sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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acados_ocp_long.json
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c_generated_code/
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||||
"model_external_shared_lib_dir": null,
|
||||
"model_external_shared_lib_name": null,
|
||||
"nlp_solver_ext_qp_res": 0,
|
||||
"nlp_solver_max_iter": 100,
|
||||
"nlp_solver_step_length": 1.0,
|
||||
"nlp_solver_tol_comp": 1e-06,
|
||||
"nlp_solver_tol_eq": 1e-06,
|
||||
"nlp_solver_tol_ineq": 1e-06,
|
||||
"nlp_solver_tol_stat": 1e-06,
|
||||
"nlp_solver_type": "SQP_RTI",
|
||||
"print_level": 0,
|
||||
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
|
||||
"qp_solver_cond_N": 1,
|
||||
"qp_solver_cond_ric_alg": 1,
|
||||
"qp_solver_iter_max": 10,
|
||||
"qp_solver_ric_alg": 1,
|
||||
"qp_solver_tol_comp": 0.001,
|
||||
"qp_solver_tol_eq": 0.001,
|
||||
"qp_solver_tol_ineq": 0.001,
|
||||
"qp_solver_tol_stat": 0.001,
|
||||
"qp_solver_warm_start": 0,
|
||||
"regularize_method": null,
|
||||
"shooting_nodes": [
|
||||
0.0,
|
||||
0.06944444444444445,
|
||||
0.2777777777777778,
|
||||
0.625,
|
||||
1.1111111111111112,
|
||||
1.7361111111111114,
|
||||
2.5,
|
||||
3.4027777777777786,
|
||||
4.444444444444445,
|
||||
5.625,
|
||||
6.9444444444444455,
|
||||
8.402777777777777,
|
||||
10.0
|
||||
],
|
||||
"sim_method_jac_reuse": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"sim_method_newton_iter": 3,
|
||||
"sim_method_newton_tol": 0.0,
|
||||
"sim_method_num_stages": [
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4
|
||||
],
|
||||
"sim_method_num_steps": [
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1
|
||||
],
|
||||
"tf": 10.0,
|
||||
"time_steps": [
|
||||
0.06944444444444445,
|
||||
0.20833333333333334,
|
||||
0.3472222222222222,
|
||||
0.48611111111111116,
|
||||
0.6250000000000002,
|
||||
0.7638888888888886,
|
||||
0.9027777777777786,
|
||||
1.041666666666666,
|
||||
1.1805555555555554,
|
||||
1.3194444444444455,
|
||||
1.4583333333333313,
|
||||
1.5972222222222232
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,213 @@
|
||||
#
|
||||
# Copyright (c) The acados authors.
|
||||
#
|
||||
# This file is part of acados.
|
||||
#
|
||||
# The 2-Clause BSD License
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright notice,
|
||||
# this list of conditions and the following disclaimer.
|
||||
#
|
||||
# 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
# this list of conditions and the following disclaimer in the documentation
|
||||
# and/or other materials provided with the distribution.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.;
|
||||
#
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# define sources and use make's implicit rules to generate object files (*.o)
|
||||
|
||||
# model
|
||||
MODEL_SRC=
|
||||
MODEL_SRC+= long_model/long_expl_ode_fun.c
|
||||
MODEL_SRC+= long_model/long_expl_vde_forw.c
|
||||
MODEL_SRC+= long_model/long_expl_vde_adj.c
|
||||
MODEL_OBJ := $(MODEL_SRC:.c=.o)
|
||||
|
||||
# optimal control problem - mostly CasADi exports
|
||||
OCP_SRC=
|
||||
OCP_SRC+= long_constraints/long_constr_h_fun_jac_uxt_zt.c
|
||||
OCP_SRC+= long_constraints/long_constr_h_fun.c
|
||||
OCP_SRC+= long_cost/long_cost_y_0_fun.c
|
||||
OCP_SRC+= long_cost/long_cost_y_0_fun_jac_ut_xt.c
|
||||
OCP_SRC+= long_cost/long_cost_y_0_hess.c
|
||||
OCP_SRC+= long_cost/long_cost_y_fun.c
|
||||
OCP_SRC+= long_cost/long_cost_y_fun_jac_ut_xt.c
|
||||
OCP_SRC+= long_cost/long_cost_y_hess.c
|
||||
OCP_SRC+= long_cost/long_cost_y_e_fun.c
|
||||
OCP_SRC+= long_cost/long_cost_y_e_fun_jac_ut_xt.c
|
||||
OCP_SRC+= long_cost/long_cost_y_e_hess.c
|
||||
|
||||
OCP_SRC+= acados_solver_long.c
|
||||
OCP_OBJ := $(OCP_SRC:.c=.o)
|
||||
|
||||
# for sim solver
|
||||
SIM_SRC= acados_sim_solver_long.c
|
||||
SIM_OBJ := $(SIM_SRC:.c=.o)
|
||||
|
||||
# for target example
|
||||
EX_SRC= main_long.c
|
||||
EX_OBJ := $(EX_SRC:.c=.o)
|
||||
EX_EXE := $(EX_SRC:.c=)
|
||||
|
||||
# for target example_sim
|
||||
EX_SIM_SRC= main_sim_long.c
|
||||
EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
|
||||
EX_SIM_EXE := $(EX_SIM_SRC:.c=)
|
||||
|
||||
# combine model, sim and ocp object files
|
||||
OBJ=
|
||||
OBJ+= $(MODEL_OBJ)
|
||||
OBJ+= $(SIM_OBJ)
|
||||
OBJ+= $(OCP_OBJ)
|
||||
|
||||
EXTERNAL_DIR=
|
||||
EXTERNAL_LIB=
|
||||
|
||||
INCLUDE_PATH = /usr/local/venv/lib/python3.12/site-packages/acados/install/include
|
||||
LIB_PATH = /usr/local/venv/lib/python3.12/site-packages/acados/install/lib
|
||||
|
||||
# preprocessor flags for make's implicit rules
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/acados
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
|
||||
|
||||
|
||||
# define the c-compiler flags for make's implicit rules
|
||||
CFLAGS = -fPIC -std=c99 -O2#-fno-diagnostics-show-line-numbers -g
|
||||
# # Debugging
|
||||
# CFLAGS += -g3
|
||||
|
||||
# linker flags
|
||||
LDFLAGS+= -L$(LIB_PATH)
|
||||
|
||||
# link to libraries
|
||||
LDLIBS+= -lacados
|
||||
LDLIBS+= -lhpipm
|
||||
LDLIBS+= -lblasfeo
|
||||
LDLIBS+= -lm
|
||||
LDLIBS+=
|
||||
|
||||
# libraries
|
||||
LIBACADOS_SOLVER=libacados_solver_long.so
|
||||
LIBACADOS_OCP_SOLVER=libacados_ocp_solver_long.so
|
||||
LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
|
||||
|
||||
# virtual targets
|
||||
.PHONY : all clean
|
||||
|
||||
#all: clean example_sim example shared_lib
|
||||
|
||||
all: clean example_sim example
|
||||
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
|
||||
|
||||
# some linker targets
|
||||
example: $(EX_OBJ) $(OBJ)
|
||||
$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
|
||||
$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
bundled_shared_lib: $(OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
|
||||
|
||||
sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
|
||||
# Cython targets
|
||||
ocp_cython_c: ocp_shared_lib
|
||||
cython \
|
||||
-o acados_ocp_solver_pyx.c \
|
||||
-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
|
||||
$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
|
||||
-I /data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \
|
||||
|
||||
ocp_cython_o: ocp_cython_c
|
||||
$(CC) $(ACADOS_FLAGS) -c -O2 \
|
||||
-fPIC \
|
||||
-o acados_ocp_solver_pyx.o \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-I /usr/local/venv/lib/python3.12/site-packages/numpy/_core/include \
|
||||
-I /usr/include/python3.12 \
|
||||
acados_ocp_solver_pyx.c \
|
||||
|
||||
ocp_cython: ocp_cython_o
|
||||
$(CC) $(ACADOS_FLAGS) -shared \
|
||||
-o acados_ocp_solver_pyx.so \
|
||||
-Wl,-rpath=$(LIB_PATH) \
|
||||
acados_ocp_solver_pyx.o \
|
||||
$(abspath .)/libacados_ocp_solver_long.so \
|
||||
$(LDFLAGS) $(LDLIBS)
|
||||
|
||||
# Sim Cython targets
|
||||
sim_cython_c: sim_shared_lib
|
||||
cython \
|
||||
-o acados_sim_solver_pyx.c \
|
||||
-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
|
||||
$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
|
||||
-I /data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \
|
||||
|
||||
sim_cython_o: sim_cython_c
|
||||
$(CC) $(ACADOS_FLAGS) -c -O2 \
|
||||
-fPIC \
|
||||
-o acados_sim_solver_pyx.o \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-I /usr/local/venv/lib/python3.12/site-packages/numpy/_core/include \
|
||||
-I /usr/include/python3.12 \
|
||||
acados_sim_solver_pyx.c \
|
||||
|
||||
sim_cython: sim_cython_o
|
||||
$(CC) $(ACADOS_FLAGS) -shared \
|
||||
-o acados_sim_solver_pyx.so \
|
||||
-Wl,-rpath=$(LIB_PATH) \
|
||||
acados_sim_solver_pyx.o \
|
||||
$(abspath .)/libacados_sim_solver_long.so \
|
||||
$(LDFLAGS) $(LDLIBS)
|
||||
|
||||
clean:
|
||||
$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
|
||||
$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
|
||||
$(RM) $(EX_EXE) $(EX_SIM_EXE)
|
||||
|
||||
clean_ocp_shared_lib:
|
||||
$(RM) $(LIBACADOS_OCP_SOLVER)
|
||||
$(RM) $(OCP_OBJ)
|
||||
|
||||
clean_ocp_cython:
|
||||
$(RM) libacados_ocp_solver_long.so
|
||||
$(RM) acados_solver_long.o
|
||||
$(RM) acados_ocp_solver_pyx.so
|
||||
$(RM) acados_ocp_solver_pyx.o
|
||||
|
||||
clean_sim_cython:
|
||||
$(RM) libacados_sim_solver_long.so
|
||||
$(RM) acados_sim_solver_long.o
|
||||
$(RM) acados_sim_solver_pyx.so
|
||||
$(RM) acados_sim_solver_pyx.o
|
||||
+41883
File diff suppressed because it is too large.
Load diff
Executable
BIN
Binary file not shown.
