hpipm_s_dense_qp_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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* The 2-Clause BSD License                                                                        *
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* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
*                                                                                                 *
**************************************************************************************************/

#ifndef HPIPM_S_DENSE_QP_RES_H_
#define HPIPM_S_DENSE_QP_RES_H_



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

#include <hpipm_s_dense_qp_dim.h>
#include <hpipm_s_dense_qp.h>
#include <hpipm_s_dense_qp_sol.h>



#ifdef __cplusplus
extern "C" {
#endif



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



struct s_dense_qp_res_ws
	{
	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
	struct blasfeo_svec *tmp_ns; // work space of size nsM
	hpipm_size_t memsize;
	};



//
hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
//
void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
//
hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
//
void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
//
void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
//
void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
//
void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
//
void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);



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


#endif // HPIPM_D_DENSE_QP_RES_H_