casadi 3.7.2__cp314-none-manylinux2014_x86_64.whl

casadi/include/hpipm_d_core_qp_ipm.h

@@ -0,0 +1,101 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_CORE_QP_IPM_
+#define HPIPM_D_CORE_QP_IPM_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_core_qp_ipm_workspace
+	{
+	double *v; // primal variables
+	double *pi; // equality constraints multipliers
+	double *lam; // inequality constraints multipliers
+	double *t; // inequality constraints slacks
+	double *t_inv; // inverse of t
+	double *v_bkp; // backup of primal variables
+	double *pi_bkp; // backup of equality constraints multipliers
+	double *lam_bkp; // backup of inequality constraints multipliers
+	double *t_bkp; // backup of inequality constraints slacks
+	double *dv; // step in v
+	double *dpi; // step in pi
+	double *dlam; // step in lam
+	double *dt; // step in t
+	double *res_g; // q-residuals
+	double *res_b; // b-residuals
+	double *res_d; // d-residuals
+	double *res_m; // m-residuals
+	double *res_m_bkp; // m-residuals
+	double *Gamma; // Hessian update
+	double *gamma; // gradient update
+	double alpha; // step length
+	double alpha_prim; // step length
+	double alpha_dual; // step length
+	double sigma; // centering XXX
+	double mu; // duality measuere
+	double mu_aff; // affine duality measuere
+	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
+	double nc_mask_inv; // 1.0/nc_mask
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double t_min_inv; // inverse of min value in t vector
+	double tau_min; // min value of barrier parameter
+	int nv; // number of primal variables
+	int ne; // number of equality constraints
+	int nc; // (twice the) number of (two-sided) inequality constraints
+	int nc_mask; // total number of ineq constr after masking
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
+//
+void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
+//
+void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_CORE_QP_IPM_

casadi/include/hpipm_d_core_qp_ipm_aux.h

@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_AUX_
+#define HPIPM_S_CORE_QP_IPM_AUX_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_AUX_

casadi/include/hpipm_d_dense_qcqp.h

@@ -0,0 +1,199 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_D_DENSE_QCQP_H_
+#define HPIPM_D_DENSE_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
+	struct blasfeo_dmat *A; // equality constraint matrix
+	struct blasfeo_dmat *Ct; // inequality constraints matrix
+	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
+	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *b; // equality constraint vector
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
+
+//
+void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
+
+// getters (COLMAJ)
+
+void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
+//
+void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
+//
+void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
+//
+void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
+//
+void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
+//
+void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
+//
+void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
+//
+void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
+//
+void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
+//
+void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
+//
+void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
+//
+void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
+//
+void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
+//
+void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
+//
+void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
+//
+void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
+//
+void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
+//
+void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
+//
+void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
+//
+void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
+//
+void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
+//
+void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
+//
+void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
+//
+void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_H_
+

casadi/include/hpipm_d_dense_qcqp_dim.h

@@ -0,0 +1,98 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_D_DENSE_QCQP_DIM_H_
+#define HPIPM_D_DENSE_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_dim
+	{
+	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nq;  // number of quadratic constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int nsq; // number of softened quadratic constraints
+	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_dim_memsize();
+//
+void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
+//
+void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_DIM_H_
+

casadi/include/hpipm_d_dense_qcqp_ipm.h

@@ -0,0 +1,193 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_D_DENSE_QCQP_IPM_H_
+#define HPIPM_D_DENSE_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_dense_qcqp_dim.h>
+#include <hpipm_d_dense_qcqp.h>
+#include <hpipm_d_dense_qcqp_res.h>
+#include <hpipm_d_dense_qcqp_sol.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_ipm_arg
+	{
+	struct d_dense_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double reg_dual; // reg of dual hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	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 split_step; // use different step 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 d_dense_qcqp_ipm_ws
+	{
+	struct d_dense_qp_ipm_ws *qp_ws;
+	struct d_dense_qp *qp;
+	struct d_dense_qp_sol *qp_sol;
+	struct d_dense_qcqp_res_ws *qcqp_res_ws;
+	struct d_dense_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nv;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
+//
+void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
+//
+void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
+//
+void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
+//
+void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
+//
+void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
+//
+void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+//
+void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+#if 0
+//
+void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+//
+void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+#endif
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_IPM_H_
+