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added comments about compute_dual_sol opt

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giaf committed Jun 14, 2018
1 parent 4a53171 commit 232edb69b2129842091cacc3a6606f1b75ee5b97
Showing with 16 additions and 0 deletions.
  1. +6 −0 acados/ocp_nlp/ocp_nlp_sqp_rti.c
  2. +9 −0 acados/ocp_nlp/ocp_nlp_sqp_rti.h
  3. +1 −0 acados/utils/types.h
@@ -158,6 +158,12 @@ void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *o
int N = dims->N;
// SQP RTI opts
// opts->compute_dual_sol = 1;
// submodules opts
// do not compute adjoint in dynamics and constraints
int compute_adj = 0;
@@ -41,6 +41,7 @@ typedef struct
void **dynamics; // dynamics_opts
void **cost; // cost_opts
void **constraints; // constraints_opts
int compute_dual_sol;
} ocp_nlp_sqp_rti_opts;
//
@@ -52,6 +53,8 @@ void ocp_nlp_sqp_rti_opts_initialize_default(void *config, void *dims, void *opt
//
void ocp_nlp_sqp_rti_opts_update(void *config, void *dims, void *opts);
/************************************************
* memory
************************************************/
@@ -75,6 +78,8 @@ 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
************************************************/
@@ -95,6 +100,8 @@ typedef struct
//
int ocp_nlp_sqp_rti_workspace_calculate_size(void *config, void *dims, void *opts_);
/************************************************
* functions
************************************************/
@@ -105,6 +112,8 @@ int ocp_nlp_sqp_rti(void *config, void *dims, void *nlp_in, void *nlp_out,
//
void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
#ifdef __cplusplus
} /* extern "C" */
#endif
View
@@ -57,6 +57,7 @@ enum return_values
enum acados_opts
{
COMPUTE_ADJ,
// COMPUTE_DUAL_SOL,
};

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