removed acados_c/options_interface & small cleaning

acados · Aug 20, 2019 · 161530b · 161530b
1 parent 6c29eba
commit 161530b
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Showing 10 changed files with 9 additions and 478 deletions.
diff --git a/Makefile b/Makefile
@@ -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
 

diff --git a/acados/ocp_qp/ocp_qp_xcond_solver.c b/acados/ocp_qp/ocp_qp_xcond_solver.c
@@ -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
 //    {

diff --git a/acados/ocp_qp/ocp_qp_xcond_solver.h b/acados/ocp_qp/ocp_qp_xcond_solver.h
@@ -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"
 
 

diff --git a/examples/c/no_interface_examples/mass_spring_example.c b/examples/c/no_interface_examples/mass_spring_example.c
@@ -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

diff --git a/examples/c/no_interface_examples/mass_spring_nmpc_example.c b/examples/c/no_interface_examples/mass_spring_nmpc_example.c
@@ -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"
 

diff --git a/interfaces/acados_c/CMakeLists.txt b/interfaces/acados_c/CMakeLists.txt
@@ -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})

diff --git a/interfaces/acados_c/Makefile b/interfaces/acados_c/Makefile
@@ -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)

diff --git a/interfaces/acados_c/ocp_qp_interface.c b/interfaces/acados_c/ocp_qp_interface.c
@@ -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"