| Austin Schuh | 16ce3c7 | 2018-01-28 16:17:08 -0800 | [diff] [blame^] | 1 | /************************************************************************************************** |
| 2 | * * |
| 3 | * This file is part of HPIPM. * |
| 4 | * * |
| 5 | * HPIPM -- High Performance Interior Point Method. * |
| 6 | * Copyright (C) 2017 by Gianluca Frison. * |
| 7 | * Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * |
| 8 | * All rights reserved. * |
| 9 | * * |
| 10 | * HPMPC is free software; you can redistribute it and/or * |
| 11 | * modify it under the terms of the GNU Lesser General Public * |
| 12 | * License as published by the Free Software Foundation; either * |
| 13 | * version 2.1 of the License, or (at your option) any later version. * |
| 14 | * * |
| 15 | * HPMPC is distributed in the hope that it will be useful, * |
| 16 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| 17 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * |
| 18 | * See the GNU Lesser General Public License for more details. * |
| 19 | * * |
| 20 | * You should have received a copy of the GNU Lesser General Public * |
| 21 | * License along with HPMPC; if not, write to the Free Software * |
| 22 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * |
| 23 | * * |
| 24 | * Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * |
| 25 | * * |
| 26 | **************************************************************************************************/ |
| 27 | |
| 28 | |
| 29 | |
| 30 | #include <blasfeo_target.h> |
| 31 | #include <blasfeo_common.h> |
| 32 | |
| 33 | |
| 34 | |
| 35 | struct d_ocp_qp_sol |
| 36 | { |
| 37 | struct d_strvec *ux; |
| 38 | struct d_strvec *pi; |
| 39 | struct d_strvec *lam_lb; |
| 40 | struct d_strvec *lam_ub; |
| 41 | struct d_strvec *lam_lg; |
| 42 | struct d_strvec *lam_ug; |
| 43 | struct d_strvec *t_lb; |
| 44 | struct d_strvec *t_ub; |
| 45 | struct d_strvec *t_lg; |
| 46 | struct d_strvec *t_ug; |
| 47 | int memsize; // memory size in bytes |
| 48 | }; |
| 49 | |
| 50 | |
| 51 | |
| 52 | // |
| 53 | int d_memsize_ocp_qp_sol(int N, int *nx, int *nu, int *nb, int *ng); |
| 54 | // |
| 55 | 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); |
| 56 | // |
| 57 | 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); |
| 58 | // |
| 59 | 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); |
| 60 | // |
| 61 | 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); |