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ocp_nlp_sqp_rti.h
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/
ocp_nlp_sqp_rti.h
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/*
* This file is part of acados.
*
* acados 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 3 of the License, or (at your option) any later version.
*
* acados 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 acados; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
#ifdef __cplusplus
extern "C" {
#endif
// acados
#include "acados/ocp_nlp/ocp_nlp_common.h"
#include "acados/sim/sim_common.h"
#include "acados/utils/types.h"
/************************************************
* options
************************************************/
typedef struct
{
void *qp_solver_opts;
void **dynamics; // dynamics_opts
void **cost; // cost_opts
void **constraints; // constraints_opts
int compute_dual_sol;
int reuse_workspace;
int num_threads;
} ocp_nlp_sqp_rti_opts;
//
int ocp_nlp_sqp_rti_opts_calculate_size(void *config, void *dims);
//
void *ocp_nlp_sqp_rti_opts_assign(void *config, void *dims, void *raw_memory);
//
void ocp_nlp_sqp_rti_opts_initialize_default(void *config, void *dims, void *opts);
//
void ocp_nlp_sqp_rti_opts_update(void *config, void *dims, void *opts);
/************************************************
* memory
************************************************/
typedef struct
{
// ocp_nlp_dims *dims;
void *qp_solver_mem;
void **dynamics; // dynamics memory
void **cost; // cost memory
void **constraints; // constraints memory
// nlp memory
ocp_nlp_memory *nlp_mem;
} ocp_nlp_sqp_rti_memory;
//
int ocp_nlp_sqp_rti_memory_calculate_size(void *config, void *dims, void *opts_);
//
void *ocp_nlp_sqp_rti_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
/************************************************
* workspace
************************************************/
typedef struct
{
// QP solver
ocp_qp_in *qp_in;
ocp_qp_out *qp_out;
void *qp_work;
void **dynamics; // dynamics_workspace
void **cost; // cost_workspace
void **constraints; // constraints_workspace
} ocp_nlp_sqp_rti_work;
//
int ocp_nlp_sqp_rti_workspace_calculate_size(void *config, void *dims, void *opts_);
/************************************************
* functions
************************************************/
//
int ocp_nlp_sqp_rti(void *config, void *dims, void *nlp_in, void *nlp_out,
void *args, void *mem, void *work_);
//
void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_