
+	int *nsbu; // number of (two-sided) soft input box constraints
+	int *nsg; // number of (two-sided) soft general constraints
+	int *nbxe; // number of state box constraints which are equality
+	int *nbue; // number of input box constraints which are equality
+	int *nge; // number of general constraints which are equality
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_dim_strsize();
+//
+hpipm_size_t s_ocp_qp_dim_memsize(int N);
+//
+void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
+//
+void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
+//
+void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
+//
+void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
+//
+void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_DIM_H_