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update convention_about_external_functions with blasfeo-based irk hes…

…sian
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giaf committed May 13, 2019
1 parent 81efc56 commit d79b788ba794de7f983aad6a340a7f5482322f6a
Showing with 23 additions and 9 deletions.
  1. +23 −9 convention_about_external_functions.txt
@@ -247,20 +247,34 @@ outputs:
3) [jac_z] size: nx*nz type: BLASFEO_DMAT


// hessian function of implicit ode model
// // hessian function of implicit ode model (multiplications with seeds done in CasADi)
// - only needed if opts->sens_hess
// 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

// hessian function of implicit ode model (multiplications with seeds done in BLASFEO)
- only needed if opts->sens_hess
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
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

outputs:
0) [f_hess] size: (nx+nu, nx+nu) type: BLASFEO_DMAT
0) [f_hess] size: (2*nx+nz+nu, 2*nx+nz+nu) type: BLASFEO_DMAT

/************************************************
* sim_lifted_irk_integrator
@@ -276,7 +290,7 @@ inputs:
2) [u] size: nu type: COLMAJ

outputs:
0) [fun] size: nx type: BLASFEO_DVEC_ARGS
0) [fun] size: nx type: BLASFEO_DVEC_ARGS



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