casadi 3.7.2__cp314-none-manylinux2014_i686.whl

casadi/include/superscs/cones.h

@@ -0,0 +1,185 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+#ifndef SCS_CONES_H_GUARD
+#define SCS_CONES_H_GUARD
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "glbopts.h"
+#include "scs_blas.h"
+
+    /* NB: rows of data matrix A must be specified in this exact order */
+
+    /** 
+     * \brief Cone structure 
+     *
+     * This structure represents a Cartesian product of cones as explained in 
+     * detail in \ref page_cones "this documentation page".
+     * 
+     * \sa \ref page_cones "Cones documentation"
+     */
+    struct scs_cone {
+        /**
+         * \brief Number of linear equality constraints \f$(n_{\mathrm{f}})\f$
+         * 
+         * The corresponding cone is the zero-cone 
+         * \f$\mathcal{K}^{f}_{n_f} = \{0_{n_f}\}\f$
+         */
+        scs_int f;
+        /** 
+         * \brief Dimension of LP cone \f$(n_{\mathrm{l}})\f$
+         * 
+         * This is used to specify element-wise inequalities.
+         *
+         * The corresponding cone is the positive orthant
+         * \f$\mathcal{K}^{l}_{n_l} = \{x\in\mathbb{R}^{n_l}: x_i \geq 0, 
+         * \forall i\}\f$
+         */
+        scs_int l;
+        /** 
+         * \brief Array of SOC constraints 
+         * \f$(n_{\mathrm{q},1},\ldots, n_{\mathrm{q},N_{\mathrm{q}}})\f$.
+         * 
+         * This is the Cartesian product of \f$N_{so}\f$ cones with 
+         * dimensions \f$n_{so_1},\ldots, n_{so,N_{so}}\f$.
+         * 
+         * This array contains the dimensions \f$(n_{so_1},\ldots, n_{so,N_{so}})\f$.
+         * 
+         * The length of this array is specified in #qsize.
+         * 
+         * \sa \ref #qsize "number of second-order cones"
+         * 
+         */
+        scs_int *RESTRICT q;
+        /** 
+         * \brief Length of SOC array, i.e., number of second-order cones 
+         * \f$(N_{\mathrm{q}})\f$
+         * 
+         * \sa \ref #q "array of second-order cones"
+         */
+        scs_int qsize; 
+        /** 
+         * \brief array of PSD constraints \f$(k_1,\ldots, k_{N_{\mathrm{s}}})\f$
+         * 
+         * Array of dimensions of PSD constraints.
+         * 
+         * \sa \ref #ssize "number of PSD cones"
+         */
+        scs_int *RESTRICT s; 
+        /**
+         * \brief length of PSD array \f$(N_{\mathrm{s}})\f$
+         * 
+         * \sa \ref #s "array of positive semidefinite cones"
+         */
+        scs_int ssize; 
+        /**
+         * \brief Number of primal exponential cone triples \f$(n_{\mathrm{ep}})\f$
+         * 
+         * \sa \ref #ed "dual exponential cone"
+         */
+        scs_int ep; 
+        /**
+         * \brief number of dual exponential cone triples \f$(n_{\mathrm{de}})\f$
+         * 
+         * \sa \ref #ep "primal exponential cone"
+         */
+        scs_int ed; 
+        /** 
+         * \brief Array of power cone params \f$(\alpha_1,\ldots,\alpha_{N_{\mathrm{p}}})\f$.
+         * 
+         * \note Cone parameters must be in \f$[-1, 1]\f$. 
+         * \note Negative values are interpreted as specifying the dual cone 
+         */
+        scs_float * p; 
+        /** 
+         * \brief Number of (primal and dual) power cone tuples \f$(N_{\mathrm{p}})\f$.
+         *  
+         */
+        scs_int psize; 
+    };
+
+    /** private data to help cone projection step */
+
+    /** \brief Workspace for cones */
+    typedef struct scs_cone_work {
+#ifdef LAPACK_LIB_FOUND
+        /* workspace for eigenvector decompositions: */
+        scs_float * RESTRICT Xs;
+        scs_float * RESTRICT Z;
+        scs_float * RESTRICT e;
+        scs_float * RESTRICT work;
+        blasint * RESTRICT iwork, lwork, liwork;
+#endif
+        scs_float total_cone_time;
+    } ScsConeWork;
+
+    /**
+     * boundaries will contain array of indices of rows of A corresponding to
+     * cone boundaries, boundaries[0] is starting index for cones of size larger
+     * than 1
+     * 
+     * @return returns length of boundaries array, boundaries malloc-ed here so 
+     * should be freed
+     */
+    scs_int scs_get_cone_boundaries(
+            const ScsCone * RESTRICT k,
+            scs_int ** RESTRICT boundaries);
+
+    ScsConeWork *scs_init_conework(const ScsCone * RESTRICT k);
+
+    char *scs_get_cone_header(const ScsCone *k);
+
+    scs_int scs_validate_cones(
+            const ScsData * RESTRICT d,
+            const ScsCone * RESTRICT k);
+
+    /** 
+     * pass in iter to control how accurate the cone projection
+     * with iteration, set iter < 0 for exact projection, warm_start contains guess
+     * of solution, can be SCS_NULL
+     */
+    scs_int scs_project_dual_cone(
+            scs_float * RESTRICT x,
+            const ScsCone * RESTRICT k,
+            ScsConeWork * RESTRICT c,
+            const scs_float * RESTRICT warm_start,
+            scs_int iter);
+
+    void scs_finish_cone(
+            ScsConeWork * RESTRICT coneWork);
+
+    char *scs_get_cone_summary(
+            const ScsInfo * RESTRICT info,
+            ScsConeWork * RESTRICT c);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