+294
@@ -0,0 +1,294 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
// standard
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
// acados
|
||||
#include "acados_c/external_function_interface.h"
|
||||
#include "acados_c/sim_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
#include "acados/sim/sim_common.h"
|
||||
#include "acados/utils/external_function_generic.h"
|
||||
#include "acados/utils/print.h"
|
||||
|
||||
|
||||
// example specific
|
||||
#include "long_model/long_model.h"
|
||||
#include "acados_sim_solver_long.h"
|
||||
|
||||
|
||||
// ** solver data **
|
||||
|
||||
sim_solver_capsule * long_acados_sim_solver_create_capsule()
|
||||
{
|
||||
void* capsule_mem = malloc(sizeof(sim_solver_capsule));
|
||||
sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
|
||||
|
||||
return capsule;
|
||||
}
|
||||
|
||||
|
||||
int long_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
|
||||
{
|
||||
free(capsule);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int long_acados_sim_create(sim_solver_capsule * capsule)
|
||||
{
|
||||
// initialize
|
||||
const int nx = LONG_NX;
|
||||
const int nu = LONG_NU;
|
||||
const int nz = LONG_NZ;
|
||||
const int np = LONG_NP;
|
||||
bool tmp_bool;
|
||||
|
||||
|
||||
double Tsim = 0.06944444444444445;
|
||||
|
||||
|
||||
// explicit ode
|
||||
capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
capsule->sim_vde_adj_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
|
||||
capsule->sim_forw_vde_casadi->casadi_fun = &long_expl_vde_forw;
|
||||
capsule->sim_forw_vde_casadi->casadi_n_in = &long_expl_vde_forw_n_in;
|
||||
capsule->sim_forw_vde_casadi->casadi_n_out = &long_expl_vde_forw_n_out;
|
||||
capsule->sim_forw_vde_casadi->casadi_sparsity_in = &long_expl_vde_forw_sparsity_in;
|
||||
capsule->sim_forw_vde_casadi->casadi_sparsity_out = &long_expl_vde_forw_sparsity_out;
|
||||
capsule->sim_forw_vde_casadi->casadi_work = &long_expl_vde_forw_work;
|
||||
external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np);
|
||||
|
||||
capsule->sim_vde_adj_casadi->casadi_fun = &long_expl_vde_adj;
|
||||
capsule->sim_vde_adj_casadi->casadi_n_in = &long_expl_vde_adj_n_in;
|
||||
capsule->sim_vde_adj_casadi->casadi_n_out = &long_expl_vde_adj_n_out;
|
||||
capsule->sim_vde_adj_casadi->casadi_sparsity_in = &long_expl_vde_adj_sparsity_in;
|
||||
capsule->sim_vde_adj_casadi->casadi_sparsity_out = &long_expl_vde_adj_sparsity_out;
|
||||
capsule->sim_vde_adj_casadi->casadi_work = &long_expl_vde_adj_work;
|
||||
external_function_param_casadi_create(capsule->sim_vde_adj_casadi, np);
|
||||
|
||||
capsule->sim_expl_ode_fun_casadi->casadi_fun = &long_expl_ode_fun;
|
||||
capsule->sim_expl_ode_fun_casadi->casadi_n_in = &long_expl_ode_fun_n_in;
|
||||
capsule->sim_expl_ode_fun_casadi->casadi_n_out = &long_expl_ode_fun_n_out;
|
||||
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &long_expl_ode_fun_sparsity_in;
|
||||
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &long_expl_ode_fun_sparsity_out;
|
||||
capsule->sim_expl_ode_fun_casadi->casadi_work = &long_expl_ode_fun_work;
|
||||
external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np);
|
||||
|
||||
|
||||
|
||||
// sim plan & config
|
||||
sim_solver_plan_t plan;
|
||||
plan.sim_solver = ERK;
|
||||
|
||||
// create correct config based on plan
|
||||
sim_config * long_sim_config = sim_config_create(plan);
|
||||
capsule->acados_sim_config = long_sim_config;
|
||||
|
||||
// sim dims
|
||||
void *long_sim_dims = sim_dims_create(long_sim_config);
|
||||
capsule->acados_sim_dims = long_sim_dims;
|
||||
sim_dims_set(long_sim_config, long_sim_dims, "nx", &nx);
|
||||
sim_dims_set(long_sim_config, long_sim_dims, "nu", &nu);
|
||||
sim_dims_set(long_sim_config, long_sim_dims, "nz", &nz);
|
||||
|
||||
|
||||
// sim opts
|
||||
sim_opts *long_sim_opts = sim_opts_create(long_sim_config, long_sim_dims);
|
||||
capsule->acados_sim_opts = long_sim_opts;
|
||||
int tmp_int = 3;
|
||||
sim_opts_set(long_sim_config, long_sim_opts, "newton_iter", &tmp_int);
|
||||
double tmp_double = 0.0;
|
||||
sim_opts_set(long_sim_config, long_sim_opts, "newton_tol", &tmp_double);
|
||||
sim_collocation_type collocation_type = GAUSS_LEGENDRE;
|
||||
sim_opts_set(long_sim_config, long_sim_opts, "collocation_type", &collocation_type);
|
||||
|
||||
|
||||
tmp_int = 4;
|
||||
sim_opts_set(long_sim_config, long_sim_opts, "num_stages", &tmp_int);
|
||||
tmp_int = 1;
|
||||
sim_opts_set(long_sim_config, long_sim_opts, "num_steps", &tmp_int);
|
||||
tmp_bool = 0;
|
||||
sim_opts_set(long_sim_config, long_sim_opts, "jac_reuse", &tmp_bool);
|
||||
|
||||
|
||||
// sim in / out
|
||||
sim_in *long_sim_in = sim_in_create(long_sim_config, long_sim_dims);
|
||||
capsule->acados_sim_in = long_sim_in;
|
||||
sim_out *long_sim_out = sim_out_create(long_sim_config, long_sim_dims);
|
||||
capsule->acados_sim_out = long_sim_out;
|
||||
|
||||
sim_in_set(long_sim_config, long_sim_dims,
|
||||
long_sim_in, "T", &Tsim);
|
||||
|
||||
// model functions
|
||||
long_sim_config->model_set(long_sim_in->model,
|
||||
"expl_vde_forw", capsule->sim_forw_vde_casadi);
|
||||
long_sim_config->model_set(long_sim_in->model,
|
||||
"expl_vde_adj", capsule->sim_vde_adj_casadi);
|
||||
long_sim_config->model_set(long_sim_in->model,
|
||||
"expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
|
||||
|
||||
// sim solver
|
||||
sim_solver *long_sim_solver = sim_solver_create(long_sim_config,
|
||||
long_sim_dims, long_sim_opts);
|
||||
capsule->acados_sim_solver = long_sim_solver;
|
||||
|
||||
|
||||
/* initialize parameter values */
|
||||
double* p = calloc(np, sizeof(double));
|
||||
|
||||
p[0] = -1.2;
|
||||
p[1] = 1.2;
|
||||
p[4] = 1.45;
|
||||
p[5] = 0.75;
|
||||
|
||||
long_acados_sim_update_params(capsule, p, np);
|
||||
free(p);
|
||||
|
||||
|
||||
/* initialize input */
|
||||
// x
|
||||
double x0[3];
|
||||
for (int ii = 0; ii < 3; ii++)
|
||||
x0[ii] = 0.0;
|
||||
|
||||
sim_in_set(long_sim_config, long_sim_dims,
|
||||
long_sim_in, "x", x0);
|
||||
|
||||
|
||||
// u
|
||||
double u0[1];
|
||||
for (int ii = 0; ii < 1; ii++)
|
||||
u0[ii] = 0.0;
|
||||
|
||||
sim_in_set(long_sim_config, long_sim_dims,
|
||||
long_sim_in, "u", u0);
|
||||
|
||||
// S_forw
|
||||
double S_forw[12];
|
||||
for (int ii = 0; ii < 12; ii++)
|
||||
S_forw[ii] = 0.0;
|
||||
for (int ii = 0; ii < 3; ii++)
|
||||
S_forw[ii + ii * 3 ] = 1.0;
|
||||
|
||||
|
||||
sim_in_set(long_sim_config, long_sim_dims,
|
||||
long_sim_in, "S_forw", S_forw);
|
||||
|
||||
int status = sim_precompute(long_sim_solver, long_sim_in, long_sim_out);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
int long_acados_sim_solve(sim_solver_capsule *capsule)
|
||||
{
|
||||
// integrate dynamics using acados sim_solver
|
||||
int status = sim_solve(capsule->acados_sim_solver,
|
||||
capsule->acados_sim_in, capsule->acados_sim_out);
|
||||
if (status != 0)
|
||||
printf("error in long_acados_sim_solve()! Exiting.\n");
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
int long_acados_sim_free(sim_solver_capsule *capsule)
|
||||
{
|
||||
// free memory
|
||||
sim_solver_destroy(capsule->acados_sim_solver);
|
||||
sim_in_destroy(capsule->acados_sim_in);
|
||||
sim_out_destroy(capsule->acados_sim_out);
|
||||
sim_opts_destroy(capsule->acados_sim_opts);
|
||||
sim_dims_destroy(capsule->acados_sim_dims);
|
||||
sim_config_destroy(capsule->acados_sim_config);
|
||||
|
||||
// free external function
|
||||
external_function_param_casadi_free(capsule->sim_forw_vde_casadi);
|
||||
external_function_param_casadi_free(capsule->sim_vde_adj_casadi);
|
||||
external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int long_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
|
||||
{
|
||||
int status = 0;
|
||||
int casadi_np = LONG_NP;
|
||||
|
||||
if (casadi_np != np) {
|
||||
printf("long_acados_sim_update_params: trying to set %i parameters for external functions."
|
||||
" External function has %i parameters. Exiting.\n", np, casadi_np);
|
||||
exit(1);
|
||||
}
|
||||
capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
|
||||
capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p);
|
||||
capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
/* getters pointers to C objects*/
|
||||
sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule)
|
||||
{
|
||||
return capsule->acados_sim_config;
|
||||
};
|
||||
|
||||
sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule)
|
||||
{
|
||||
return capsule->acados_sim_in;
|
||||
};
|
||||
|
||||
sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule)
|
||||
{
|
||||
return capsule->acados_sim_out;
|
||||
};
|
||||
|
||||
void * long_acados_get_sim_dims(sim_solver_capsule *capsule)
|
||||
{
|
||||
return capsule->acados_sim_dims;
|
||||
};
|
||||
|
||||
sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule)
|
||||
{
|
||||
return capsule->acados_sim_opts;
|
||||
};
|
||||
|
||||
sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule)
|
||||
{
|
||||
return capsule->acados_sim_solver;
|
||||
};
|
||||
|
||||
+101
@@ -0,0 +1,101 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
#ifndef ACADOS_SIM_long_H_
|
||||
#define ACADOS_SIM_long_H_
|
||||
|
||||
#include "acados_c/sim_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
#define LONG_NX 3
|
||||
#define LONG_NZ 0
|
||||
#define LONG_NU 1
|
||||
#define LONG_NP 6
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
// ** capsule for solver data **
|
||||
typedef struct sim_solver_capsule
|
||||
{
|
||||
// acados objects
|
||||
sim_in *acados_sim_in;
|
||||
sim_out *acados_sim_out;
|
||||
sim_solver *acados_sim_solver;
|
||||
sim_opts *acados_sim_opts;
|
||||
sim_config *acados_sim_config;
|
||||
void *acados_sim_dims;
|
||||
|
||||
/* external functions */
|
||||
// ERK
|
||||
external_function_param_casadi * sim_forw_vde_casadi;
|
||||
external_function_param_casadi * sim_vde_adj_casadi;
|
||||
external_function_param_casadi * sim_expl_ode_fun_casadi;
|
||||
external_function_param_casadi * sim_expl_ode_hess;
|
||||
|
||||
// IRK
|
||||
external_function_param_casadi * sim_impl_dae_fun;
|
||||
external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
|
||||
external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
|
||||
external_function_param_casadi * sim_impl_dae_hess;
|
||||
|
||||
// GNSF
|
||||
external_function_param_casadi * sim_gnsf_phi_fun;
|
||||
external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
|
||||
external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
|
||||
external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
|
||||
external_function_param_casadi * sim_gnsf_get_matrices_fun;
|
||||
|
||||
} sim_solver_capsule;
|
||||
|
||||
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_sim_create(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_sim_solve(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_sim_free(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
|
||||
|
||||
ACADOS_SYMBOL_EXPORT sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT void * long_acados_get_sim_dims(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule);
|
||||
|
||||
|
||||
ACADOS_SYMBOL_EXPORT sim_solver_capsule * long_acados_sim_solver_create_capsule(void);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // ACADOS_SIM_long_H_
