Squashed 'third_party/osqp/' content from commit 33454b3e23
Change-Id: I056df0582ca06664e86554c341a94c47ab932001
git-subtree-dir: third_party/osqp
git-subtree-split: 33454b3e236f1f44193bfbbb6b8c8e71f8f04e9a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/docs/interfaces/C.rst b/docs/interfaces/C.rst
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+.. _c_interface:
+
+C
+=====
+
+
+
+
+.. _C_main_API:
+
+Main solver API
+---------------
+
+The main C API is imported from the header :code:`osqp.h` and provides the following functions
+
+
+.. doxygenfunction:: osqp_setup
+
+.. doxygenfunction:: osqp_solve
+
+.. doxygenfunction:: osqp_cleanup
+
+
+.. _C_sublevel_API:
+
+Sublevel API
+------------
+Sublevel C API is also imported from the header :code:`osqp.h` and provides the following functions
+
+Warm start
+^^^^^^^^^^
+OSQP automatically warm starts primal and dual variables from the previous QP solution. If you would like to warm start their values manually, you can use
+
+.. doxygenfunction:: osqp_warm_start
+
+.. doxygenfunction:: osqp_warm_start_x
+
+.. doxygenfunction:: osqp_warm_start_y
+
+
+.. _c_cpp_update_data :
+
+Update problem data
+^^^^^^^^^^^^^^^^^^^
+Problem data can be updated without executing the setup again using the following functions.
+
+.. doxygenfunction:: osqp_update_lin_cost
+
+.. doxygenfunction:: osqp_update_lower_bound
+
+.. doxygenfunction:: osqp_update_upper_bound
+
+.. doxygenfunction:: osqp_update_bounds
+
+.. doxygenfunction:: osqp_update_P
+
+.. doxygenfunction:: osqp_update_A
+
+.. doxygenfunction:: osqp_update_P_A
+
+
+
+.. _c_cpp_data_types :
+
+Data types
+----------
+
+The most basic used datatypes are
+
+* :code:`c_int`: can be :code:`long` or :code:`int` if the compiler flag :code:`DLONG` is set or not
+* :code:`c_float`: can be a :code:`float` or a :code:`double` if the compiler flag :code:`DFLOAT` is set or not.
+
+
+
+The relevant structures used in the API are
+
+Data
+^^^^
+
+.. doxygenstruct:: OSQPData
+ :members:
+
+The matrices are defined in `Compressed Sparse Column (CSC) format <https://people.sc.fsu.edu/~jburkardt/data/cc/cc.html>`_ using zero-based indexing.
+
+.. doxygenstruct:: csc
+ :members:
+
+Settings
+^^^^^^^^
+
+.. doxygenstruct:: OSQPSettings
+ :members:
+
+Solution
+^^^^^^^^
+
+.. doxygenstruct:: OSQPSolution
+ :members:
+
+Info
+^^^^^
+
+.. doxygenstruct:: OSQPInfo
+ :members:
+
+Workspace
+^^^^^^^^^
+
+.. doxygenstruct:: OSQPWorkspace
+ :members:
+
+
+Scaling
+^^^^^^^
+
+.. doxygenstruct:: OSQPScaling
+ :members:
+
+Polish
+^^^^^^
+.. doxygenstruct:: OSQPPolish
+ :members:
+
+
+
+.. TODO: Add sublevel API
+.. TODO: Add using your own linear system solver