casadi/include/superscs/constants.h

@@ -0,0 +1,144 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+#ifndef SCS_CONSTANTS_H_GUARD
+#define SCS_CONSTANTS_H_GUARD
+
+#include "glbopts.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /* SCS VERSION NUMBER ----------------------------------------------    */
+    /* string literals automatically null-terminated */
+    /**
+     * Version of SCS
+     */
+#define SCS_VERSION                                                            \
+    ("1.3.3") 
+
+
+    /* SCS returns one of the following integers:                           */
+    
+    /**
+     * Potentially infeasible (inaccurate solution)
+     */
+#define SCS_INFEASIBLE_INACCURATE (-7)
+    /**
+     * Potentially unbounded (inaccurate solution)
+     */
+#define SCS_UNBOUNDED_INACCURATE (-6)
+    /**
+     * Solver interrupted by \c SIGINT.
+     */
+#define SCS_SIGINT (-5)
+    /**
+     * SCS solver failed
+     */
+#define SCS_FAILED (-4)
+    /**
+     * indeterminate solution
+     */
+#define SCS_INDETERMINATE (-3)
+    /**
+     *  primal infeasible, dual unbounded   
+     */
+#define SCS_INFEASIBLE (-2) 
+    /**
+     *  primal unbounded, dual infeasible   
+     */
+#define SCS_UNBOUNDED (-1)  
+    /**
+     *  This status code never returned, used as placeholder 
+     */
+#define SCS_UNFINISHED (0)  
+    /**
+     * Problem successfully solved within the prescribed tolerance.
+     */
+#define SCS_SOLVED (1)
+    /**
+     * Problem seems to be feasible; suboptimal solution found.
+     */
+#define SCS_SOLVED_INACCURATE (2)
+
+    /* DEFAULT SOLVER PARAMETERS AND SETTINGS --------------------------    */
+    
+    /**
+     * Default maximum allowed runtime for (Super)SCS.
+     */
+#define SCS_MAX_TIME_MILLISECONDS (300000.)
+    /**
+     * Default maximum number of iterations.
+     */
+#define SCS_MAX_ITERS_DEFAULT (10000)
+#define SCS_EPS_DEFAULT (1E-3)
+#define SCS_ALPHA_DEFAULT (1.5)
+#define SCS_RHO_X_DEFAULT (0.001)
+#define SCS_SCALE_DEFAULT (1.0)
+#define SCS_CG_RATE_DEFAULT (2.0)
+#define SCS_VERBOSE_DEFAULT (1)
+#define SCS_NORMALIZE_DEFAULT (1)
+#define SCS_DO_RECORD_PROGRESS_DEFAULT (0)
+#define SCS_WARM_START_DEFAULT (0)
+
+    /* Parameters for Superscs*/
+#define SCS_DO_SUPERSCS_DEFAULT (1)
+#define SCS_K0_DEFAULT (0)
+#define SCS_K1_DEFAULT (1)
+#define SCS_K2_DEFAULT (1)    
+#define SCS_NOMINAL_DEFAULT (1)
+#define SCS_C_BL_DEFAULT (0.999)
+#define SCS_C1_DEFAULT (1.0-1E-4)
+#define SCS_SSE_DEFAULT (1.0-1E-3) 
+
+    /* Line-search defaults */
+#define SCS_LS_DEFAULT  (10)
+#define SCS_BETA_DEFAULT (0.5)
+#define SCS_SIGMA_DEFAULT (1E-2)
+
+    /* Direction Defaults */
+#define SCS_DIRECTION_DEFAULT (anderson_acceleration)
+#define SCS_TRULE_DEFAULT (3)
+#define SCS_THETABAR_DEFAULT (1E-1)
+#define SCS_ALPHAC_DEFAULT (1E-2) 
+#define SCS_MEMORY_DEFAULT (5)
+#define SCS_SC_INIT_DEFAULT (0)
+#define SCS_BROYDEN_ISCS_SCALE_DEFAULT (1)
+#define SCS_OVERRIDE_STREAMS_DEFAULT (0)
+    
+    /* Other */
+#define SCS_OUT_STREAM_DEFAULT (stdout)
+    /**
+     * Default value for \ref ScsSettings#previous_max_iters "previous number of maximum iterations".
+     */
+#define SCS_PMAXITER_DEFAULT (-1)
+#ifdef __cplusplus
+}
+#endif
+#endif