|
||||
+62
@@ -0,0 +1,62 @@
|
||||
#
|
||||
# Copyright (c) The acados authors.
|
||||
#
|
||||
# This file is part of acados.
|
||||
#
|
||||
# The 2-Clause BSD License
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright notice,
|
||||
# this list of conditions and the following disclaimer.
|
||||
#
|
||||
# 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
# this list of conditions and the following disclaimer in the documentation
|
||||
# and/or other materials provided with the distribution.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.;
|
||||
#
|
||||
|
||||
cimport acados_solver_common
|
||||
|
||||
cdef extern from "acados_solver_long.h":
|
||||
ctypedef struct nlp_solver_capsule "long_solver_capsule":
|
||||
pass
|
||||
|
||||
nlp_solver_capsule * acados_create_capsule "long_acados_create_capsule"()
|
||||
int acados_free_capsule "long_acados_free_capsule"(nlp_solver_capsule *capsule)
|
||||
|
||||
int acados_create "long_acados_create"(nlp_solver_capsule * capsule)
|
||||
|
||||
int acados_create_with_discretization "long_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
|
||||
int acados_update_time_steps "long_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
|
||||
int acados_update_qp_solver_cond_N "long_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
|
||||
|
||||
int acados_update_params "long_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
|
||||
int acados_update_params_sparse "long_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
|
||||
int acados_solve "long_acados_solve"(nlp_solver_capsule * capsule)
|
||||
int acados_reset "long_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
|
||||
int acados_free "long_acados_free"(nlp_solver_capsule * capsule)
|
||||
void acados_print_stats "long_acados_print_stats"(nlp_solver_capsule * capsule)
|
||||
|
||||
int acados_custom_update "long_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
|
||||
|
||||
acados_solver_common.ocp_nlp_in *acados_get_nlp_in "long_acados_get_nlp_in"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_out *acados_get_nlp_out "long_acados_get_nlp_out"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_out *acados_get_sens_out "long_acados_get_sens_out"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "long_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_config *acados_get_nlp_config "long_acados_get_nlp_config"(nlp_solver_capsule * capsule)
|
||||
void *acados_get_nlp_opts "long_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "long_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "long_acados_get_nlp_plan"(nlp_solver_capsule * capsule)
|
||||
+1087
File diff suppressed because it is too large.
Load diff
+172
@@ -0,0 +1,172 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
#ifndef ACADOS_SOLVER_long_H_
|
||||
#define ACADOS_SOLVER_long_H_
|
||||
|
||||
#include "acados/utils/types.h"
|
||||
|
||||
#include "acados_c/ocp_nlp_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
#define LONG_NX 3
|
||||
#define LONG_NZ 0
|
||||
#define LONG_NU 1
|
||||
#define LONG_NP 6
|
||||
#define LONG_NBX 0
|
||||
#define LONG_NBX0 3
|
||||
#define LONG_NBU 0
|
||||
#define LONG_NSBX 0
|
||||
#define LONG_NSBU 0
|
||||
#define LONG_NSH 4
|
||||
#define LONG_NSG 0
|
||||
#define LONG_NSPHI 0
|
||||
#define LONG_NSHN 0
|
||||
#define LONG_NSGN 0
|
||||
#define LONG_NSPHIN 0
|
||||
#define LONG_NSBXN 0
|
||||
#define LONG_NS 4
|
||||
#define LONG_NSN 0
|
||||
#define LONG_NG 0
|
||||
#define LONG_NBXN 0
|
||||
#define LONG_NGN 0
|
||||
#define LONG_NY0 6
|
||||
#define LONG_NY 6
|
||||
#define LONG_NYN 5
|
||||
#define LONG_N 12
|
||||
#define LONG_NH 4
|
||||
#define LONG_NPHI 0
|
||||
#define LONG_NHN 0
|
||||
#define LONG_NPHIN 0
|
||||
#define LONG_NR 0
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
// ** capsule for solver data **
|
||||
typedef struct long_solver_capsule
|
||||
{
|
||||
// acados objects
|
||||
ocp_nlp_in *nlp_in;
|
||||
ocp_nlp_out *nlp_out;
|
||||
ocp_nlp_out *sens_out;
|
||||
ocp_nlp_solver *nlp_solver;
|
||||
void *nlp_opts;
|
||||
ocp_nlp_plan_t *nlp_solver_plan;
|
||||
ocp_nlp_config *nlp_config;
|
||||
ocp_nlp_dims *nlp_dims;
|
||||
|
||||
// number of expected runtime parameters
|
||||
unsigned int nlp_np;
|
||||
|
||||
/* external functions */
|
||||
// dynamics
|
||||
|
||||
external_function_param_casadi *forw_vde_casadi;
|
||||
external_function_param_casadi *expl_ode_fun;
|
||||
|
||||
|
||||
|
||||
|
||||
// cost
|
||||
|
||||
external_function_param_casadi *cost_y_fun;
|
||||
external_function_param_casadi *cost_y_fun_jac_ut_xt;
|
||||
external_function_param_casadi *cost_y_hess;
|
||||
|
||||
|
||||
|
||||
external_function_param_casadi cost_y_0_fun;
|
||||
external_function_param_casadi cost_y_0_fun_jac_ut_xt;
|
||||
external_function_param_casadi cost_y_0_hess;
|
||||
|
||||
|
||||
|
||||
external_function_param_casadi cost_y_e_fun;
|
||||
external_function_param_casadi cost_y_e_fun_jac_ut_xt;
|
||||
external_function_param_casadi cost_y_e_hess;
|
||||
|
||||
|
||||
// constraints
|
||||
external_function_param_casadi *nl_constr_h_fun_jac;
|
||||
external_function_param_casadi *nl_constr_h_fun;
|
||||
|
||||
|
||||
|
||||
|
||||
} long_solver_capsule;
|
||||
|
||||
ACADOS_SYMBOL_EXPORT long_solver_capsule * long_acados_create_capsule(void);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_free_capsule(long_solver_capsule *capsule);
|
||||
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_create(long_solver_capsule * capsule);
|
||||
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_reset(long_solver_capsule* capsule, int reset_qp_solver_mem);
|
||||
|
||||
/**
|
||||
* Generic version of long_acados_create which allows to use a different number of shooting intervals than
|
||||
* the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
|
||||
* generation, the time-steps from code generation is used.
|
||||
*/
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_create_with_discretization(long_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
|
||||
/**
|
||||
* Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
|
||||
* nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
|
||||
*/
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_update_time_steps(long_solver_capsule * capsule, int N, double* new_time_steps);
|
||||
/**
|
||||
* This function is used for updating an already initialized solver with a different number of qp_cond_N.
|
||||
*/
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_update_qp_solver_cond_N(long_solver_capsule * capsule, int qp_solver_cond_N);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_update_params(long_solver_capsule * capsule, int stage, double *value, int np);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_update_params_sparse(long_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
|
||||
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_solve(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_free(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT void long_acados_print_stats(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT int long_acados_custom_update(long_solver_capsule* capsule, double* data, int data_len);
|
||||
|
||||
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT void *long_acados_get_nlp_opts(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule * capsule);
|
||||
ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule * capsule);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
|
||||
#endif // ACADOS_SOLVER_long_H_
|
||||
BIN
Binary file not shown.
Executable
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
Executable
BIN
Binary file not shown.
