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| #ifndef AUXIL_H | ||
| #define AUXIL_H | ||
| # define AUXIL_H | ||
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| #ifdef __cplusplus | ||
| # ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| #include "types.h" | ||
| # endif // ifdef __cplusplus | ||
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| # include "types.h" | ||
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| /*********************************************************** | ||
| * Auxiliary functions needed to compute ADMM iterations * * | ||
| ***********************************************************/ | ||
| #if EMBEDDED != 1 | ||
| * Auxiliary functions needed to compute ADMM iterations * * | ||
| ***********************************************************/ | ||
| # if EMBEDDED != 1 | ||
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| /** | ||
| * Compute rho estimate from residuals | ||
| * @param work Workspace | ||
| * @return rho estimate | ||
| */ | ||
| c_float compute_rho_estimate(OSQPWorkspace * work); | ||
| c_float compute_rho_estimate(OSQPWorkspace *work); | ||
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| /** | ||
| * Adapt rho value based on current unscaled primal/dual residuals | ||
| * @param work Workspace | ||
| * @return Exitflag | ||
| */ | ||
| c_int adapt_rho(OSQPWorkspace * work); | ||
| c_int adapt_rho(OSQPWorkspace *work); | ||
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| /** | ||
| * Set values of rho vector based on constraint types | ||
| * @param work Workspace | ||
| */ | ||
| void set_rho_vec(OSQPWorkspace * work); | ||
| void set_rho_vec(OSQPWorkspace *work); | ||
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| /** | ||
| * Update values of rho vector based on updated constraints. | ||
| * If the constraints change, update the linear systems solver. | ||
| * | ||
| * | ||
| * @param work Workspace | ||
| * @return Exitflag | ||
| */ | ||
| c_int update_rho_vec(OSQPWorkspace * work); | ||
| c_int update_rho_vec(OSQPWorkspace *work); | ||
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| #endif // EMBEDDED | ||
| # endif // EMBEDDED | ||
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| /** | ||
| * Swap c_float vector pointers | ||
| * @param a first vector | ||
| * @param b second vector | ||
| */ | ||
| void swap_vectors(c_float ** a, c_float ** b); | ||
| void swap_vectors(c_float **a, | ||
| c_float **b); | ||
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| /** | ||
| * Cold start workspace variables xz and y | ||
| * @param work Workspace | ||
| */ | ||
| * Cold start workspace variables xz and y | ||
| * @param work Workspace | ||
| */ | ||
| void cold_start(OSQPWorkspace *work); | ||
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| /** | ||
| * Update x_tilde and z_tilde variable (first ADMM step) | ||
| * @param work [description] | ||
| */ | ||
| void update_xz_tilde(OSQPWorkspace * work); | ||
| void update_xz_tilde(OSQPWorkspace *work); | ||
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| /** | ||
| * Update x (second ADMM step) | ||
| * Update also delta_x (For for dual infeasibility) | ||
| * @param work Workspace | ||
| */ | ||
| * Update x (second ADMM step) | ||
| * Update also delta_x (For for dual infeasibility) | ||
| * @param work Workspace | ||
| */ | ||
| void update_x(OSQPWorkspace *work); | ||
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| /** | ||
| * Update z (third ADMM step) | ||
| * @param work Workspace | ||
| */ | ||
| * Update z (third ADMM step) | ||
| * @param work Workspace | ||
| */ | ||
| void update_z(OSQPWorkspace *work); | ||
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| /** | ||
| * Update y variable (fourth ADMM step) | ||
| * Update also delta_y to check for primal infeasibility | ||
| * @param work Workspace | ||
| */ | ||
| * Update y variable (fourth ADMM step) | ||
| * Update also delta_y to check for primal infeasibility | ||
| * @param work Workspace | ||
| */ | ||
| void update_y(OSQPWorkspace *work); | ||
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| /** | ||
| * Compute objective function from data at value x | ||
| * @param work OSQPWorkspace structure | ||
| * @param x Value x | ||
| * @return Objective function value | ||
| */ | ||
| c_float compute_obj_val(OSQPWorkspace *work, c_float * x); | ||