casadi/include/superscs/cs.h

@@ -0,0 +1,109 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+#ifndef SCS_CS_H_GUARD
+#define SCS_CS_H_GUARD
+
+#include "glbopts.h"
+
+/**
+ * \brief Matrix in compressed-column or triplet form.
+ * 
+ * This is a subset of the routines in the CSPARSE package by
+ * Tim Davis et. al. For the full package please visit
+ * http://www.cise.ufl.edu/research/sparse/CSparse/.
+ * 
+ * \note In order to avoid conflicts in case some users want to load
+ *       both SuperSCS and CSPARSE in their project, we have prepended
+ *       the prefix scs_ in all function names here (although not
+ *       necessary, we did it in static functions for uniformity. 
+ *
+ */
+typedef struct scs_cs_sparse {
+    scs_int nzmax; /**< \brief maximum number of entries */
+    scs_int m; /**< \brief number of rows */
+    scs_int n; /**< \brief number of columns */
+    scs_int *p; /**< \brief column pointers (size n+1) or col indices (size nzmax) */
+    scs_int *i; /**< \brief row indices, size nzmax */
+    scs_float *x; /**< \brief numerical values, size nzmax */
+    scs_int nz; /**< \brief Number of entries in triplet matrix, -1 for compressed-col */
+} scs_cs;
+
+/**
+ * \brief Compress a triplet matrix into a column-packed representation.
+ */
+scs_cs *scs_cs_compress(const scs_cs *T);
+
+
+/**
+ * \brief Frees the memory of <code>x</code> and <code>w></code>.
+ * 
+ * If <code>ok</code> is nonzero, it returns <code>C</code>, otherwise
+ * it frees <code>C</code> (it calls ::scs_cs_spfree) and returns ::SCS_NULL.
+ * 
+ * @param C
+ * @param w
+ * @param x
+ * @param ok
+ * @return 
+ */
+scs_cs *scs_cs_done(scs_cs *C, void *w, void *x, scs_int ok);
+
+/**
+ * \brief Allocates a sparse matrix of given dimensions.
+ * 
+ * @param m number of rows
+ * @param n number of columns
+ * @param nzmax maximum number of nonzero elements
+ * @param values whether to allocate memory for the matrix values
+ * @param triplet whether the triplet representation is used
+ * @return 
+ */
+scs_cs *scs_cs_spalloc(
+        scs_int m, 
+        scs_int n, 
+        scs_int nzmax, 
+        scs_int values,
+        scs_int triplet);
+
+scs_cs *scs_cs_spfree(scs_cs *A);
+
+scs_float scs_cs_cumsum(
+        scs_int *p, 
+        scs_int *c, 
+        scs_int n);
+
+scs_int *scs_cs_pinv(
+        scs_int const *p, 
+        scs_int n);
+
+scs_cs *scs_cs_symperm(
+        const scs_cs *A, 
+        const scs_int *pinv, 
+        scs_int values);
+
+#endif