+187
@@ -0,0 +1,187 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_constr_h_fun_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3};
|
||||
|
||||
/* long_constr_h_fun:(i0[3],i1,i2[],i3[6])->(o0[4]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4;
|
||||
a0=arg[0]? arg[0][1] : 0;
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
a1=arg[0]? arg[0][2] : 0;
|
||||
a2=arg[3]? arg[3][0] : 0;
|
||||
a2=(a1-a2);
|
||||
if (res[0]!=0) res[0][1]=a2;
|
||||
a2=arg[3]? arg[3][1] : 0;
|
||||
a2=(a2-a1);
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a2=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a2=(a2-a1);
|
||||
a1=arg[3]? arg[3][5] : 0;
|
||||
a3=casadi_sq(a0);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a4=(a4*a0);
|
||||
a3=(a3+a4);
|
||||
a4=6.;
|
||||
a3=(a3+a4);
|
||||
a1=(a1*a3);
|
||||
a2=(a2-a1);
|
||||
a1=10.;
|
||||
a0=(a0+a1);
|
||||
a2=(a2/a0);
|
||||
if (res[0]!=0) res[0][3]=a2;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s4;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+213
@@ -0,0 +1,213 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_constr_h_fun_jac_uxt_zt_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_s5 CASADI_PREFIX(s5)
|
||||
#define casadi_s6 CASADI_PREFIX(s6)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3};
|
||||
static const casadi_int casadi_s5[12] = {4, 4, 0, 1, 2, 3, 5, 2, 3, 3, 1, 2};
|
||||
static const casadi_int casadi_s6[3] = {4, 0, 0};
|
||||
|
||||
/* long_constr_h_fun_jac_uxt_zt:(i0[3],i1,i2[],i3[6])->(o0[4],o1[4x4,5nz],o2[4x0]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4, a5;
|
||||
a0=arg[0]? arg[0][1] : 0;
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
a1=arg[0]? arg[0][2] : 0;
|
||||
a2=arg[3]? arg[3][0] : 0;
|
||||
a2=(a1-a2);
|
||||
if (res[0]!=0) res[0][1]=a2;
|
||||
a2=arg[3]? arg[3][1] : 0;
|
||||
a2=(a2-a1);
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a2=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a2=(a2-a1);
|
||||
a1=arg[3]? arg[3][5] : 0;
|
||||
a3=casadi_sq(a0);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a5=(a4*a0);
|
||||
a3=(a3+a5);
|
||||
a5=6.;
|
||||
a3=(a3+a5);
|
||||
a3=(a1*a3);
|
||||
a2=(a2-a3);
|
||||
a3=10.;
|
||||
a3=(a0+a3);
|
||||
a2=(a2/a3);
|
||||
if (res[0]!=0) res[0][3]=a2;
|
||||
a5=1.;
|
||||
if (res[1]!=0) res[1][0]=a5;
|
||||
if (res[1]!=0) res[1][1]=a5;
|
||||
a5=-1.;
|
||||
if (res[1]!=0) res[1][2]=a5;
|
||||
a5=(1./a3);
|
||||
a5=(-a5);
|
||||
if (res[1]!=0) res[1][3]=a5;
|
||||
a5=2.0000000000000001e-01;
|
||||
a0=(a0+a0);
|
||||
a5=(a5*a0);
|
||||
a5=(a5+a4);
|
||||
a1=(a1*a5);
|
||||
a1=(a1/a3);
|
||||
a2=(a2/a3);
|
||||
a1=(a1+a2);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][4]=a1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_out(void) { return 3;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_jac_uxt_zt_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
case 1: return "o1";
|
||||
case 2: return "o2";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s4;
|
||||
case 1: return casadi_s5;
|
||||
case 2: return casadi_s6;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 3;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 3*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+66
@@ -0,0 +1,66 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
#ifndef long_CONSTRAINTS
|
||||
#define long_CONSTRAINTS
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int long_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
|
||||
const int *long_constr_h_fun_jac_uxt_zt_sparsity_in(int);
|
||||
const int *long_constr_h_fun_jac_uxt_zt_sparsity_out(int);
|
||||
int long_constr_h_fun_jac_uxt_zt_n_in(void);
|
||||
int long_constr_h_fun_jac_uxt_zt_n_out(void);
|
||||
|
||||
int long_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_constr_h_fun_work(int *, int *, int *, int *);
|
||||
const int *long_constr_h_fun_sparsity_in(int);
|
||||
const int *long_constr_h_fun_sparsity_out(int);
|
||||
int long_constr_h_fun_n_in(void);
|
||||
int long_constr_h_fun_n_out(void);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
|
||||
#endif // long_CONSTRAINTS
|
||||
+119
@@ -0,0 +1,119 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
|
||||
#ifndef long_COST
|
||||
#define long_COST
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
// Cost at initial shooting node
|
||||
|
||||
int long_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_0_fun_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_0_fun_sparsity_in(int);
|
||||
const int *long_cost_y_0_fun_sparsity_out(int);
|
||||
int long_cost_y_0_fun_n_in(void);
|
||||
int long_cost_y_0_fun_n_out(void);
|
||||
|
||||
int long_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
|
||||
const int *long_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
|
||||
int long_cost_y_0_fun_jac_ut_xt_n_in(void);
|
||||
int long_cost_y_0_fun_jac_ut_xt_n_out(void);
|
||||
|
||||
int long_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_0_hess_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_0_hess_sparsity_in(int);
|
||||
const int *long_cost_y_0_hess_sparsity_out(int);
|
||||
int long_cost_y_0_hess_n_in(void);
|
||||
int long_cost_y_0_hess_n_out(void);
|
||||
|
||||
|
||||
|
||||
// Cost at path shooting node
|
||||
|
||||
int long_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_fun_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_fun_sparsity_in(int);
|
||||
const int *long_cost_y_fun_sparsity_out(int);
|
||||
int long_cost_y_fun_n_in(void);
|
||||
int long_cost_y_fun_n_out(void);
|
||||
|
||||
int long_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_fun_jac_ut_xt_sparsity_in(int);
|
||||
const int *long_cost_y_fun_jac_ut_xt_sparsity_out(int);
|
||||
int long_cost_y_fun_jac_ut_xt_n_in(void);
|
||||
int long_cost_y_fun_jac_ut_xt_n_out(void);
|
||||
|
||||
int long_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_hess_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_hess_sparsity_in(int);
|
||||
const int *long_cost_y_hess_sparsity_out(int);
|
||||
int long_cost_y_hess_n_in(void);
|
||||
int long_cost_y_hess_n_out(void);
|
||||
|
||||
|
||||
|
||||
// Cost at terminal shooting node
|
||||
|
||||
int long_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_e_fun_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_e_fun_sparsity_in(int);
|
||||
const int *long_cost_y_e_fun_sparsity_out(int);
|
||||
int long_cost_y_e_fun_n_in(void);
|
||||
int long_cost_y_e_fun_n_out(void);
|
||||
|
||||
int long_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
|
||||
const int *long_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
|
||||
int long_cost_y_e_fun_jac_ut_xt_n_in(void);
|
||||
int long_cost_y_e_fun_jac_ut_xt_n_out(void);
|
||||
|
||||
int long_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_cost_y_e_hess_work(int *, int *, int *, int *);
|
||||
const int *long_cost_y_e_hess_sparsity_in(int);
|
||||
const int *long_cost_y_e_hess_sparsity_out(int);
|
||||
int long_cost_y_e_hess_n_in(void);
|
||||
int long_cost_y_e_hess_n_out(void);
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
|
||||
#endif // long_COST
|
||||
+184
@@ -0,0 +1,184 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_0_fun_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
|
||||
/* long_cost_y_0_fun:(i0[3],i1,i2[],i3[6])->(o0[6]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4;
|
||||
a0=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a0=(a0-a1);
|
||||
a2=arg[0]? arg[0][1] : 0;
|
||||
a3=casadi_sq(a2);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a4=(a4*a2);
|
||||
a3=(a3+a4);
|
||||
a4=6.;
|
||||
a3=(a3+a4);
|
||||
a0=(a0-a3);
|
||||
a3=10.;
|
||||
a3=(a2+a3);
|
||||
a0=(a0/a3);
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
if (res[0]!=0) res[0][1]=a1;
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a2=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a2;
|
||||
a1=arg[3]? arg[3][3] : 0;
|
||||
a2=(a2-a1);
|
||||
if (res[0]!=0) res[0][4]=a2;
|
||||
a2=arg[1]? arg[1][0] : 0;
|
||||
if (res[0]!=0) res[0][5]=a2;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+210
@@ -0,0 +1,210 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_0_fun_jac_ut_xt_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_s5 CASADI_PREFIX(s5)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0};
|
||||
static const casadi_int casadi_s5[3] = {6, 0, 0};
|
||||
|
||||
/* long_cost_y_0_fun_jac_ut_xt:(i0[3],i1,i2[],i3[6])->(o0[6],o1[4x6,7nz],o2[6x0]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4, a5;
|
||||
a0=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a0=(a0-a1);
|
||||
a2=arg[0]? arg[0][1] : 0;
|
||||
a3=casadi_sq(a2);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a5=(a4*a2);
|
||||
a3=(a3+a5);
|
||||
a5=6.;
|
||||
a3=(a3+a5);
|
||||
a0=(a0-a3);
|
||||
a3=10.;
|
||||
a3=(a2+a3);
|
||||
a0=(a0/a3);
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
if (res[0]!=0) res[0][1]=a1;
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a1=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a1;
|
||||
a5=arg[3]? arg[3][3] : 0;
|
||||
a1=(a1-a5);
|
||||
if (res[0]!=0) res[0][4]=a1;
|
||||
a1=arg[1]? arg[1][0] : 0;
|
||||
if (res[0]!=0) res[0][5]=a1;
|
||||
a1=(1./a3);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][0]=a1;
|
||||
a1=2.0000000000000001e-01;
|
||||
a2=(a2+a2);
|
||||
a1=(a1*a2);
|
||||
a1=(a1+a4);
|
||||
a1=(a1/a3);
|
||||
a0=(a0/a3);
|
||||
a1=(a1+a0);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][1]=a1;
|
||||
a1=1.;
|
||||
if (res[1]!=0) res[1][2]=a1;
|
||||
if (res[1]!=0) res[1][3]=a1;
|
||||
if (res[1]!=0) res[1][4]=a1;
|
||||
if (res[1]!=0) res[1][5]=a1;
|
||||
if (res[1]!=0) res[1][6]=a1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_out(void) { return 3;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
case 1: return "o1";
|
||||
case 2: return "o2";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
case 1: return casadi_s4;
|
||||
case 2: return casadi_s5;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 3;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 3*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+209
@@ -0,0 +1,209 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_0_hess_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2};
|
||||
|
||||
/* long_cost_y_0_hess:(i0[3],i1,i2[],i3[6],i4[6])->(o0[4x4,3nz]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9;
|
||||
a0=arg[3]? arg[3][0] : 0;
|
||||
a1=arg[0]? arg[0][1] : 0;
|
||||
a2=10.;
|
||||
a2=(a1+a2);
|
||||
a3=(1./a2);
|
||||
a3=(a3/a2);
|
||||
a3=(a0*a3);
|
||||
if (res[0]!=0) res[0][0]=a3;
|
||||
a3=(a0/a2);
|
||||
a4=(a3/a2);
|
||||
if (res[0]!=0) res[0][1]=a4;
|
||||
a5=2.0000000000000001e-01;
|
||||
a6=(a1+a1);
|
||||
a6=(a5*a6);
|
||||
a7=arg[4]? arg[4][4] : 0;
|
||||
a6=(a6+a7);
|
||||
a6=(a6/a2);
|
||||
a8=arg[4]? arg[4][2] : 0;
|
||||
a9=arg[0]? arg[0][0] : 0;
|
||||
a8=(a8-a9);
|
||||
a9=casadi_sq(a1);
|
||||
a10=5.;
|
||||
a9=(a9/a10);
|
||||
a10=(a7*a1);
|
||||
a9=(a9+a10);
|
||||
a10=6.;
|
||||
a9=(a9+a10);
|
||||
a8=(a8-a9);
|
||||
a8=(a8/a2);
|
||||
a9=(a8/a2);
|
||||
a6=(a6+a9);
|
||||
a6=(a6/a2);
|
||||
a8=(a8/a2);
|
||||
a8=(a8/a2);
|
||||
a6=(a6+a8);
|
||||
a0=(a0*a6);
|
||||
a7=(a7*a4);
|
||||
a0=(a0+a7);
|
||||
a7=2.;
|
||||
a3=(a5*a3);
|
||||
a7=(a7*a3);
|
||||
a1=(a1+a1);
|
||||
a5=(a5*a4);
|
||||
a1=(a1*a5);
|
||||
a7=(a7-a1);
|
||||
a0=(a0-a7);
|
||||
if (res[0]!=0) res[0][2]=a0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_in(void) { return 5;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_hess_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
case 4: return "i4";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
case 4: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s4;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+182
@@ -0,0 +1,182 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_e_fun_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4};
|
||||
|
||||
/* long_cost_y_e_fun:(i0[3],i1[],i2[],i3[6])->(o0[5]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4;
|
||||
a0=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a0=(a0-a1);
|
||||
a2=arg[0]? arg[0][1] : 0;
|
||||
a3=casadi_sq(a2);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a4=(a4*a2);
|
||||
a3=(a3+a4);
|
||||
a4=6.;
|
||||
a3=(a3+a4);
|
||||
a0=(a0-a3);
|
||||
a3=10.;
|
||||
a3=(a2+a3);
|
||||
a0=(a0/a3);
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
if (res[0]!=0) res[0][1]=a1;
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a2=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a2;
|
||||
a1=arg[3]? arg[3][3] : 0;
|
||||
a2=(a2-a1);
|
||||
