casadi 3.7.2__cp314-none-win_amd64.whl

casadi/include/hpipm_s_ocp_qcqp_dim.h

@@ -0,0 +1,131 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_DIM_H_
+#define HPIPM_S_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_dim
+	{
+	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of 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 *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nsq; // number of soft quadratic 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 *nqe; // number of quadratic constraints which are equality
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
+//
+void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
+//
+void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
+//
+void s_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nge(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nqe(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
+//
+void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
+//
+void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_DIM_H_
+
+

casadi/include/hpipm_s_ocp_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_S_OCP_QCQP_IPM_H_
+#define HPIPM_S_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qcqp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qcqp_res.h>
+#include <hpipm_s_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_ipm_arg
+	{
+	struct s_ocp_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float 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; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	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 square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==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 s_ocp_qcqp_ipm_ws
+	{
+	struct s_ocp_qp_ipm_ws *qp_ws;
+	struct s_ocp_qp *qp;
+	struct s_ocp_qp_sol *qp_sol;
+	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct s_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_ocp_qcqp_ipm_get_obj(struct s_ocp_qcqp_ipm_ws *ws, float *obj);
+//
+void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
+//
+void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
+//
+void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QCQP_IPM_H_
+
+

casadi/include/hpipm_s_ocp_qcqp_red.h

@@ -0,0 +1,119 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_RED_H_
+#define HPIPM_S_OCP_QCQP_RED_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>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_reduce_eq_dof_arg
+	{
+	float lam_min;
+	float t_min;
+	int alias_unchanged; // do not keep copy unchanged stage
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+struct s_ocp_qcqp_reduce_eq_dof_ws
+	{
+	struct blasfeo_svec *tmp_nuxM;
+	struct blasfeo_svec *tmp_nbgqM;
+	int *e_imask_ux;
+	int *e_imask_d;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+void s_ocp_qcqp_dim_reduce_eq_dof(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_dim *dim_red);
+//
+hpipm_size_t s_ocp_qcqp_reduce_eq_dof_arg_memsize();
+//
+void s_ocp_qcqp_reduce_eq_dof_arg_create(struct s_ocp_qcqp_reduce_eq_dof_arg *arg, void *mem);
+//
+void s_ocp_qcqp_reduce_eq_dof_arg_set_default(struct s_ocp_qcqp_reduce_eq_dof_arg *arg);
+//
+void s_ocp_qcqp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qcqp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qcqp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qcqp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qcqp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qcqp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qcqp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qcqp_reduce_eq_dof_arg *arg, int value);
+//
+hpipm_size_t s_ocp_qcqp_reduce_eq_dof_ws_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_reduce_eq_dof_ws_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_reduce_eq_dof_ws *work, void *mem);
+//
+void s_ocp_qcqp_reduce_eq_dof(struct s_ocp_qcqp *qp, struct s_ocp_qcqp *qp_red, struct s_ocp_qcqp_reduce_eq_dof_arg *arg, struct s_ocp_qcqp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qcqp_reduce_eq_dof_lhs(struct s_ocp_qcqp *qp, struct s_ocp_qcqp *qp_red, struct s_ocp_qcqp_reduce_eq_dof_arg *arg, struct s_ocp_qcqp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qcqp_reduce_eq_dof_rhs(struct s_ocp_qcqp *qp, struct s_ocp_qcqp *qp_red, struct s_ocp_qcqp_reduce_eq_dof_arg *arg, struct s_ocp_qcqp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qcqp_restore_eq_dof(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol_red, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_reduce_eq_dof_arg *arg, struct s_ocp_qcqp_reduce_eq_dof_ws *work);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_RED_H_
+
+

casadi/include/hpipm_s_ocp_qcqp_res.h

@@ -0,0 +1,116 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_RES_H_
+#define HPIPM_S_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qcqp_dim.h>
+#include <hpipm_s_ocp_qcqp.h>
+#include <hpipm_s_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_res
+	{
+	struct s_ocp_qcqp_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_ocp_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
+//
+void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
+//
+void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
+//
+void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QCQP_RES_H_
+
+

casadi/include/hpipm_s_ocp_qcqp_sol.h

@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_SOL_H_
+#define HPIPM_S_OCP_QCQP_SOL_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_sol
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_sol_strsize();
+//
+hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
+//
+void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_SOL_H_
+
+