forked from giaf/hpipm
-
Notifications
You must be signed in to change notification settings - Fork 0
/
hpipm_m_ocp_qp_ipm_hard.h
115 lines (102 loc) · 6.08 KB
/
hpipm_m_ocp_qp_ipm_hard.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
114
115
/**************************************************************************************************
* *
* 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 *
* *
**************************************************************************************************/
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#ifdef __cplusplus
extern "C" {
#endif
struct m_ipm_hard_ocp_qp_workspace
{
struct d_ipm_hard_core_qp_workspace *core_workspace;
struct blasfeo_dvec *dux;
struct blasfeo_dvec *dpi;
struct blasfeo_dvec *dt_lb;
struct blasfeo_dvec *dt_lg;
struct blasfeo_svec *sdux; // XXX
struct blasfeo_svec *sdpi; // XXX
struct blasfeo_dvec *res_g; // q-residuals
struct blasfeo_dvec *res_b; // b-residuals
struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
struct blasfeo_dvec *res_d_lb; // d-residuals
struct blasfeo_dvec *res_d_ub; // d-residuals
struct blasfeo_dvec *res_d_lg; // d-residuals
struct blasfeo_dvec *res_d_ug; // d-residuals
struct blasfeo_dvec *res_m; // m-residuals
struct blasfeo_dvec *res_m_lb; // m-residuals
struct blasfeo_dvec *res_m_ub; // m-residuals
struct blasfeo_dvec *res_m_lg; // m-residuals
struct blasfeo_dvec *res_m_ug; // m-residuals
struct blasfeo_svec *sres_g; // q-residuals // XXX
struct blasfeo_svec *sres_b; // b-residuals // XXX
struct blasfeo_dvec *Qx_lb; // hessian update
struct blasfeo_dvec *Qx_lg; // hessian update
struct blasfeo_dvec *qx_lb; // gradient update
struct blasfeo_dvec *qx_lg; // gradient update
struct blasfeo_svec *sQx_lb; // hessian update // XXX
struct blasfeo_svec *sQx_lg; // hessian update // XXX
struct blasfeo_svec *sqx_lb; // gradient update // XXX
struct blasfeo_svec *sqx_lg; // gradient update // XXX
struct blasfeo_dvec *tmp_nbM; // work space of size nbM
struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
struct blasfeo_dvec *tmp_ngM; // work space of size ngM
struct blasfeo_svec *Pb; // Pb // XXX
struct blasfeo_smat *L; // XXX
struct blasfeo_smat *AL; // XXX
struct blasfeo_svec *sSx; // scaling
struct blasfeo_svec *sSi; // scaling inverted
double *stat; // convergence statistics
double res_mu; // mu-residual
int iter; // iteration number
int compute_Pb;
int scale;
};
struct m_ipm_hard_ocp_qp_arg
{
double alpha_min; // exit cond on step length
double mu_max; // exit cond on duality measure
double mu0; // initial value for duality measure
int iter_max; // exit cond in iter number
};
//
hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
//
void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
//
void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
//
void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
#ifdef __cplusplus
} /* extern "C" */
#endif