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removed acados_c/options_interface & small cleaning

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giaf committed Aug 20, 2019
1 parent 6c29eba commit 161530ba94c33ad46b447aa86d2d8a7856c9c51f
@@ -113,7 +113,6 @@ OBJS += interfaces/acados_c/dense_qp_interface.o
OBJS += interfaces/acados_c/ocp_nlp_interface.o
OBJS += interfaces/acados_c/ocp_qp_interface.o
OBJS += interfaces/acados_c/condensing_interface.o
OBJS += interfaces/acados_c/options_interface.o
OBJS += interfaces/acados_c/sim_interface.o
endif

@@ -39,8 +39,6 @@

// acados
#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/ocp_qp/ocp_qp_partial_condensing.h" // TODO remove !!!
#include "acados/ocp_qp/ocp_qp_full_condensing.h" // TODO remove !!!
#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
#include "acados/utils/mem.h"
#include "acados/utils/timing.h"
@@ -472,8 +470,8 @@ void ocp_qp_xcond_solver_eval_sens(void *config_, ocp_qp_xcond_solver_dims *dims
// condensing
// if (opts->xcond_opts->N2 < param_qp_in->dim->N)
// {
tmp_status = ocp_qp_partial_condensing(param_qp_in, memory->xcond_qp_in, opts->xcond_opts,
memory->xcond_memory, work->xcond_work);
//tmp_status = ocp_qp_partial_condensing(param_qp_in, memory->xcond_qp_in, opts->xcond_opts,
// memory->xcond_memory, work->xcond_work);
// }
// else
// {
@@ -41,7 +41,6 @@ extern "C" {

// acados
#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/ocp_qp/ocp_qp_partial_condensing.h" // TODO remove !!!!!!
#include "acados/utils/types.h"


@@ -244,29 +244,21 @@ int main() {
#endif

#ifdef GENERAL_CONSTRAINT_AT_TERMINAL_STAGE
// ok = set_option_int(opts, "qpdunes.clipping", 0);
// assert(ok = true && "specified option not found!");
clipping = 0;
config->opts_set(config, opts, "clipping", &clipping);
#else
if (N2 == N)
{
// ok = set_option_int(opts, "qpdunes.clipping", 1);
// assert(ok = true && "specified option not found!");
clipping = 1;
config->opts_set(config, opts, "clipping", &clipping);
} else
{
// ok = set_option_int(opts, "qpdunes.clipping", 0);
// assert(ok = true && "specified option not found!");
clipping = 0;
config->opts_set(config, opts, "clipping", &clipping);
}
#endif
// ok = set_option_int(opts, "qpdunes.warm_start", 0);
// assert(ok = true && "specified option not found!");
warm_start = 0;
config->opts_set(config, opts, "warm_start", &clipping);
config->opts_set(config, opts, "warm_start", &warm_start);

N2 = N2_values[jj];
config->opts_set(config, opts, "cond_N", &N2);
@@ -285,7 +277,8 @@ int main() {
#ifdef ACADOS_WITH_QPOASES
case FULL_CONDENSING_QPOASES:
printf("\nFull condensing + QPOASES:\n\n");
set_option_int(opts, "qpoases.warm_start", 0);
warm_start = 0;
config->opts_set(config, opts, "warm_start", &warm_start);
break;
#endif
#ifdef ACADOS_WITH_OOQP
@@ -44,7 +44,8 @@

#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
#include "acados/ocp_qp/ocp_qp_full_condensing_solver.h" // TODO remove
#include "acados/ocp_qp/ocp_qp_full_condensing.h"
#include "acados/ocp_qp/ocp_qp_partial_condensing.h"

#include "acados/dense_qp/dense_qp_hpipm.h"

@@ -37,7 +37,6 @@ set(INTERFACES_ACADOS_C_SRC
${CMAKE_CURRENT_SOURCE_DIR}/ocp_nlp_interface.c
${CMAKE_CURRENT_SOURCE_DIR}/ocp_qp_interface.c
${CMAKE_CURRENT_SOURCE_DIR}/condensing_interface.c
${CMAKE_CURRENT_SOURCE_DIR}/options_interface.c
${CMAKE_CURRENT_SOURCE_DIR}/sim_interface.c)

target_sources(acados PRIVATE ${INTERFACES_ACADOS_C_SRC})
@@ -39,7 +39,6 @@ OBJS += dense_qp_interface.o
OBJS += ocp_nlp_interface.o
OBJS += ocp_qp_interface.o
OBJS += condensing_interface.o
OBJS += options_interface.o
OBJS += sim_interface.o

obj: $(OBJS)
@@ -43,8 +43,9 @@
#include "acados/utils/mem.h"

#include "acados/dense_qp/dense_qp_hpipm.h"
#include "acados/ocp_qp/ocp_qp_full_condensing_solver.h" // TODO remove !!!
#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
#include "acados/ocp_qp/ocp_qp_full_condensing.h"

#ifdef ACADOS_WITH_QORE
#include "acados/dense_qp/dense_qp_qore.h"

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