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| * Compute objective function from data at value x | ||
| * @param work OSQPWorkspace structure | ||
| * @param x Value x | ||
| * @return Objective function value | ||
| */ | ||
| c_float compute_obj_val(OSQPWorkspace *work, | ||
| c_float *x); | ||
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| /** | ||
| * Store the QP solution | ||
| * @param work Workspace | ||
| */ | ||
| * Store the QP solution | ||
| * @param work Workspace | ||
| */ | ||
| void store_solution(OSQPWorkspace *work); | ||
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| /** | ||
| * Update solver information | ||
| * @param work Workspace | ||
| * @param iter Iteration number | ||
| * @param compute_objective Boolean (if compute the objective or not) | ||
| * @param polish Boolean (if called from polish) | ||
| */ | ||
| void update_info(OSQPWorkspace *work, c_int iter, c_int compute_objective, c_int polish); | ||
| * Update solver information | ||
| * @param work Workspace | ||
| * @param iter Iteration number | ||
| * @param compute_objective Boolean (if compute the objective or not) | ||
| * @param polish Boolean (if called from polish) | ||
| */ | ||
| void update_info(OSQPWorkspace *work, | ||
| c_int iter, | ||
| c_int compute_objective, | ||
| c_int polish); | ||
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| /** | ||
| * Reset solver information (after problem updates) | ||
| * @param info Information structure | ||
| */ | ||
| * Reset solver information (after problem updates) | ||
| * @param info Information structure | ||
| */ | ||
| void reset_info(OSQPInfo *info); | ||
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| /** | ||
| * Update solver status (value and string) | ||
| * @param info OSQPInfo | ||
| * @param status_val new status value | ||
| */ | ||
| void update_status(OSQPInfo *info, c_int status_val); | ||
| * Update solver status (value and string) | ||
| * @param info OSQPInfo | ||
| * @param status_val new status value | ||
| */ | ||
| void update_status(OSQPInfo *info, | ||
| c_int status_val); | ||
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| /** | ||
| * Check if termination conditions are satisfied | ||
| * If the boolean flag is ON, it checks for approximate conditions (10 x larger | ||
| * tolerances than the ones set) | ||
| * | ||
| * @param work Workspace | ||
| * @param approximate Boolean | ||
| * @return Redisuals check | ||
| */ | ||
| c_int check_termination(OSQPWorkspace *work, c_int approximate); | ||
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| * Check if termination conditions are satisfied | ||
| * If the boolean flag is ON, it checks for approximate conditions (10 x larger | ||
| * tolerances than the ones set) | ||
| * | ||
| * @param work Workspace | ||
| * @param approximate Boolean | ||
| * @return Redisuals check | ||
| */ | ||
| c_int check_termination(OSQPWorkspace *work, | ||
| c_int approximate); | ||
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| #ifndef EMBEDDED | ||
| # ifndef EMBEDDED | ||
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| /** | ||
| * Validate problem data | ||
| * @param data OSQPData to be validated | ||
| * @return Exitflag to check | ||
| */ | ||
| c_int validate_data(const OSQPData * data); | ||
| * Validate problem data | ||
| * @param data OSQPData to be validated | ||
| * @return Exitflag to check | ||
| */ | ||
| c_int validate_data(const OSQPData *data); | ||
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| /** | ||
| * Validate problem settings | ||
| * @param settings OSQPSettings to be validated | ||
| * @return Exitflag to check | ||
| */ | ||
| c_int validate_settings(const OSQPSettings * settings); | ||
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| #endif // #ifndef EMBEDDED | ||
| * Validate problem settings | ||
| * @param settings OSQPSettings to be validated | ||
| * @return Exitflag to check | ||
| */ | ||
| c_int validate_settings(const OSQPSettings *settings); | ||
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| # endif // #ifndef EMBEDDED | ||
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| #ifdef __cplusplus | ||
| # ifdef __cplusplus | ||
| } | ||
| #endif | ||
| # endif // ifdef __cplusplus | ||
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| #endif | ||
| #endif // ifndef AUXIL_H |
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