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_)

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

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

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)

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 (*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)