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added documentation to irk hessian external function

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FreyJo committed Aug 13, 2018
1 parent d916d2a commit b8cf4a43ebda16c8cc257b058203994c1f6581d1
Showing with 24 additions and 6 deletions.
  1. +24 −6 convention_about_external_functions.txt
@@ -178,6 +178,7 @@ inputs:
0) [x] size: nx type: BLASFEO_DVEC
1) [K] size: nx type: BLASFEO_DVEC_ARGS
2) [u] size: nu type: COLMAJ
3) [z] size: nz type: BLASFEO_DVEC_ARGS
outputs:
0) [fun] size: nx type: BLASFEO_DVEC_ARGS
@@ -192,11 +193,12 @@ inputs:
0) [x] size: nx type: BLASFEO_DVEC
1) [K] size: nx type: BLASFEO_DVEC_ARGS
2) [u] size: nu type: COLMAJ
3) [z] size: nz type: BLASFEO_DVEC_ARGS
outputs:
0) [fun] size: nx type: BLASFEO_DVEC_ARGS
1) [jac_x] size: nx*nx type: BLASFEO_DMAT
2) [jac_xdot] size: nx*nx type: BLASFEO_DMAT
0) [fun] size: nx type: BLASFEO_DVEC_ARGS
1) [jac_x] size: nx*nx type: BLASFEO_DMAT
2) [jac_xdot] size: nx*nx type: BLASFEO_DMAT
@@ -208,13 +210,29 @@ inputs:
0) [x] size: nx type: BLASFEO_DVEC
1) [K] size: nx type: BLASFEO_DVEC_ARGS
2) [u] size: nu type: COLMAJ
3) [z] size: nz type: BLASFEO_DVEC_ARGS
outputs:
0) [jac_x] size: nx*nx type: BLASFEO_DMAT
1) [jac_xdot] size: nx*nx type: BLASFEO_DMAT
2) [jac_u] size: nx*nu type: BLASFEO_DMAT
0) [jac_x] size: nx*nx type: BLASFEO_DMAT
1) [jac_xdot] size: nx*nx type: BLASFEO_DMAT
2) [jac_u] size: nx*nu type: BLASFEO_DMAT
// hessian function of implicit ode model
external function: impl_ode_hess
inputs:
0) [x] size: nx type: BLASFEO_DVEC
1) [K] size: nx type: BLASFEO_DVEC_ARGS
2) [u] size: nu type: COLMAJ
3) [z] size: nz type: BLASFEO_DVEC_ARGS
4) [lam] size: nx+nz type: BLASFEO_DVEC_ARGS
5) [dxkzu_w0] size: (2*nx+nz+nu, nx+nu) type: BLASFEO_DMAT_ARGS
outputs:
0) [f_hess] size: (nx+nu, nx+nu) type: BLASFEO_DMAT
/************************************************
* sim_new_lifted_irk_integrator

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