if (res[0]!=0) res[0][4]=a2;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s1;
|
||||
case 3: return casadi_s2;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+207
@@ -0,0 +1,207 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_e_fun_jac_ut_xt_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_s5 CASADI_PREFIX(s5)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4};
|
||||
static const casadi_int casadi_s4[14] = {3, 5, 0, 2, 3, 4, 5, 6, 0, 1, 0, 1, 2, 2};
|
||||
static const casadi_int casadi_s5[3] = {5, 0, 0};
|
||||
|
||||
/* long_cost_y_e_fun_jac_ut_xt:(i0[3],i1[],i2[],i3[6])->(o0[5],o1[3x5,6nz],o2[5x0]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4, a5;
|
||||
a0=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a0=(a0-a1);
|
||||
a2=arg[0]? arg[0][1] : 0;
|
||||
a3=casadi_sq(a2);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a5=(a4*a2);
|
||||
a3=(a3+a5);
|
||||
a5=6.;
|
||||
a3=(a3+a5);
|
||||
a0=(a0-a3);
|
||||
a3=10.;
|
||||
a3=(a2+a3);
|
||||
a0=(a0/a3);
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
if (res[0]!=0) res[0][1]=a1;
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a1=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a1;
|
||||
a5=arg[3]? arg[3][3] : 0;
|
||||
a1=(a1-a5);
|
||||
if (res[0]!=0) res[0][4]=a1;
|
||||
a1=(1./a3);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][0]=a1;
|
||||
a1=2.0000000000000001e-01;
|
||||
a2=(a2+a2);
|
||||
a1=(a1*a2);
|
||||
a1=(a1+a4);
|
||||
a1=(a1/a3);
|
||||
a0=(a0/a3);
|
||||
a1=(a1+a0);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][1]=a1;
|
||||
a1=1.;
|
||||
if (res[1]!=0) res[1][2]=a1;
|
||||
if (res[1]!=0) res[1][3]=a1;
|
||||
if (res[1]!=0) res[1][4]=a1;
|
||||
if (res[1]!=0) res[1][5]=a1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_out(void) { return 3;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
case 1: return "o1";
|
||||
case 2: return "o2";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s1;
|
||||
case 3: return casadi_s2;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
case 1: return casadi_s4;
|
||||
case 2: return casadi_s5;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 3;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 3*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+209
@@ -0,0 +1,209 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_e_hess_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[9] = {3, 3, 0, 1, 3, 3, 1, 0, 1};
|
||||
|
||||
/* long_cost_y_e_hess:(i0[3],i1[],i2[],i3[5],i4[6])->(o0[3x3,3nz]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9;
|
||||
a0=arg[3]? arg[3][0] : 0;
|
||||
a1=arg[0]? arg[0][1] : 0;
|
||||
a2=10.;
|
||||
a2=(a1+a2);
|
||||
a3=(1./a2);
|
||||
a3=(a3/a2);
|
||||
a3=(a0*a3);
|
||||
if (res[0]!=0) res[0][0]=a3;
|
||||
a3=(a0/a2);
|
||||
a4=(a3/a2);
|
||||
if (res[0]!=0) res[0][1]=a4;
|
||||
a5=2.0000000000000001e-01;
|
||||
a6=(a1+a1);
|
||||
a6=(a5*a6);
|
||||
a7=arg[4]? arg[4][4] : 0;
|
||||
a6=(a6+a7);
|
||||
a6=(a6/a2);
|
||||
a8=arg[4]? arg[4][2] : 0;
|
||||
a9=arg[0]? arg[0][0] : 0;
|
||||
a8=(a8-a9);
|
||||
a9=casadi_sq(a1);
|
||||
a10=5.;
|
||||
a9=(a9/a10);
|
||||
a10=(a7*a1);
|
||||
a9=(a9+a10);
|
||||
a10=6.;
|
||||
a9=(a9+a10);
|
||||
a8=(a8-a9);
|
||||
a8=(a8/a2);
|
||||
a9=(a8/a2);
|
||||
a6=(a6+a9);
|
||||
a6=(a6/a2);
|
||||
a8=(a8/a2);
|
||||
a8=(a8/a2);
|
||||
a6=(a6+a8);
|
||||
a0=(a0*a6);
|
||||
a7=(a7*a4);
|
||||
a0=(a0+a7);
|
||||
a7=2.;
|
||||
a3=(a5*a3);
|
||||
a7=(a7*a3);
|
||||
a1=(a1+a1);
|
||||
a5=(a5*a4);
|
||||
a1=(a1*a5);
|
||||
a7=(a7-a1);
|
||||
a0=(a0-a7);
|
||||
if (res[0]!=0) res[0][2]=a0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_in(void) { return 5;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_hess_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
case 4: return "i4";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s1;
|
||||
case 3: return casadi_s2;
|
||||
case 4: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s4;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+184
@@ -0,0 +1,184 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_fun_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
|
||||
/* long_cost_y_fun:(i0[3],i1,i2[],i3[6])->(o0[6]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4;
|
||||
a0=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a0=(a0-a1);
|
||||
a2=arg[0]? arg[0][1] : 0;
|
||||
a3=casadi_sq(a2);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a4=(a4*a2);
|
||||
a3=(a3+a4);
|
||||
a4=6.;
|
||||
a3=(a3+a4);
|
||||
a0=(a0-a3);
|
||||
a3=10.;
|
||||
a3=(a2+a3);
|
||||
a0=(a0/a3);
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
if (res[0]!=0) res[0][1]=a1;
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a2=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a2;
|
||||
a1=arg[3]? arg[3][3] : 0;
|
||||
a2=(a2-a1);
|
||||
if (res[0]!=0) res[0][4]=a2;
|
||||
a2=arg[1]? arg[1][0] : 0;
|
||||
if (res[0]!=0) res[0][5]=a2;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+210
@@ -0,0 +1,210 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_fun_jac_ut_xt_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_s5 CASADI_PREFIX(s5)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0};
|
||||
static const casadi_int casadi_s5[3] = {6, 0, 0};
|
||||
|
||||
/* long_cost_y_fun_jac_ut_xt:(i0[3],i1,i2[],i3[6])->(o0[6],o1[4x6,7nz],o2[6x0]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a2, a3, a4, a5;
|
||||
a0=arg[3]? arg[3][2] : 0;
|
||||
a1=arg[0]? arg[0][0] : 0;
|
||||
a0=(a0-a1);
|
||||
a2=arg[0]? arg[0][1] : 0;
|
||||
a3=casadi_sq(a2);
|
||||
a4=5.;
|
||||
a3=(a3/a4);
|
||||
a4=arg[3]? arg[3][4] : 0;
|
||||
a5=(a4*a2);
|
||||
a3=(a3+a5);
|
||||
a5=6.;
|
||||
a3=(a3+a5);
|
||||
a0=(a0-a3);
|
||||
a3=10.;
|
||||
a3=(a2+a3);
|
||||
a0=(a0/a3);
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
if (res[0]!=0) res[0][1]=a1;
|
||||
if (res[0]!=0) res[0][2]=a2;
|
||||
a1=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a1;
|
||||
a5=arg[3]? arg[3][3] : 0;
|
||||
a1=(a1-a5);
|
||||
if (res[0]!=0) res[0][4]=a1;
|
||||
a1=arg[1]? arg[1][0] : 0;
|
||||
if (res[0]!=0) res[0][5]=a1;
|
||||
a1=(1./a3);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][0]=a1;
|
||||
a1=2.0000000000000001e-01;
|
||||
a2=(a2+a2);
|
||||
a1=(a1*a2);
|
||||
a1=(a1+a4);
|
||||
a1=(a1/a3);
|
||||
a0=(a0/a3);
|
||||
a1=(a1+a0);
|
||||
a1=(-a1);
|
||||
if (res[1]!=0) res[1][1]=a1;
|
||||
a1=1.;
|
||||
if (res[1]!=0) res[1][2]=a1;
|
||||
if (res[1]!=0) res[1][3]=a1;
|
||||
if (res[1]!=0) res[1][4]=a1;
|
||||
if (res[1]!=0) res[1][5]=a1;
|
||||
if (res[1]!=0) res[1][6]=a1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_out(void) { return 3;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_jac_ut_xt_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
case 1: return "o1";
|
||||
case 2: return "o2";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
case 1: return casadi_s4;
|
||||
case 2: return casadi_s5;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 3;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 3*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+209
@@ -0,0 +1,209 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_cost_y_hess_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
#define casadi_s4 CASADI_PREFIX(s4)
|
||||
#define casadi_sq CASADI_PREFIX(sq)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
casadi_real casadi_sq(casadi_real x) { return x*x;}
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[3] = {0, 0, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2};
|
||||
|
||||
/* long_cost_y_hess:(i0[3],i1,i2[],i3[6],i4[6])->(o0[4x4,3nz]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9;
|
||||
a0=arg[3]? arg[3][0] : 0;
|
||||
a1=arg[0]? arg[0][1] : 0;
|
||||
a2=10.;
|
||||
a2=(a1+a2);
|
||||
a3=(1./a2);
|
||||
a3=(a3/a2);
|
||||
a3=(a0*a3);
|
||||
if (res[0]!=0) res[0][0]=a3;
|
||||
a3=(a0/a2);
|
||||
a4=(a3/a2);
|
||||
if (res[0]!=0) res[0][1]=a4;
|
||||
a5=2.0000000000000001e-01;
|
||||
a6=(a1+a1);
|
||||
a6=(a5*a6);
|
||||
a7=arg[4]? arg[4][4] : 0;
|
||||
a6=(a6+a7);
|
||||
a6=(a6/a2);
|
||||
a8=arg[4]? arg[4][2] : 0;
|
||||
a9=arg[0]? arg[0][0] : 0;
|
||||
a8=(a8-a9);
|
||||
a9=casadi_sq(a1);
|
||||
a10=5.;
|
||||
a9=(a9/a10);
|
||||
a10=(a7*a1);
|
||||
a9=(a9+a10);
|
||||
a10=6.;
|
||||
a9=(a9+a10);
|
||||
a8=(a8-a9);
|
||||
a8=(a8/a2);
|
||||
a9=(a8/a2);
|
||||
a6=(a6+a9);
|
||||
a6=(a6/a2);
|
||||
a8=(a8/a2);
|
||||
a8=(a8/a2);
|
||||
a6=(a6+a8);
|
||||
a0=(a0*a6);
|
||||
a7=(a7*a4);
|
||||
a0=(a0+a7);
|
||||
a7=2.;
|
||||
a3=(a5*a3);
|
||||
a7=(a7*a3);
|
||||
a1=(a1+a1);
|
||||
a5=(a5*a4);
|
||||
a1=(a1*a5);
|
||||
a7=(a7-a1);
|
||||
a0=(a0-a7);
|
||||
if (res[0]!=0) res[0][2]=a0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_hess_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_hess_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_hess_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_hess_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_hess_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_hess_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_cost_y_hess_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_in(void) { return 5;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_cost_y_hess_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
case 4: return "i4";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
case 3: return casadi_s3;
|
||||
case 4: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s4;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_cost_y_hess_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+157
@@ -0,0 +1,157 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_expl_ode_fun_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
|
||||
/* long_expl_ode_fun:(i0[3],i1,i2[6])->(o0[3]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0;
|
||||
a0=arg[0]? arg[0][1] : 0;
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
a0=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][1]=a0;
|
||||
a0=arg[1]? arg[1][0] : 0;
|
||||
if (res[0]!=0) res[0][2]=a0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_ode_fun_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_ode_fun_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_ode_fun_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_ode_fun_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_ode_fun_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_ode_fun_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_ode_fun_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_in(void) { return 3;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_expl_ode_fun_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s2;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 3;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_ode_fun_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 3*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+163
@@ -0,0 +1,163 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_expl_vde_adj_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
static const casadi_int casadi_s3[8] = {4, 1, 0, 4, 0, 1, 2, 3};
|
||||
|
||||
/* long_expl_vde_adj:(i0[3],i1[3],i2,i3[6])->(o0[4]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0;
|
||||
a0=0.;
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
a0=arg[1]? arg[1][0] : 0;
|
||||
if (res[0]!=0) res[0][1]=a0;
|
||||
a0=arg[1]? arg[1][1] : 0;
|
||||
if (res[0]!=0) res[0][2]=a0;
|
||||
a0=arg[1]? arg[1][2] : 0;
|
||||
if (res[0]!=0) res[0][3]=a0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_adj_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_adj_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_adj_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_adj_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_adj_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_adj_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_adj_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_in(void) { return 4;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_out(void) { return 1;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_adj_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s0;
|
||||
case 2: return casadi_s1;
|
||||
case 3: return casadi_s2;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4;
|
||||
if (sz_res) *sz_res = 1;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_adj_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 4*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 1*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+189
@@ -0,0 +1,189 @@
|
||||
/* This file was automatically generated by CasADi 3.6.7.
