added setters for opts to dynamics and constraints

acados/ocp_nlp/ocp_nlp_constraints_bgh.c

@@ -210,6 +210,29 @@ void ocp_nlp_constraints_bgh_opts_update(void *config_, void *dims_, void *opts_
 
 
 
+void ocp_nlp_constraints_bgh_opts_set(void *config_, void *dims_, void *opts_, enum acados_opts name, void *ptr_value)
+{
+
+    ocp_nlp_constraints_bgh_opts *opts = opts_;
+
+	if (name==COMPUTE_ADJ)
+	{
+		int *compute_adj = ptr_value;
+		opts->compute_adj = *compute_adj;
+	}
+	else
+	{
+		// TODO something better tha this print-and-exit
+		printf("\nocp_nlp_constraints_bgh_opts_set: unknown opts name !\n");
+		exit(1);
+	}
+
+	return;
+
+}
+
+
+
 /************************************************
  * memory
  ************************************************/
@@ -549,6 +572,7 @@ void ocp_nlp_constraints_bgh_config_initialize_default(void *config_)
     config->opts_assign = &ocp_nlp_constraints_bgh_opts_assign;
     config->opts_initialize_default = &ocp_nlp_constraints_bgh_opts_initialize_default;
     config->opts_update = &ocp_nlp_constraints_bgh_opts_update;
+    config->opts_set = &ocp_nlp_constraints_bgh_opts_set;
     config->memory_calculate_size = &ocp_nlp_constraints_bgh_memory_calculate_size;
     config->memory_assign = &ocp_nlp_constraints_bgh_memory_assign;
     config->memory_get_fun_ptr = &ocp_nlp_constraints_bgh_memory_get_fun_ptr;

acados/ocp_nlp/ocp_nlp_constraints_bgh.h

@@ -96,6 +96,8 @@ void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_me
 void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
 //
 void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_set(void *config, void *dims, void *opts, enum acados_opts name, void *ptr_value);
 
 
 

acados/ocp_nlp/ocp_nlp_constraints_bghp.c

@@ -205,6 +205,29 @@ void ocp_nlp_constraints_bghp_opts_update(void *config_, void *dims_, void *opts
 
 
 
+void ocp_nlp_constraints_bghp_opts_set(void *config_, void *dims_, void *opts_, enum acados_opts name, void *ptr_value)
+{
+
+    ocp_nlp_constraints_bghp_opts *opts = opts_;
+
+	if (name==COMPUTE_ADJ)
+	{
+		int *compute_adj = ptr_value;
+		opts->compute_adj = *compute_adj;
+	}
+	else
+	{
+		// TODO something better tha this print-and-exit
+		printf("\nocp_nlp_constraints_bghp_opts_set: unknown opts name !\n");
+		exit(1);
+	}
+
+	return;
+
+}
+
+
+
 /* memory */
 
 int ocp_nlp_constraints_bghp_memory_calculate_size(void *config_, void *dims_, void *opts_)
@@ -577,6 +600,7 @@ void ocp_nlp_constraints_bghp_config_initialize_default(void *config_)
     config->opts_assign = &ocp_nlp_constraints_bghp_opts_assign;
     config->opts_initialize_default = &ocp_nlp_constraints_bghp_opts_initialize_default;
     config->opts_update = &ocp_nlp_constraints_bghp_opts_update;
+    config->opts_set = &ocp_nlp_constraints_bghp_opts_set;
     config->memory_calculate_size = &ocp_nlp_constraints_bghp_memory_calculate_size;
     config->memory_assign = &ocp_nlp_constraints_bghp_memory_assign;
     config->memory_get_fun_ptr = &ocp_nlp_constraints_bghp_memory_get_fun_ptr;

acados/ocp_nlp/ocp_nlp_constraints_bghp.h

@@ -90,6 +90,8 @@ void *ocp_nlp_constraints_bghp_opts_assign(void *config, void *dims, void *raw_m
 void ocp_nlp_constraints_bghp_opts_initialize_default(void *config, void *dims, void *opts);
 //
 void ocp_nlp_constraints_bghp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bghp_opts_set(void *config, void *dims, void *opts, enum acados_opts name, void *ptr_value);
 
