ocp_qp_interface¶
Enums
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enum
ocp_qp_solver_t
¶ QP solver types (Enumeration).
Full list of fields: PARTIAL_CONDENSING_HPIPM PARTIAL_CONDENSING_HPMPC PARTIAL_CONDENSING_OOQP PARTIAL_CONDENSING_OSQP PARTIAL_CONDENSING_QPDUNES FULL_CONDENSING_HPIPM FULL_CONDENSING_QPOASES FULL_CONDENSING_QORE FULL_CONDENSING_OOQP INVALID_QP_SOLVER
Note: In this enumeration the partial condensing solvers have to be specified before the full condensing solvers.
Values:
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enumerator
PARTIAL_CONDENSING_HPIPM
¶
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enumerator
PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE
¶
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enumerator
PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE
¶
-
enumerator
PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE
¶
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enumerator
PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE
¶
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enumerator
FULL_CONDENSING_HPIPM
¶
-
enumerator
FULL_CONDENSING_QPOASES_NOT_AVAILABLE
¶
-
enumerator
FULL_CONDENSING_DAQP_NOT_AVAILABLE
¶
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enumerator
FULL_CONDENSING_QORE_NOT_AVAILABLE
¶
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enumerator
FULL_CONDENSING_OOQP_NOT_AVAILABLE
¶
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enumerator
INVALID_QP_SOLVER
¶
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enumerator
Functions
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void
ocp_qp_xcond_solver_config_initialize_from_plan
(ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config)¶ Initializes the qp solver configuration.
TBC should this be private/static - no, used in ocp_nlp
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ocp_qp_xcond_solver_config *
ocp_qp_xcond_solver_config_create
(ocp_qp_solver_plan_t plan)¶ Constructs a qp solver config and Initializes with default values.
- Parameters
plan
: The qp solver plan struct.
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void
ocp_qp_xcond_solver_config_free
(ocp_qp_xcond_solver_config *config)¶ Destructor for config struct, frees memory.
- Parameters
config
: The config object to destroy.
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ocp_qp_dims *
ocp_qp_dims_create
(int N)¶ Constructs a struct that contains the dimensions for the variables of the qp.
- Parameters
N
: The number of variables.
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void
ocp_qp_dims_free
(void *dims)¶ Destructor of The dimension struct.
- Parameters
dims
: The dimension struct.
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ocp_qp_xcond_solver_dims *
ocp_qp_xcond_solver_dims_create
(ocp_qp_xcond_solver_config *config, int N)¶
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ocp_qp_xcond_solver_dims *
ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims
(ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims)¶
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void
ocp_qp_xcond_solver_dims_free
(ocp_qp_xcond_solver_dims *dims_)¶
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void
ocp_qp_xcond_solver_dims_set
(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int *value)¶
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ocp_qp_in *
ocp_qp_in_create
(ocp_qp_dims *dims)¶ Constructs an input object for the qp.
- Parameters
dims
: The dimension struct.
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void
ocp_qp_in_set
(ocp_qp_xcond_solver_config *config, ocp_qp_in *in, int stage, char *field, void *value)¶
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void
ocp_qp_in_free
(void *in_)¶ Destructor of the inputs struct.
- Parameters
in_
: The inputs struct.
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ocp_qp_out *
ocp_qp_out_create
(ocp_qp_dims *dims)¶ Constructs an outputs object for the qp.
- Parameters
dims
: The dimension struct.
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void
ocp_qp_out_free
(void *out_)¶ Destructor of the output struct.
- Parameters
out_
: The output struct.
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void
ocp_qp_out_get
(ocp_qp_out *out, const char *field, void *value)¶ Getter of output struct.
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void *
ocp_qp_xcond_solver_opts_create
(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims)¶ Constructs an options object for the qp.
- Parameters
config
: The configuration struct.dims
: The dimension struct.
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void
ocp_qp_xcond_solver_opts_free
(ocp_qp_xcond_solver_opts *opts)¶ Destructor of the options struct.
- Parameters
opts
: The options struct to destroy.
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void
ocp_qp_xcond_solver_opts_set
(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_opts *opts, const char *field, void *value)¶ Setter of the options struct.
- Parameters
opts
: The options struct.
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acados_size_t
ocp_qp_calculate_size
(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_)¶ TBC Should be private/static?
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ocp_qp_solver *
ocp_qp_assign
(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory)¶ TBC Reserves memory? TBC Should this be private?
- Parameters
config
: The configuration struct.dims
: The dimension struct.opts_
: The options struct.raw_memory
: Pointer to raw memory to assign to qp solver.
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ocp_qp_solver *
ocp_qp_create
(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_)¶ Creates a qp solver.
Reserves memory.
- Parameters
config
: The configuration struct.dims
: The dimension struct.opts_
: The options struct.
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void
ocp_qp_solver_destroy
(ocp_qp_solver *solver)¶ Destroys a qp solver.
Frees memory.
- Parameters
solver
: The qp solver
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void
ocp_qp_x_cond_solver_free
(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_)¶
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int
ocp_qp_solve
(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out)¶ Solves the qp.
- Parameters
solver
: The solver.qp_in
: The inputs struct.qp_out
: The output struct.
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void
ocp_qp_inf_norm_residuals
(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, double *res)¶ Calculates the infinity norm of the residuals.
- Parameters
dims
: The dimension struct.qp_in
: The inputs struct.qp_out
: The output struct.res
: Output array for the residuals.
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struct
ocp_qp_solver_plan_t
¶ - #include <ocp_qp_interface.h>
Struct containing qp solver.
Public Members
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ocp_qp_solver_t
qp_solver
¶
-
ocp_qp_solver_t
-
struct
ocp_qp_solver
¶ - #include <ocp_qp_interface.h>
Linear ocp configuration.