|
||||
* It consists of:
|
||||
* 1) content generated by CasADi runtime: not copyrighted
|
||||
* 2) template code copied from CasADi source: permissively licensed (MIT-0)
|
||||
* 3) user code: owned by the user
|
||||
*
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* How to prefix internal symbols */
|
||||
#ifdef CASADI_CODEGEN_PREFIX
|
||||
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
|
||||
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID
|
||||
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
|
||||
#else
|
||||
#define CASADI_PREFIX(ID) long_expl_vde_forw_ ## ID
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifndef casadi_real
|
||||
#define casadi_real double
|
||||
#endif
|
||||
|
||||
#ifndef casadi_int
|
||||
#define casadi_int int
|
||||
#endif
|
||||
|
||||
/* Add prefix to internal symbols */
|
||||
#define casadi_f0 CASADI_PREFIX(f0)
|
||||
#define casadi_s0 CASADI_PREFIX(s0)
|
||||
#define casadi_s1 CASADI_PREFIX(s1)
|
||||
#define casadi_s2 CASADI_PREFIX(s2)
|
||||
#define casadi_s3 CASADI_PREFIX(s3)
|
||||
|
||||
/* Symbol visibility in DLLs */
|
||||
#ifndef CASADI_SYMBOL_EXPORT
|
||||
#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
|
||||
#if defined(STATIC_LINKED)
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT __declspec(dllexport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY)
|
||||
#define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
|
||||
#else
|
||||
#define CASADI_SYMBOL_EXPORT
|
||||
#endif
|
||||
#endif
|
||||
|
||||
static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2};
|
||||
static const casadi_int casadi_s1[15] = {3, 3, 0, 3, 6, 9, 0, 1, 2, 0, 1, 2, 0, 1, 2};
|
||||
static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0};
|
||||
static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5};
|
||||
|
||||
/* long_expl_vde_forw:(i0[3],i1[3x3],i2[3],i3,i4[6])->(o0[3],o1[3x3],o2[3]) */
|
||||
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) {
|
||||
casadi_real a0, a1;
|
||||
a0=arg[0]? arg[0][1] : 0;
|
||||
if (res[0]!=0) res[0][0]=a0;
|
||||
a0=arg[0]? arg[0][2] : 0;
|
||||
if (res[0]!=0) res[0][1]=a0;
|
||||
a0=arg[3]? arg[3][0] : 0;
|
||||
if (res[0]!=0) res[0][2]=a0;
|
||||
a0=arg[1]? arg[1][1] : 0;
|
||||
if (res[1]!=0) res[1][0]=a0;
|
||||
a0=arg[1]? arg[1][2] : 0;
|
||||
if (res[1]!=0) res[1][1]=a0;
|
||||
a0=0.;
|
||||
if (res[1]!=0) res[1][2]=a0;
|
||||
a1=arg[1]? arg[1][4] : 0;
|
||||
if (res[1]!=0) res[1][3]=a1;
|
||||
a1=arg[1]? arg[1][5] : 0;
|
||||
if (res[1]!=0) res[1][4]=a1;
|
||||
if (res[1]!=0) res[1][5]=a0;
|
||||
a1=arg[1]? arg[1][7] : 0;
|
||||
if (res[1]!=0) res[1][6]=a1;
|
||||
a1=arg[1]? arg[1][8] : 0;
|
||||
if (res[1]!=0) res[1][7]=a1;
|
||||
if (res[1]!=0) res[1][8]=a0;
|
||||
a0=arg[2]? arg[2][1] : 0;
|
||||
if (res[2]!=0) res[2][0]=a0;
|
||||
a0=arg[2]? arg[2][2] : 0;
|
||||
if (res[2]!=0) res[2][1]=a0;
|
||||
a0=1.;
|
||||
if (res[2]!=0) res[2][2]=a0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){
|
||||
return casadi_f0(arg, res, iw, w, mem);
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_forw_alloc_mem(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_forw_init_mem(int mem) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_forw_free_mem(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_forw_checkout(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_forw_release(int mem) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_forw_incref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT void long_expl_vde_forw_decref(void) {
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_in(void) { return 5;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_out(void) { return 3;}
|
||||
|
||||
CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_forw_default_in(casadi_int i) {
|
||||
switch (i) {
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "i0";
|
||||
case 1: return "i1";
|
||||
case 2: return "i2";
|
||||
case 3: return "i3";
|
||||
case 4: return "i4";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return "o0";
|
||||
case 1: return "o1";
|
||||
case 2: return "o2";
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_in(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s0;
|
||||
case 3: return casadi_s2;
|
||||
case 4: return casadi_s3;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_out(casadi_int i) {
|
||||
switch (i) {
|
||||
case 0: return casadi_s0;
|
||||
case 1: return casadi_s1;
|
||||
case 2: return casadi_s0;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5;
|
||||
if (sz_res) *sz_res = 3;
|
||||
if (sz_iw) *sz_iw = 0;
|
||||
if (sz_w) *sz_w = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
CASADI_SYMBOL_EXPORT int long_expl_vde_forw_work_bytes(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) {
|
||||
if (sz_arg) *sz_arg = 5*sizeof(const casadi_real*);
|
||||
if (sz_res) *sz_res = 3*sizeof(casadi_real*);
|
||||
if (sz_iw) *sz_iw = 0*sizeof(casadi_int);
|
||||
if (sz_w) *sz_w = 0*sizeof(casadi_real);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
+71
@@ -0,0 +1,71 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
#ifndef long_MODEL
|
||||
#define long_MODEL
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/* explicit ODE */
|
||||
|
||||
// explicit ODE
|
||||
int long_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_expl_ode_fun_work(int *, int *, int *, int *);
|
||||
const int *long_expl_ode_fun_sparsity_in(int);
|
||||
const int *long_expl_ode_fun_sparsity_out(int);
|
||||
int long_expl_ode_fun_n_in(void);
|
||||
int long_expl_ode_fun_n_out(void);
|
||||
|
||||
// explicit forward VDE
|
||||
int long_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_expl_vde_forw_work(int *, int *, int *, int *);
|
||||
const int *long_expl_vde_forw_sparsity_in(int);
|
||||
const int *long_expl_vde_forw_sparsity_out(int);
|
||||
int long_expl_vde_forw_n_in(void);
|
||||
int long_expl_vde_forw_n_out(void);
|
||||
|
||||
// explicit adjoint VDE
|
||||
int long_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
|
||||
int long_expl_vde_adj_work(int *, int *, int *, int *);
|
||||
const int *long_expl_vde_adj_sparsity_in(int);
|
||||
const int *long_expl_vde_adj_sparsity_out(int);
|
||||
int long_expl_vde_adj_n_in(void);
|
||||
int long_expl_vde_adj_n_out(void);
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
#endif
|
||||
|
||||
#endif // long_MODEL
|
||||
@@ -0,0 +1,216 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
|
||||
// standard
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
// acados
|
||||
#include "acados/utils/print.h"
|
||||
#include "acados/utils/math.h"
|
||||
#include "acados_c/ocp_nlp_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
#include "acados_solver_long.h"
|
||||
|
||||
// blasfeo
|
||||
#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
|
||||
|
||||
#define NX LONG_NX
|
||||
#define NZ LONG_NZ
|
||||
#define NU LONG_NU
|
||||
#define NP LONG_NP
|
||||
#define NBX LONG_NBX
|
||||
#define NBX0 LONG_NBX0
|
||||
#define NBU LONG_NBU
|
||||
#define NSBX LONG_NSBX
|
||||
#define NSBU LONG_NSBU
|
||||
#define NSH LONG_NSH
|
||||
#define NSG LONG_NSG
|
||||
#define NSPHI LONG_NSPHI
|
||||
#define NSHN LONG_NSHN
|
||||
#define NSGN LONG_NSGN
|
||||
#define NSPHIN LONG_NSPHIN
|
||||
#define NSBXN LONG_NSBXN
|
||||
#define NS LONG_NS
|
||||
#define NSN LONG_NSN
|
||||
#define NG LONG_NG
|
||||
#define NBXN LONG_NBXN
|
||||
#define NGN LONG_NGN
|
||||
#define NY0 LONG_NY0
|
||||
#define NY LONG_NY
|
||||
#define NYN LONG_NYN
|
||||
#define NH LONG_NH
|
||||
#define NPHI LONG_NPHI
|
||||
#define NHN LONG_NHN
|
||||
#define NPHIN LONG_NPHIN
|
||||
#define NR LONG_NR
|
||||
|
||||
|
||||
int main()
|
||||
{
|
||||
|
||||
long_solver_capsule *acados_ocp_capsule = long_acados_create_capsule();
|
||||
// there is an opportunity to change the number of shooting intervals in C without new code generation
|
||||
int N = LONG_N;
|
||||
// allocate the array and fill it accordingly
|
||||
double* new_time_steps = NULL;
|
||||
int status = long_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
|
||||
|
||||
if (status)
|
||||
{
|
||||
printf("long_acados_create() returned status %d. Exiting.\n", status);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
ocp_nlp_config *nlp_config = long_acados_get_nlp_config(acados_ocp_capsule);
|
||||
ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(acados_ocp_capsule);
|
||||
ocp_nlp_in *nlp_in = long_acados_get_nlp_in(acados_ocp_capsule);
|
||||
ocp_nlp_out *nlp_out = long_acados_get_nlp_out(acados_ocp_capsule);
|
||||
ocp_nlp_solver *nlp_solver = long_acados_get_nlp_solver(acados_ocp_capsule);
|
||||
void *nlp_opts = long_acados_get_nlp_opts(acados_ocp_capsule);
|
||||
|
||||
// initial condition
|
||||
int idxbx0[NBX0];
|
||||
idxbx0[0] = 0;
|
||||
idxbx0[1] = 1;
|
||||
idxbx0[2] = 2;
|
||||
|
||||
double lbx0[NBX0];
|
||||
double ubx0[NBX0];
|
||||
lbx0[0] = 0.0;
|
||||
ubx0[0] = 0.0;
|
||||
lbx0[1] = 0.0;
|
||||
ubx0[1] = 0.0;
|
||||
lbx0[2] = 0.0;
|
||||
ubx0[2] = 0.0;
|
||||
|
||||
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
|
||||
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
|
||||
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
|
||||
|
||||
// initialization for state values
|
||||
double x_init[NX];
|
||||
x_init[0] = 0.0;
|
||||
x_init[1] = 0.0;
|
||||
x_init[2] = 0.0;
|
||||
|
||||
// initial value for control input
|
||||
double u0[NU];
|
||||
u0[0] = 0.0;
|
||||
// set parameters
|
||||
double p[NP];
|
||||
p[0] = -1.2;
|
||||
p[1] = 1.2;
|
||||
p[2] = 0.0;
|
||||
p[3] = 0.0;
|
||||
p[4] = 1.45;
|
||||
p[5] = 0.75;
|
||||
|
||||
for (int ii = 0; ii <= N; ii++)
|
||||
{
|
||||
long_acados_update_params(acados_ocp_capsule, ii, p, NP);
|
||||
}
|
||||
|
||||
|
||||
// prepare evaluation
|
||||
int NTIMINGS = 1;
|
||||
double min_time = 1e12;
|
