forked from giaf/hpipm
-
Notifications
You must be signed in to change notification settings - Fork 0
/
hpipm_d_ocp_qp_res.h
113 lines (91 loc) · 5.56 KB
/
hpipm_d_ocp_qp_res.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
/**************************************************************************************************
* *
* 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. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_RES_H_
#define HPIPM_D_OCP_QP_RES_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_ocp_qp_dim.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp_res
{
struct d_ocp_qp_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_qp_res_ws
{
struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
struct blasfeo_dvec *tmp_nsM; // work space of size nsM
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
//
void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
//
hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
//
void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
//
void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
//
void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
//
void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
//
void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
//
void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
//
void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
//
void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
//
void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_RES_H_