 /* memory */
 

acados/ocp_nlp/ocp_nlp_constraints_common.h

@@ -47,6 +47,7 @@ typedef struct
     void *(*opts_assign)(void *config, void *dims, void *raw_memory);
     void (*opts_initialize_default)(void *config, void *dims, void *opts);
     void (*opts_update)(void *config, void *dims, void *opts);
+	void (*opts_set) (void *config_, void *dims_, void *opts_, enum acados_opts name, void *ptr_value);
     int (*memory_calculate_size)(void *config, void *dims, void *opts);
     struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
     struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);

acados/ocp_nlp/ocp_nlp_dynamics_common.h

@@ -24,6 +24,8 @@
 extern "C" {
 #endif
 
+
+
 // blasfeo
 #include "blasfeo/include/blasfeo_common.h"
 
@@ -32,6 +34,8 @@ extern "C" {
 #include "acados/utils/external_function_generic.h"
 #include "acados/utils/types.h"
 
+
+
 /************************************************
  * config
  ************************************************/
@@ -47,6 +51,7 @@ typedef struct
     int (*opts_calculate_size)(void *config, void *dims);
     void *(*opts_assign)(void *config, void *dims, void *raw_memory);
     void (*opts_initialize_default)(void *config, void *dims, void *opts);
+	void (*opts_set) (void *config_, void *dims_, void *opts_, enum acados_opts name, void *ptr_value);
     void (*opts_update)(void *config, void *dims, void *opts);
     int (*memory_calculate_size)(void *config, void *dims, void *opts);
     void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
@@ -70,6 +75,8 @@ int ocp_nlp_dynamics_config_calculate_size();
 //
 ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
 
+
+
 #ifdef __cplusplus
 } /* extern "C" */
 #endif

acados/ocp_nlp/ocp_nlp_dynamics_cont.c

@@ -30,6 +30,8 @@
 // acados
 #include "acados/utils/mem.h"
 
+
+
 /************************************************
  * dims
  ************************************************/
@@ -47,6 +49,8 @@ int ocp_nlp_dynamics_cont_dims_calculate_size(void *config_)
     return size;
 }
 
+
+
 void *ocp_nlp_dynamics_cont_dims_assign(void *config_, void *raw_memory)
 {
     ocp_nlp_dynamics_config *dyn_config = (ocp_nlp_dynamics_config *) config_;
@@ -66,6 +70,8 @@ void *ocp_nlp_dynamics_cont_dims_assign(void *config_, void *raw_memory)
     return dims;
 }
 
+
+
 void ocp_nlp_dynamics_cont_dims_initialize(void *config_, void *dims_, int nx, int nu, int nx1,
                                            int nu1)
 {
@@ -85,6 +91,8 @@ void ocp_nlp_dynamics_cont_dims_initialize(void *config_, void *dims_, int nx, i
     return;
 }
 
+
+
 /************************************************
  * options
  ************************************************/
@@ -103,6 +111,8 @@ int ocp_nlp_dynamics_cont_opts_calculate_size(void *config_, void *dims_)
     return size;
 }
 
+
+
 void *ocp_nlp_dynamics_cont_opts_assign(void *config_, void *dims_, void *raw_memory)
 {
     ocp_nlp_dynamics_config *config = config_;
@@ -121,6 +131,8 @@ void *ocp_nlp_dynamics_cont_opts_assign(void *config_, void *dims_, void *raw_me
     return opts;
 }
 
+
+
 void ocp_nlp_dynamics_cont_opts_initialize_default(void *config_, void *dims_, void *opts_)
 {
     ocp_nlp_dynamics_config *config = config_;
@@ -134,6 +146,8 @@ void ocp_nlp_dynamics_cont_opts_initialize_default(void *config_, void *dims_, v
     return;
 }
 
+
+
 void ocp_nlp_dynamics_cont_opts_update(void *config_, void *dims_, void *opts_)
 {
     ocp_nlp_dynamics_config *config = config_;
@@ -145,6 +159,31 @@ void ocp_nlp_dynamics_cont_opts_update(void *config_, void *dims_, void *opts_)
     return;
 }
 
+
+
+void ocp_nlp_dynamics_cont_opts_set(void *config_, void *dims_, void *opts_, enum acados_opts name, void *ptr_value)
+{
+
+    ocp_nlp_dynamics_cont_opts *opts = opts_;
+
+	if (name==COMPUTE_ADJ)
+	{
+		int *compute_adj = ptr_value;
+		opts->compute_adj = *compute_adj;
+	}
+	else
+	{
+		// TODO something better tha this print-and-exit
+		printf("\nocp_nlp_dynamics_cont_opts_set: unknown opts name !\n");
+		exit(1);
+	}
+
+	return;
+
+}
+
+
+
 /************************************************
  * memory
  ************************************************/
@@ -175,6 +214,8 @@ int ocp_nlp_dynamics_cont_memory_calculate_size(void *config_, void *dims_, void
     return size;
 }
 