casadi/include/superscs/ctrlc.h

@@ -0,0 +1,77 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+
+/*
+ * Interface for SCS signal handling.
+ */
+
+#ifndef CTRLC_H_GUARD
+#define CTRLC_H_GUARD
+
+#if !(defined _WIN32 || defined _WIN64 || defined _WINDLL || defined __APPLE__)
+#ifdef _POSIX_C_SOURCE
+#undef _POSIX_C_SOURCE
+#endif
+#define _POSIX_C_SOURCE 199309L
+#endif
+
+#if CTRLC > 0
+
+#if defined MATLAB_MEX_FILE
+
+/* No header file available here; define the prototypes ourselves */
+extern int utIsInterruptPending();
+extern int utSetInterruptEnabled(int);
+
+#elif(defined _WIN32 || defined _WIN64 || defined _WINDLL)
+
+/* Use Windows SetConsoleCtrlHandler for signal handling */
+#include <windows.h>
+
+#else
+
+/* Use POSIX clocl_gettime() for timing on non-Windows machines */
+#include <signal.h>
+
+#endif
+
+/* METHODS are the same for both */
+void startInterruptListener(void);
+void endInterruptListener(void);
+int isInterrupted(void);
+
+#else /* CTRLC = 0 */
+
+/* No signal handling. */
+#define startInterruptListener()
+#define endInterruptListener()
+#define isInterrupted() 0
+
+#endif /* END IF CTRLC > 0 */
+
+#endif /* END IFDEF __TIMER_H__ */

casadi/include/superscs/directions.h

@@ -0,0 +1,125 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+#ifndef SCS_DIRECTIONS_H
+#define SCS_DIRECTIONS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "scs.h"
+
+    /**
+     * The cache has been incremented.
+     */
+#define SCS_DIRECTION_CACHE_INCREMENT 101
+    /** 
+     * The cursor of the cache has been reset to \c 0.
+     */
+#define SCS_DIRECTION_CACHE_RESET 100
+    /**
+     * The direction could not be computed due to an error.
+     */
+#define SCS_DIRECTION_ERROR -1
+    /**
+     * The direction was computed successfully.
+     * 
+     * All nonnegative status codes denote success.
+     */
+#define SCS_DIRECTION_SUCCESS 0
+
+    /**
+     * Resets the cache. This methods does not free the memory allocated by the 
+     * cache, nor does it overwrite the previously cached data. It simply sets the 
+     * parameters `mem_current` and `mem_idx` to 0.
+     * 
+     * @param cache the cache to be reset 
+     * 
+     * @return status code (returns #SCS_DIRECTION_CACHE_RESET)
+     */
+    scs_int scs_reset_direction_cache(ScsDirectionCache * cache);
+
+    /**
+     * Restarted Broyden (as it is reported in the paper).
+     * 
+     * @param work Work structure with all available information about the current
+     * iteration (current FPR, values of \f$s_k\f$, \f$y_k\f$ etc).
+     * 
+     * @return status code of the method.
+     * 
+     * @see \ref sec-restarted-broyden "Restarted Broyden Algorithm"
+     */
+    scs_int scs_compute_dir_restarted_broyden(ScsWork *work);
+    
+    /**
+     * Anderson's acceleration
+     * 
+     * @param work Work structure with all available information about the current
+     * iteration (current FPR, values of \f$s_k\f$, \f$y_k\f$ etc).
+     * 
+     * @return status code of the method.
+     */
+    scs_int scs_compute_dir_anderson(ScsWork *work);
+
+    /**
+     * Full Broyden method.
+     * 
+     * @param work
+     * @param i
+     * 
+     * @return status code of the method.
+     * 
+     * @see \ref sec-full-broyden "Full Broyden Algorithm"
+     * 
+     * \warning Not implemented yet
+     */
+    scs_int scs_compute_dir_full_broyden(ScsWork *work, scs_int i);
+
+    /**
+     * Frees memory allocated for the full Broyden method.
+     */
+    void scs_free_full_broyden(void);
+
+    /**
+     * Computes a direction according to the value of 
+     * <code>work->stgs->direction</code>.
+     * 
+     * @param work workspace structure
+     * @param i iteration count
+     * @return status code; negative status corresponds to error. 
+     * 
+     * @see ScsDirectionType
+     */
+    scs_int scs_compute_direction(ScsWork *work, scs_int i);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DIRECTIONS_H */
+