| Austin Schuh | 9049e20 | 2022-02-20 17:34:16 -0800 | [diff] [blame] | 1 | #ifndef AUXIL_H |
| 2 | # define AUXIL_H |
| 3 | |
| 4 | # ifdef __cplusplus |
| 5 | extern "C" { |
| 6 | # endif // ifdef __cplusplus |
| 7 | |
| 8 | # include "types.h" |
| 9 | |
| 10 | |
| 11 | /*********************************************************** |
| 12 | * Auxiliary functions needed to compute ADMM iterations * * |
| 13 | ***********************************************************/ |
| 14 | # if EMBEDDED != 1 |
| 15 | |
| 16 | /** |
| 17 | * Compute rho estimate from residuals |
| 18 | * @param work Workspace |
| 19 | * @return rho estimate |
| 20 | */ |
| 21 | c_float compute_rho_estimate(OSQPWorkspace *work); |
| 22 | |
| 23 | /** |
| 24 | * Adapt rho value based on current unscaled primal/dual residuals |
| 25 | * @param work Workspace |
| 26 | * @return Exitflag |
| 27 | */ |
| 28 | c_int adapt_rho(OSQPWorkspace *work); |
| 29 | |
| 30 | /** |
| 31 | * Set values of rho vector based on constraint types |
| 32 | * @param work Workspace |
| 33 | */ |
| 34 | void set_rho_vec(OSQPWorkspace *work); |
| 35 | |
| 36 | /** |
| 37 | * Update values of rho vector based on updated constraints. |
| 38 | * If the constraints change, update the linear systems solver. |
| 39 | * |
| 40 | * @param work Workspace |
| 41 | * @return Exitflag |
| 42 | */ |
| 43 | c_int update_rho_vec(OSQPWorkspace *work); |
| 44 | |
| 45 | # endif // EMBEDDED |
| 46 | |
| 47 | /** |
| 48 | * Swap c_float vector pointers |
| 49 | * @param a first vector |
| 50 | * @param b second vector |
| 51 | */ |
| 52 | void swap_vectors(c_float **a, |
| 53 | c_float **b); |
| 54 | |
| 55 | |
| 56 | /** |
| 57 | * Cold start workspace variables xz and y |
| 58 | * @param work Workspace |
| 59 | */ |
| 60 | void cold_start(OSQPWorkspace *work); |
| 61 | |
| 62 | |
| 63 | /** |
| 64 | * Update x_tilde and z_tilde variable (first ADMM step) |
| 65 | * @param work [description] |
| 66 | */ |
| 67 | void update_xz_tilde(OSQPWorkspace *work); |
| 68 | |
| 69 | |
| 70 | /** |
| 71 | * Update x (second ADMM step) |
| 72 | * Update also delta_x (For for dual infeasibility) |
| 73 | * @param work Workspace |
| 74 | */ |
| 75 | void update_x(OSQPWorkspace *work); |
| 76 | |
| 77 | |
| 78 | /** |
| 79 | * Update z (third ADMM step) |
| 80 | * @param work Workspace |
| 81 | */ |
| 82 | void update_z(OSQPWorkspace *work); |
| 83 | |
| 84 | |
| 85 | /** |
| 86 | * Update y variable (fourth ADMM step) |
| 87 | * Update also delta_y to check for primal infeasibility |
| 88 | * @param work Workspace |
| 89 | */ |
| 90 | void update_y(OSQPWorkspace *work); |
| 91 | |
| 92 | |
| 93 | /** |
| 94 | * Compute objective function from data at value x |
| 95 | * @param work OSQPWorkspace structure |
| 96 | * @param x Value x |
| 97 | * @return Objective function value |
| 98 | */ |
| 99 | c_float compute_obj_val(OSQPWorkspace *work, |
| 100 | c_float *x); |
| 101 | |
| 102 | /** |
| 103 | * Check whether QP has solution |
| 104 | * @param info OSQPInfo |
| 105 | */ |
| 106 | c_int has_solution(OSQPInfo *info); |
| 107 | |
| 108 | /** |
| 109 | * Store the QP solution |
| 110 | * @param work Workspace |
| 111 | */ |
| 112 | void store_solution(OSQPWorkspace *work); |
| 113 | |
| 114 | |
| 115 | /** |
| 116 | * Update solver information |
| 117 | * @param work Workspace |
| 118 | * @param iter Iteration number |
| 119 | * @param compute_objective Boolean (if compute the objective or not) |
| 120 | * @param polish Boolean (if called from polish) |
| 121 | */ |
| 122 | void update_info(OSQPWorkspace *work, |
| 123 | c_int iter, |
| 124 | c_int compute_objective, |
| 125 | c_int polish); |
| 126 | |
| 127 | |
| 128 | /** |
| 129 | * Reset solver information (after problem updates) |
| 130 | * @param info Information structure |
| 131 | */ |
| 132 | void reset_info(OSQPInfo *info); |
| 133 | |
| 134 | |
| 135 | /** |
| 136 | * Update solver status (value and string) |
| 137 | * @param info OSQPInfo |
| 138 | * @param status_val new status value |
| 139 | */ |
| 140 | void update_status(OSQPInfo *info, |
| 141 | c_int status_val); |
| 142 | |
| 143 | |
| 144 | /** |
| 145 | * Check if termination conditions are satisfied |
| 146 | * If the boolean flag is ON, it checks for approximate conditions (10 x larger |
| 147 | * tolerances than the ones set) |
| 148 | * |
| 149 | * @param work Workspace |
| 150 | * @param approximate Boolean |
| 151 | * @return Residuals check |
| 152 | */ |
| 153 | c_int check_termination(OSQPWorkspace *work, |
| 154 | c_int approximate); |
| 155 | |
| 156 | |
| 157 | # ifndef EMBEDDED |
| 158 | |
| 159 | /** |
| 160 | * Validate problem data |
| 161 | * @param data OSQPData to be validated |
| 162 | * @return Exitflag to check |
| 163 | */ |
| 164 | c_int validate_data(const OSQPData *data); |
| 165 | |
| 166 | |
| 167 | /** |
| 168 | * Validate problem settings |
| 169 | * @param settings OSQPSettings to be validated |
| 170 | * @return Exitflag to check |
| 171 | */ |
| 172 | c_int validate_settings(const OSQPSettings *settings); |
| 173 | |
| 174 | |
| 175 | # endif // #ifndef EMBEDDED |
| 176 | |
| 177 | # ifdef __cplusplus |
| 178 | } |
| 179 | # endif // ifdef __cplusplus |
| 180 | |
| 181 | #endif // ifndef AUXIL_H |