+
+
 void *ocp_nlp_dynamics_cont_memory_assign(void *config_, void *dims_, void *opts_, void *raw_memory)
 {
     ocp_nlp_dynamics_config *config = config_;
@@ -213,20 +254,26 @@ void *ocp_nlp_dynamics_cont_memory_assign(void *config_, void *dims_, void *opts
     return memory;
 }
 
+
+
 struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory_)
 {
     ocp_nlp_dynamics_cont_memory *memory = memory_;
 
     return &memory->fun;
 }
 
+
+
 struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory_)
 {
     ocp_nlp_dynamics_cont_memory *memory = memory_;
 
     return &memory->adj;
 }
 
+
+
 void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_)
 {
     ocp_nlp_dynamics_cont_memory *memory = memory_;
@@ -236,6 +283,8 @@ void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memo
     return;
 }
 
+
+
 void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory_)
 {
     ocp_nlp_dynamics_cont_memory *memory = memory_;
@@ -245,6 +294,8 @@ void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *me
     return;
 }
 
+
+
 void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory_)
 {
     ocp_nlp_dynamics_cont_memory *memory = memory_;
@@ -254,6 +305,8 @@ void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memo
     return;
 }
 
+
+
 void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory_)
 {
     ocp_nlp_dynamics_cont_memory *memory = memory_;
@@ -263,6 +316,8 @@ void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *
     return;
 }
 
+
+
 /************************************************
  * workspace
  ************************************************/
@@ -285,6 +340,8 @@ int ocp_nlp_dynamics_cont_workspace_calculate_size(void *config_, void *dims_, v
     return size;
 }
 
+
+
 static void ocp_nlp_dynamics_cont_cast_workspace(void *config_, void *dims_, void *opts_,
                                                  void *work_)
 {
@@ -313,6 +370,8 @@ static void ocp_nlp_dynamics_cont_cast_workspace(void *config_, void *dims_, voi
     return;
 }
 
+
+
 /************************************************
  * model
  ************************************************/
@@ -335,6 +394,8 @@ int ocp_nlp_dynamics_cont_model_calculate_size(void *config_, void *dims_)
     return size;
 }
 
+
+
 void *ocp_nlp_dynamics_cont_model_assign(void *config_, void *dims_, void *raw_memory)
 {
     ocp_nlp_dynamics_config *config = config_;
@@ -358,6 +419,8 @@ void *ocp_nlp_dynamics_cont_model_assign(void *config_, void *dims_, void *raw_m
     return model;
 }
 
+
+
 void ocp_nlp_dynamics_cont_model_set_T(double T, void *model_)
 {
     ocp_nlp_dynamics_cont_model *model = model_;
@@ -367,6 +430,8 @@ void ocp_nlp_dynamics_cont_model_set_T(double T, void *model_)
     return;
 }
 
+
+
 /************************************************
  * functions
  ************************************************/
@@ -377,6 +442,8 @@ void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims_, void *model_,
     return;
 }
 
+
+
 void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims_, void *model_, void *opts_,
                                               void *mem_, void *work_)
 {
@@ -433,6 +500,8 @@ void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims_, void *
     return;
 }
 
+
+
 void ocp_nlp_dynamics_cont_config_initialize_default(void *config_)
 {
     ocp_nlp_dynamics_config *config = config_;
@@ -447,6 +516,7 @@ void ocp_nlp_dynamics_cont_config_initialize_default(void *config_)
     config->opts_assign = &ocp_nlp_dynamics_cont_opts_assign;
     config->opts_initialize_default = &ocp_nlp_dynamics_cont_opts_initialize_default;
     config->opts_update = &ocp_nlp_dynamics_cont_opts_update;
+	config->opts_set = &ocp_nlp_dynamics_cont_opts_set;
     config->memory_calculate_size = &ocp_nlp_dynamics_cont_memory_calculate_size;
     config->memory_assign = &ocp_nlp_dynamics_cont_memory_assign;
     config->memory_get_fun_ptr = &ocp_nlp_dynamics_cont_memory_get_fun_ptr;