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Merge pull request #374 from zanellia/docu

let's merge then :)
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zanellia committed Apr 11, 2019
2 parents 2777955 + ac335ab commit c19e8af0f479984daa9be6b73612453b71eec64b
Showing with 1,973 additions and 42,006 deletions.
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@@ -61,4 +61,9 @@ Both a CMake and a Makefile based build system are supported at the moment.
make run_examples_c
```

If the compilation/linking fails because `-lblas` or `-llapack` can not be found, you might want to do:
```
sudo apt-get install libblas-dev liblapack-dev
```

* soon: binaries for all operating systems available for download (see Releases)
@@ -17,6 +17,24 @@
*
*/


/// \defgroup ocp_nlp ocp_nlp
/// @{
/// @}

/// \defgroup ocp_nlp_solver ocp_nlp_solver
/// @{
/// @}

/// \ingroup ocp_nlp
/// @{

/// \ingroup ocp_nlp_solver
/// @{

/// \defgroup ocp_nlp_common ocp_nlp_common
/// @{

#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_

@@ -83,6 +101,7 @@ ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
* dims
************************************************/

/// Structure to store dimensions/number of variables.
typedef struct
{
void **cost;
@@ -108,30 +127,68 @@ int ocp_nlp_dims_calculate_size(void *config);
ocp_nlp_dims *ocp_nlp_dims_assign_self(int N, void *raw_memory);
//
ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
//

/// Sets the dimension of optimization variables
/// (states, constrols, algebraic variables, slack variables).
///
/// \param config_ The configuration struct.
/// \param dims_ The dimensions struct.
/// \param field The type of optimization variables, either nx, nu, nz, or ns.
/// \param value_array Number of variables for each stage.
void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
const char *field, const void* value_array);
//

/// Sets the dimensions of constraints functions for a stage
/// (bounds on states, bounds on controls, equality constraints,
/// inequality constraints).
///
/// \param config_ The configuration struct.
/// \param dims_ The dimensions struct.
/// \param stage Stage number.
/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
/// \param value_field Number of constraints/bounds for the given stage.
void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
const char *field, const void* value_field);
//

/// Sets the dimensions of the cost terms for a stage.
///
/// \param config_ The configuration struct.
/// \param dims_ The dimensions struct.
/// \param stage Stage number.
/// \param field Type of cost term, can be eiter ny (or others TBC).
/// \param value_field Number of cost terms/residuals for the given stage.
void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
const void* value_field);
//

/// Sets the dimensions of the dynamics for a stage.
///
/// \param config_ The configuration struct.
/// \param dims_ The dimensions struct.
/// \param stage Stage number.
/// \param field TBD
/// \param value TBD
void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
const void* value);

/************************************************
* in
* Inputs to the non-linear program
************************************************/

/// Struct for storing the inputs of a non-linear program.
typedef struct
{
double *Ts; // length of sampling intervals
/// Length of sampling intervals/timesteps.
double *Ts;

/// Pointers to cost functions (TBC).
void **cost;

/// Pointers to dynamics functions (TBC).
void **dynamics;

/// Pointers to constraints functions (TBC).
void **constraints;

} ocp_nlp_in;

//
@@ -223,3 +280,5 @@ void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out, o
#endif

#endif // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
/// @}
/// @}
@@ -17,6 +17,11 @@
*
*/

/// \addtogroup ocp_nlp
/// @{
/// \addtogroup ocp_nlp_constraints
/// @{

#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_

@@ -179,3 +184,5 @@ void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void
#endif

#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
/// @}
/// @}
@@ -17,6 +17,11 @@
*
*/

/// \addtogroup ocp_nlp
/// @{
/// \addtogroup ocp_nlp_constraints
/// @{

#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGHP_H_
#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGHP_H_

@@ -163,3 +168,5 @@ void ocp_nlp_constraints_bghp_update_qp_matrices(void *config_, void *dims, void
#endif

#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGHP_H_
/// @}
/// @}
@@ -17,6 +17,12 @@
*
*/

/// \ingroup ocp_nlp
/// @{

/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
/// @{

#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_

@@ -81,3 +87,5 @@ ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
#endif

#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
/// @}
/// @}
@@ -17,6 +17,15 @@
*
*/

///
/// \defgroup ocp_nlp_cost ocp_nlp_cost
///

/// \addtogroup ocp_nlp_cost ocp_nlp_cost
/// @{
/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
/// @{

#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_

@@ -73,3 +82,5 @@ ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
#endif

#endif // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
/// @}
/// @}
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