Squashed 'third_party/hpipm/' content from commit c2c0261
Change-Id: I05e186a6e1e1f075aa629092e7ad86e6116ca711
git-subtree-dir: third_party/hpipm
git-subtree-split: c2c0261e8ded36f636d9c4390a2899bdc4c999cc
diff --git a/include/hpipm_d_ocp_qp_sol.h b/include/hpipm_d_ocp_qp_sol.h
new file mode 100644
index 0000000..73519ca
--- /dev/null
+++ b/include/hpipm_d_ocp_qp_sol.h
@@ -0,0 +1,61 @@
+/**************************************************************************************************
+* *
+* This file is part of HPIPM. *
+* *
+* HPIPM -- High Performance Interior Point Method. *
+* Copyright (C) 2017 by Gianluca Frison. *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
+* All rights reserved. *
+* *
+* HPMPC is free software; you can redistribute it and/or *
+* modify it under the terms of the GNU Lesser General Public *
+* License as published by the Free Software Foundation; either *
+* version 2.1 of the License, or (at your option) any later version. *
+* *
+* HPMPC is distributed in the hope that it will be useful, *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. *
+* See the GNU Lesser General Public License for more details. *
+* *
+* You should have received a copy of the GNU Lesser General Public *
+* License along with HPMPC; if not, write to the Free Software *
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
+* *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
+* *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+
+
+struct d_ocp_qp_sol
+ {
+ struct d_strvec *ux;
+ struct d_strvec *pi;
+ struct d_strvec *lam_lb;
+ struct d_strvec *lam_ub;
+ struct d_strvec *lam_lg;
+ struct d_strvec *lam_ug;
+ struct d_strvec *t_lb;
+ struct d_strvec *t_ub;
+ struct d_strvec *t_lg;
+ struct d_strvec *t_ug;
+ int memsize; // memory size in bytes
+ };
+
+
+
+//
+int d_memsize_ocp_qp_sol(int N, int *nx, int *nu, int *nb, int *ng);
+//
+void d_create_ocp_qp_sol(int N, int *nx, int *nu, int *nb, int *ng, struct d_ocp_qp_sol *qp_sol, void *memory);
+//
+void d_cvt_ocp_qp_sol_to_colmaj(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug);
+//
+void d_cvt_ocp_qp_sol_to_rowmaj(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug);
+//
+void d_cvt_ocp_qp_sol_to_libstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_strvec *u, struct d_strvec *x, struct d_strvec *pi, struct d_strvec *lam_lb, struct d_strvec *lam_ub, struct d_strvec *lam_lg, struct d_strvec *lam_ug);