hpipm_d_ocp_qcqp_res.h

/**************************************************************************************************
*                                                                                                 *
* This file is part of HPIPM.                                                                     *
*                                                                                                 *
* HPIPM -- High-Performance Interior Point Method.                                                *
* Copyright (C) 2019 by Gianluca Frison.                                                          *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
* All rights reserved.                                                                            *
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* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
*                                                                                                 *
**************************************************************************************************/

#ifndef HPIPM_D_OCP_QCQP_RES_H_
#define HPIPM_D_OCP_QCQP_RES_H_



#include <blasfeo_target.h>
#include <blasfeo_common.h>

#include <hpipm_common.h>
#include <hpipm_d_ocp_qcqp_dim.h>
#include <hpipm_d_ocp_qcqp.h>
#include <hpipm_d_ocp_qcqp_sol.h>



#ifdef __cplusplus
extern "C" {
#endif



struct d_ocp_qcqp_res
	{
	struct d_ocp_qcqp_dim *dim;
	struct blasfeo_dvec *res_g; // q-residuals
	struct blasfeo_dvec *res_b; // b-residuals
	struct blasfeo_dvec *res_d; // d-residuals
	struct blasfeo_dvec *res_m; // m-residuals
	double res_max[4]; // max of residuals
	double res_mu; // mu-residual
	double obj; // (primal) objective
	hpipm_size_t memsize;
	};



struct d_ocp_qcqp_res_ws
	{
	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
	int use_q_fun; // reuse cached value for evaluation of quadr constr
	int use_q_adj; // reuse cached value for adjoint of quadr constr
	hpipm_size_t memsize;
	};



//
hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
//
void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
//
hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
//
void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
//
void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
//
void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
//
void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
//
void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
//
void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
//
void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);



#ifdef __cplusplus
}	// #extern "C"
#endif


#endif // HPIPM_D_OCP_QCQP_RES_H_