sim_interface#

Enums

enum sim_solver_t#

Values:

enumerator ERK#

enumerator IRK#

enumerator GNSF#

enumerator LIFTED_IRK#

enumerator INVALID_SIM_SOLVER#

Functions

ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan)#

ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config)#

ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_)#

ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims)#

ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int *value)#

ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int *value)#

ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out)#

ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims)#

ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out)#

ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value)#

ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims)#

ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out)#

ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value)#

ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims)#

ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts)#

ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value)#

ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value)#

ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_, sim_in *in)#

ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, sim_in *in, void *raw_memory)#

ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_, sim_in *in)#

ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver)#

ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out)#

ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out)#

ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value)#

struct sim_solver_plan_t#

#include <sim_interface.h>

Public Members

sim_solver_t sim_solver#

struct sim_solver#

#include <sim_interface.h>

Public Members

sim_config *config#

void *dims#

void *opts#

void *mem#

void *work#

Defines

NS_MAX#

Enums

enum sim_function_t#

Values:

enumerator EXPL_ODE_FUN#

enumerator EXPL_ODE_HES#

enumerator EXPL_VDE_FOR#

enumerator EXPL_VDE_ADJ#

enumerator IMPL_ODE_FUN#

enumerator IMPL_ODE_FUN_JAC_X_XDOT#

enumerator IMPL_ODE_JAC_X_XDOT_U#

enumerator IMPL_ODE_FUN_JAC_X_XDOT_U#

enumerator IMPL_ODE_HESS#

enumerator PHI_FUN#

enumerator PHI_FUN_JAC_Y#

enumerator PHI_JAC_Y_UHAT#

enumerator LO_FUN#

enumerator GET_GNSF_MATRICES#

Functions

acados_size_t sim_config_calculate_size()#

sim_config *sim_config_assign(void *raw_memory)#

acados_size_t sim_in_calculate_size(void *config, void *dims)#

sim_in *sim_in_assign(void *config, void *dims, void *raw_memory)#

void sim_in_assign_and_advance(void *config, void *dims, sim_in **sim_in_p, char **c_ptr)#

int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value)#

acados_size_t sim_out_calculate_size(void *config, void *dims)#

sim_out *sim_out_assign(void *config, void *dims, void *raw_memory)#

int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value)#

void sim_opts_set_(sim_opts *opts, const char *field, void *value)#

void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value)#

struct sim_in#

#include <sim_common.h>

Public Members

void *dims#

double *x#

double *u#

double *S_forw#

double *S_adj#

bool identity_seed#

void *model#

double T#

double t0#

struct sim_info#

#include <sim_common.h>

Public Members

double CPUtime#

double LAtime#

double ADtime#

struct sim_out#

#include <sim_common.h>

Public Members

double *xn#

double *S_forw#

double *S_adj#

double *S_hess#

double *zn#

double *S_algebraic#

double *grad#

sim_info *info#

struct sim_opts#

#include <sim_common.h>

Public Members

int ns#

int num_steps#

int num_forw_sens#

int tableau_size#

double *A_mat#

double *c_vec#

double *b_vec#

bool sens_forw#

bool sens_adj#

bool sens_hess#

bool cost_computation#

ocp_nlp_cost_t cost_type#

bool output_z#

bool sens_algebraic#

bool exact_z_output#

sim_collocation_type collocation_type#

int newton_iter#

bool jac_reuse#

double newton_tol#

void *work#

struct sim_config#

#include <sim_common.h>

Public Members

int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work)#

int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work)#

acados_size_t (*opts_calculate_size)(void *config_, void *dims)#

void *(*opts_assign)(void *config_, void *dims, void *raw_memory)#

void (*opts_initialize_default)(void *config_, void *dims, void *opts)#

void (*opts_update)(void *config_, void *dims, void *opts)#

void (*opts_set)(void *config_, void *opts_, const char *field, void *value)#

void (*opts_get)(void *config_, void *opts_, const char *field, void *value)#

acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts)#

void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory)#

int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value)#

int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field)#

void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value)#

acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts)#

acados_size_t (*get_external_fun_workspace_requirement)(void *config, void *dims, void *opts_, void *model_)#

void (*set_external_fun_workspaces)(void *config, void *dims, void *opts_, void *model_, void *work_)#

acados_size_t (*model_calculate_size)(void *config, void *dims)#

void *(*model_assign)(void *config, void *dims, void *raw_memory)#

int (*model_set)(void *model, const char *field, void *value)#

void (*config_initialize_default)(void *config)#

acados_size_t (*dims_calculate_size)()#

void *(*dims_assign)(void *config, void *raw_memory)#

void (*dims_set)(void *config, void *dims, const char *field, const int *value)#

void (*dims_get)(void *config, void *dims, const char *field, int *value)#