ocp_qp_interface

ocp_qp_interface#

Enums

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:

enumerator PARTIAL_CONDENSING_HPIPM#
enumerator PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE#
enumerator PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE#
enumerator PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE#
enumerator PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE#
enumerator FULL_CONDENSING_HPIPM#
enumerator FULL_CONDENSING_QPOASES_NOT_AVAILABLE#
enumerator FULL_CONDENSING_DAQP_NOT_AVAILABLE#
enumerator FULL_CONDENSING_QORE_NOT_AVAILABLE#
enumerator FULL_CONDENSING_OOQP_NOT_AVAILABLE#
enumerator INVALID_QP_SOLVER#

Functions

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

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.

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.

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.

void ocp_qp_dims_free(void *dims)#

Destructor of The dimension struct.

Parameters

dims – The dimension struct.

ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N)#
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)#
void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_)#
void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int *value)#
ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims)#

Constructs an input object for the qp.

Parameters

dims – The dimension struct.

void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in, int stage, char *field, void *value)#
void ocp_qp_in_free(void *in_)#

Destructor of the inputs struct.

Parameters

in_ – The inputs struct.

ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims)#

Constructs an outputs object for the qp.

Parameters

dims – The dimension struct.

void ocp_qp_out_free(void *out_)#

Destructor of the output struct.

Parameters

out_ – The output struct.

void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value)#

Getter of output struct.

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.

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.

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.

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?

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.

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.

void ocp_qp_solver_destroy(ocp_qp_solver *solver)#

Destroys a qp solver.

Frees memory.

Parameters

solver – The qp solver

void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_)#
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.

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.

struct ocp_qp_solver_plan_t#
#include <ocp_qp_interface.h>

Struct containing qp solver.

Public Members

ocp_qp_solver_t qp_solver#
struct ocp_qp_solver#
#include <ocp_qp_interface.h>

Linear ocp configuration.

Public Members

ocp_qp_xcond_solver_config *config#
ocp_qp_xcond_solver_dims *dims#
void *opts#
void *mem#
void *work#