||||
double kkt_norm_inf;
|
||||
double elapsed_time;
|
||||
int sqp_iter;
|
||||
|
||||
double xtraj[NX * (N+1)];
|
||||
double utraj[NU * N];
|
||||
|
||||
|
||||
// solve ocp in loop
|
||||
int rti_phase = 0;
|
||||
|
||||
for (int ii = 0; ii < NTIMINGS; ii++)
|
||||
{
|
||||
// initialize solution
|
||||
for (int i = 0; i < N; i++)
|
||||
{
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
|
||||
}
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
|
||||
ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
|
||||
status = long_acados_solve(acados_ocp_capsule);
|
||||
ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
|
||||
min_time = MIN(elapsed_time, min_time);
|
||||
}
|
||||
|
||||
/* print solution and statistics */
|
||||
for (int ii = 0; ii <= nlp_dims->N; ii++)
|
||||
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
|
||||
for (int ii = 0; ii < nlp_dims->N; ii++)
|
||||
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
|
||||
|
||||
printf("\n--- xtraj ---\n");
|
||||
d_print_exp_tran_mat( NX, N+1, xtraj, NX);
|
||||
printf("\n--- utraj ---\n");
|
||||
d_print_exp_tran_mat( NU, N, utraj, NU );
|
||||
// ocp_nlp_out_print(nlp_solver->dims, nlp_out);
|
||||
|
||||
printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
|
||||
|
||||
if (status == ACADOS_SUCCESS)
|
||||
{
|
||||
printf("long_acados_solve(): SUCCESS!\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("long_acados_solve() failed with status %d.\n", status);
|
||||
}
|
||||
|
||||
// get solution
|
||||
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
|
||||
ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
|
||||
|
||||
long_acados_print_stats(acados_ocp_capsule);
|
||||
|
||||
printf("\nSolver info:\n");
|
||||
printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
|
||||
sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
|
||||
|
||||
// free solver
|
||||
status = long_acados_free(acados_ocp_capsule);
|
||||
if (status) {
|
||||
printf("long_acados_free() returned status %d. \n", status);
|
||||
}
|
||||
// free solver capsule
|
||||
status = long_acados_free_capsule(acados_ocp_capsule);
|
||||
if (status) {
|
||||
printf("long_acados_free_capsule() returned status %d. \n", status);
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
+127
@@ -0,0 +1,127 @@
|
||||
/*
|
||||
* Copyright (c) The acados authors.
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
|
||||
// standard
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
// acados
|
||||
#include "acados/utils/print.h"
|
||||
#include "acados/utils/math.h"
|
||||
#include "acados_c/sim_interface.h"
|
||||
#include "acados_sim_solver_long.h"
|
||||
|
||||
#define NX LONG_NX
|
||||
#define NZ LONG_NZ
|
||||
#define NU LONG_NU
|
||||
#define NP LONG_NP
|
||||
|
||||
|
||||
int main()
|
||||
{
|
||||
int status = 0;
|
||||
sim_solver_capsule *capsule = long_acados_sim_solver_create_capsule();
|
||||
status = long_acados_sim_create(capsule);
|
||||
|
||||
if (status)
|
||||
{
|
||||
printf("acados_create() returned status %d. Exiting.\n", status);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
sim_config *acados_sim_config = long_acados_get_sim_config(capsule);
|
||||
sim_in *acados_sim_in = long_acados_get_sim_in(capsule);
|
||||
sim_out *acados_sim_out = long_acados_get_sim_out(capsule);
|
||||
void *acados_sim_dims = long_acados_get_sim_dims(capsule);
|
||||
|
||||
// initial condition
|
||||
double x_current[NX];
|
||||
x_current[0] = 0.0;
|
||||
x_current[1] = 0.0;
|
||||
x_current[2] = 0.0;
|
||||
|
||||
|
||||
x_current[0] = 0.0;
|
||||
x_current[1] = 0.0;
|
||||
x_current[2] = 0.0;
|
||||
|
||||
|
||||
|
||||
|
||||
// initial value for control input
|
||||
double u0[NU];
|
||||
u0[0] = 0.0;
|
||||
// set parameters
|
||||
double p[NP];
|
||||
p[0] = -1.2;
|
||||
p[1] = 1.2;
|
||||
p[2] = 0.0;
|
||||
p[3] = 0.0;
|
||||
p[4] = 1.45;
|
||||
p[5] = 0.75;
|
||||
|
||||
long_acados_sim_update_params(capsule, p, NP);
|
||||
|
||||
|
||||
int n_sim_steps = 3;
|
||||
// solve ocp in loop
|
||||
for (int ii = 0; ii < n_sim_steps; ii++)
|
||||
{
|
||||
sim_in_set(acados_sim_config, acados_sim_dims,
|
||||
acados_sim_in, "x", x_current);
|
||||
status = long_acados_sim_solve(capsule);
|
||||
|
||||
if (status != ACADOS_SUCCESS)
|
||||
{
|
||||
printf("acados_solve() failed with status %d.\n", status);
|
||||
}
|
||||
|
||||
sim_out_get(acados_sim_config, acados_sim_dims,
|
||||
acados_sim_out, "x", x_current);
|
||||
|
||||
printf("\nx_current, %d\n", ii);
|
||||
for (int jj = 0; jj < NX; jj++)
|
||||
{
|
||||
printf("%e\n", x_current[jj]);
|
||||
}
|
||||
}
|
||||
|
||||
printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
|
||||
|
||||
// free solver
|
||||
status = long_acados_sim_free(capsule);
|
||||
if (status) {
|
||||
printf("long_acados_sim_free() returned status %d. \n", status);
|
||||
}
|
||||
|
||||
long_acados_sim_solver_free_capsule(capsule);
|
||||
|
||||
return status;
|
||||
}
|
||||
@@ -0,0 +1,385 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import numpy as np
|
||||
from openpilot.cereal import log
|
||||
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
# WARNING: imports outside of constants will not trigger a rebuild
|
||||
from openpilot.selfdrive.modeld.constants import index_function
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
|
||||
if __name__ == '__main__': # generating code
|
||||
from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
|
||||
else:
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
|
||||
|
||||
from casadi import SX, vertcat
|
||||
|
||||
MODEL_NAME = 'long'
|
||||
LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
|
||||
EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
|
||||
JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
|
||||
|
||||
LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
|
||||
MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
|
||||
|
||||
X_DIM = 3
|
||||
U_DIM = 1
|
||||
PARAM_DIM = 6
|
||||
COST_E_DIM = 5
|
||||
COST_DIM = COST_E_DIM + 1
|
||||
CONSTR_DIM = 4
|
||||
|
||||
X_EGO_OBSTACLE_COST = 3.
|
||||
X_EGO_COST = 0.
|
||||
V_EGO_COST = 0.
|
||||
A_EGO_COST = 0.
|
||||
J_EGO_COST = 5.
|
||||
A_CHANGE_COST = 200.
|
||||
DANGER_ZONE_COST = 100.
|
||||
CRASH_DISTANCE = .25
|
||||
LEAD_DANGER_FACTOR = 0.75
|
||||
LIMIT_COST = 1e6
|
||||
ACADOS_SOLVER_TYPE = 'SQP_RTI'
|
||||
|
||||
# Fewer timestamps don't hurt performance and lead to
|
||||
# much better convergence of the MPC with low iterations
|
||||
N = 12
|
||||
MAX_T = 10.0
|
||||
T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)]
|
||||
|
||||
T_IDXS = np.array(T_IDXS_LST)
|
||||
FCW_IDXS = T_IDXS < 5.0
|
||||
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
|
||||
COMFORT_BRAKE = 2.5
|
||||
STOP_DISTANCE = 6.0
|
||||
CRUISE_MIN_ACCEL = -1.2
|
||||
CRUISE_MAX_ACCEL = 1.6
|
||||
MIN_X_LEAD_FACTOR = 0.5
|
||||
|
||||
def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
|
||||
if personality==log.LongitudinalPersonality.relaxed:
|
||||
return 1.0
|
||||
elif personality==log.LongitudinalPersonality.standard:
|
||||
return 1.0
|
||||
elif personality==log.LongitudinalPersonality.aggressive:
|
||||
return 0.5
|
||||
else:
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
|
||||
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
|
||||
if personality==log.LongitudinalPersonality.relaxed:
|
||||
return 1.75
|
||||
elif personality==log.LongitudinalPersonality.standard:
|
||||
return 1.45
|
||||
elif personality==log.LongitudinalPersonality.aggressive:
|
||||
return 1.25
|
||||
else:
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
def get_stopped_equivalence_factor(v_lead):
|
||||
return (v_lead**2) / (2 * COMFORT_BRAKE)
|
||||
|
||||
def get_safe_obstacle_distance(v_ego, t_follow):
|
||||
return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
|
||||
|
||||
def gen_long_model():
|
||||
model = AcadosModel()
|
||||
model.name = MODEL_NAME
|
||||
|
||||
# states
|
||||
x_ego, v_ego, a_ego = SX.sym('x_ego'), SX.sym('v_ego'), SX.sym('a_ego')
|
||||
model.x = vertcat(x_ego, v_ego, a_ego)
|
||||
|
||||
# controls
|
||||
j_ego = SX.sym('j_ego')
|
||||
model.u = vertcat(j_ego)
|
||||
|
||||
# xdot
|
||||
x_ego_dot = SX.sym('x_ego_dot')
|
||||
v_ego_dot = SX.sym('v_ego_dot')
|
||||
a_ego_dot = SX.sym('a_ego_dot')
|
||||
model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot)
|
||||
|
||||
# live parameters
|
||||
a_min = SX.sym('a_min')
|
||||
a_max = SX.sym('a_max')
|
||||
x_obstacle = SX.sym('x_obstacle')
|
||||
a_prev = SX.sym('a_prev')
|
||||
lead_t_follow = SX.sym('lead_t_follow')
|
||||
lead_danger_factor = SX.sym('lead_danger_factor')
|
||||
model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor)
|
||||
|
||||
# dynamics model
|
||||
f_expl = vertcat(v_ego, a_ego, j_ego)
|
||||
model.f_impl_expr = model.xdot - f_expl
|
||||
model.f_expl_expr = f_expl
|
||||
return model
|
||||
|
||||
def gen_long_ocp():
|
||||
ocp = AcadosOcp()
|
||||
ocp.model = gen_long_model()
|
||||
|
||||
Tf = T_IDXS[-1]
|
||||
|
||||
# set dimensions
|
||||
ocp.dims.N = N
|
||||
|
||||
# set cost module
|
||||
ocp.cost.cost_type = 'NONLINEAR_LS'
|
||||
ocp.cost.cost_type_e = 'NONLINEAR_LS'
|
||||
|
||||
QR = np.zeros((COST_DIM, COST_DIM))
|
||||
Q = np.zeros((COST_E_DIM, COST_E_DIM))
|
||||
|
||||
ocp.cost.W = QR
|
||||
ocp.cost.W_e = Q
|
||||
|
||||
x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2]
|
||||
j_ego = ocp.model.u[0]
|
||||
|
||||
a_min, a_max = ocp.model.p[0], ocp.model.p[1]
|
||||
x_obstacle = ocp.model.p[2]
|
||||
a_prev = ocp.model.p[3]
|
||||
lead_t_follow = ocp.model.p[4]
|
||||
lead_danger_factor = ocp.model.p[5]
|
||||
|
||||
ocp.cost.yref = np.zeros((COST_DIM, ))
|
||||
ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
|
||||
|
||||
desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow)
|
||||
|
||||
# The main cost in normal operation is how close you are to the "desired" distance
|
||||
# from an obstacle at every timestep. This obstacle can be a lead car
|
||||
# or other object. In e2e mode we can use x_position targets as a cost
|
||||
# instead.
|
||||
costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.),
|
||||
x_ego,
|
||||
v_ego,
|
||||
a_ego,
|
||||
a_ego - a_prev,
|
||||
j_ego]
|
||||
ocp.model.cost_y_expr = vertcat(*costs)
|
||||
ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
|
||||
|
||||
# Constraints on speed, acceleration and desired distance to
|
||||
# the obstacle, which is treated as a slack constraint so it
|
||||
# behaves like an asymmetrical cost.
|
||||
constraints = vertcat(v_ego,
|
||||
(a_ego - a_min),
|
||||
(a_max - a_ego),
|
||||
((x_obstacle - x_ego) - lead_danger_factor * (desired_dist_comfort)) / (v_ego + 10.))
|
||||
ocp.model.con_h_expr = constraints
|
||||
|
||||
x0 = np.zeros(X_DIM)
|
||||
ocp.constraints.x0 = x0
|
||||
ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
|
||||
|
||||
|
||||
# We put all constraint cost weights to 0 and only set them at runtime
|
||||
cost_weights = np.zeros(CONSTR_DIM)
|
||||
ocp.cost.zl = cost_weights
|
||||
ocp.cost.Zl = cost_weights
|
||||
ocp.cost.Zu = cost_weights
|
||||
ocp.cost.zu = cost_weights
|
||||
|
||||
ocp.constraints.lh = np.zeros(CONSTR_DIM)
|
||||
ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM)
|
||||
ocp.constraints.idxsh = np.arange(CONSTR_DIM)
|
||||
|
||||
# The HPIPM solver can give decent solutions even when it is stopped early
|
||||
# Which is critical for our purpose where compute time is strictly bounded
|
||||
# We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This
|
||||
# does not cause issues since the problem is well bounded.
|
||||
ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
|
||||
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
|
||||
ocp.solver_options.integrator_type = 'ERK'
|
||||
ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
|
||||
ocp.solver_options.qp_solver_cond_N = 1
|
||||
|
||||
# More iterations take too much time and less lead to inaccurate convergence in
|
||||
# some situations. Ideally we would run just 1 iteration to ensure fixed runtime.
|
||||
ocp.solver_options.qp_solver_iter_max = 10
|
||||
ocp.solver_options.qp_tol = 1e-3
|
||||
|
||||
# set prediction horizon
|
||||
ocp.solver_options.tf = Tf
|
||||
ocp.solver_options.shooting_nodes = T_IDXS
|
||||
|
||||
ocp.code_export_directory = EXPORT_DIR
|
||||
return ocp
|
||||
|
||||
|
||||
class LongitudinalMpc:
|
||||
def __init__(self, dt=DT_MDL):
|
||||
self.dt = dt
|
||||
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.reset()
|
||||
self.source = LongitudinalPlanSource.cruise
|
||||
|
||||
def reset(self):
|
||||
self.solver.reset()
|
||||
|
||||
self.x_sol = np.zeros((N+1, X_DIM))
|
||||
self.u_sol = np.zeros((N, 1))
|
||||
self.v_solution = np.zeros(N+1)
|
||||
self.a_solution = np.zeros(N+1)
|
||||
self.j_solution = np.zeros(N)
|
||||
self.a_prev = np.array(self.a_solution)
|
||||
self.yref = np.zeros((N+1, COST_DIM))
|
||||
|
||||
for i in range(N):
|
||||
self.solver.cost_set(i, "yref", self.yref[i])
|
||||
self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
|
||||
|
||||
self.params = np.zeros((N+1, PARAM_DIM))
|
||||
for i in range(N+1):
|
||||
self.solver.set(i, 'x', np.zeros(X_DIM))
|
||||
|
||||
self.last_cloudlog_t = 0
|
||||
self.crash_cnt = 0.0
|
||||
self.solution_status = 0
|
||||
# timers
|
||||
self.solve_time = 0.0
|
||||
self.x0 = np.zeros(X_DIM)
|
||||
self.set_weights()
|
||||
|
||||
def set_cost_weights(self, cost_weights, constraint_cost_weights):
|
||||
W = np.asfortranarray(np.diag(cost_weights))
|
||||
for i in range(N):
|
||||
# TODO don't hardcode A_CHANGE_COST idx
|
||||
# reduce the cost on (a-a_prev) later in the horizon.
|
||||
W[4,4] = cost_weights[4] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0])
|
||||
self.solver.cost_set(i, 'W', W)
|
||||
# Setting the slice without the copy make the array not contiguous,
|
||||
# causing issues with the C interface.
|
||||
self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
|
||||
|
||||
# Set L2 slack cost on lower bound constraints
|
||||
Zl = np.array(constraint_cost_weights)
|
||||
for i in range(N):
|
||||
self.solver.cost_set(i, 'Zl', Zl)
|
||||
|
||||
def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
|
||||
jerk_factor = get_jerk_factor(personality)
|
||||
a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
|
||||
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
|
||||
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
|
||||
self.set_cost_weights(cost_weights, constraint_cost_weights)
|
||||
|
||||
def set_cur_state(self, v, a):
|
||||
v_prev = self.x0[1]
|
||||
self.x0[1] = v
|
||||
self.x0[2] = a
|
||||
if abs(v_prev - v) > 2.: # probably only helps if v < v_prev
|
||||
for i in range(N+1):
|
||||
self.solver.set(i, 'x', self.x0)
|
||||
|
||||
@staticmethod
|
||||
def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau):
|
||||
a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.)
|
||||
v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8)
|
||||
x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj)
|
||||
lead_xv = np.column_stack((x_lead_traj, v_lead_traj))
|
||||
return lead_xv
|
||||
|
||||
def process_lead(self, lead):
|
||||
v_ego = self.x0[1]
|
||||
if lead is not None and lead.present:
|
||||
x_lead = lead.dRel
|
||||
v_lead = lead.vLead
|
||||
a_lead = lead.aLeadK
|
||||
a_lead_tau = lead.aLeadTau
|
||||
else:
|
||||
# Fake a fast lead car, so mpc can keep running in the same mode
|
||||
x_lead = 50.0
|
||||
v_lead = v_ego + 10.0
|
||||
a_lead = 0.0
|
||||
a_lead_tau = _LEAD_ACCEL_TAU
|
||||
|
||||
# MPC will not converge if immediate crash is expected
|
||||
# Clip lead distance to what is still possible to brake for
|
||||
min_x_lead = MIN_X_LEAD_FACTOR * (v_ego + v_lead) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
|
||||
x_lead = np.clip(x_lead, min_x_lead, 1e8)
|
||||
v_lead = np.clip(v_lead, 0.0, 1e8)
|
||||
a_lead = np.clip(a_lead, -10., 5.)
|
||||
lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
|
||||
return lead_xv
|
||||
|
||||
def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
|
||||
t_follow = get_T_FOLLOW(personality)
|
||||
v_ego = self.x0[1]
|
||||
|
||||
lead_xv_0 = self.process_lead(radarstate.leadOne)
|
||||
lead_xv_1 = self.process_lead(radarstate.leadTwo)
|
||||
|
||||
# To estimate a safe distance from a moving lead, we calculate how much stopping
|
||||
# distance that lead needs as a minimum. We can add that to the current distance
|
||||
# and then treat that as a stopped car/obstacle at this new distance.
|
||||
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
|
||||
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
|
||||
|
||||
# Fake an obstacle for cruise, this ensures smooth acceleration to set speed
|
||||
# when the leads are no factor.
|
||||
v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
|
||||
# TODO does this make sense when max_a is negative?
|
||||
v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
|
||||
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
|
||||
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
|
||||
|
||||
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
|
||||
self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
|
||||
|
||||
self.yref[:,:] = 0.0
|
||||
for i in range(N):
|
||||
self.solver.set(i, "yref", self.yref[i])
|
||||
self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
|
||||
|
||||
self.params[:,0] = ACCEL_MIN
|
||||
self.params[:,1] = ACCEL_MAX
|
||||
self.params[:,2] = np.min(x_obstacles, axis=1)
|
||||
self.params[:,3] = np.copy(self.a_prev)
|
||||
self.params[:,4] = t_follow
|
||||
self.params[:,5] = LEAD_DANGER_FACTOR
|
||||
|
||||
self.run()
|
||||
if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
|
||||
radarstate.leadOne.modelProb > 0.9):
|
||||
self.crash_cnt += 1
|
||||
else:
|
||||
self.crash_cnt = 0
|
||||
|
||||
def run(self):
|
||||
for i in range(N+1):
|
||||
self.solver.set(i, 'p', self.params[i])
|
||||
self.solver.constraints_set(0, "lbx", self.x0)
|
||||
self.solver.constraints_set(0, "ubx", self.x0)
|
||||
|
||||
self.solution_status = self.solver.solve()
|
||||
self.solve_time = float(self.solver.get_stats('time_tot')[0])
|
||||
|
||||
for i in range(N+1):
|
||||
self.x_sol[i] = self.solver.get(i, 'x')
|
||||
for i in range(N):
|
||||
self.u_sol[i] = self.solver.get(i, 'u')
|
||||
|
||||
self.v_solution = self.x_sol[:,1]
|
||||
self.a_solution = self.x_sol[:,2]
|
||||
self.j_solution = self.u_sol[:,0]
|
||||
|
||||
self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
|
||||
|
||||
t = time.monotonic()
|
||||
if self.solution_status != 0:
|
||||
if t > self.last_cloudlog_t + 5.0:
|
||||
self.last_cloudlog_t = t
|
||||
cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
|
||||
self.reset()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
ocp = gen_long_ocp()
|
||||
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
|
||||
Reference in new issue
Block a user