ccopt_interface.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
 *                            KU Leuven. All rights reserved.
 *    Copyright (C) 2011-2014 Greg Horn
 *
 *    CasADi is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    CasADi is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with CasADi; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */
 
 
#ifndef CASADI_CCOPT_INTERFACE_HPP
#define CASADI_CCOPT_INTERFACE_HPP
 
//#include <casadi/interfaces/ccopt/casadi_nlpsol_ccopt_export.h>
#include <iostream>
#include "casadi/core/nlpsol_impl.hpp"
#include "casadi/core/timing.hpp"
#include <libMad.h>
 
namespace casadi {
  #include "ccopt_runtime.hpp"
}
 
#define  __attribute__((visibility("default")))
namespace casadi {
 
struct  MadmpecMemory : public NlpsolMemory {
  // Problem data structure
  casadi_ccopt_data<double> d;
};
 
class  MadmpecInterface : public Nlpsol {
 public:
  Sparsity jacg_sp_;
  Sparsity hesslag_sp_;
 
  explicit MadmpecInterface(const std::string& name, const Function& nlp);
  ~MadmpecInterface() override;
 
  // Get name of the plugin
  const char* plugin_name() const override { return "ccopt";}
 
  // Get name of the class
  std::string class_name() const override { return "MadmpecInterface";}
 
  static Nlpsol* creator(const std::string& name, const Function& nlp) {
    return new MadmpecInterface(name, nlp);
  }
 
 
  static const Options options_;
  const Options& get_options() const override { return options_;}
 
  // Initialize the solver
  void init(const Dict& opts) override;
 
  void* alloc_mem() const override { return new MadmpecMemory();}
 
  int init_mem(void* mem) const override;
 
  void free_mem(void *mem) const override;
 
  Dict get_stats(void* mem) const override;
 
  void set_work(void* mem, const double**& arg, double**& res,
                        casadi_int*& iw, double*& w) const override;
 
  // Solve the NLP
  int solve(void* mem) const override;
 
  bool exact_hessian_;
 
  Dict opts_;
  Dict mpcc_opts_;
 
  std::vector<libmad_int> ind_cc1_;
  std::vector<libmad_int> ind_cc2_;
  std::vector<libmad_int> cctypes_;
 
  static const std::string meta_doc;
 
  // Options
 
  ConvexifyData convexify_data_;
 
  bool convexify_;
 
  void set_ccopt_prob();
  void set_ccopt_prob(CodeGenerator& g) const;
 
  void codegen_options(CodeGenerator& g, const Dict& dict,
                       const std::string& field) const;
 
  void codegen_body(CodeGenerator& g) const override;
 
  void codegen_declarations(CodeGenerator& g) const override;
 
  void codegen_init_mem(CodeGenerator& g) const override;
 
  void codegen_free_mem(CodeGenerator& g) const override;
 
  std::string codegen_mem_type() const override { return "struct casadi_ccopt_data"; }
 
  bool codegen_needs_mem() const override { return true; }
 
  // /** \brief Serialize an object without type information */
  void serialize_body(SerializingStream &s) const override;
 
  static ProtoFunction* deserialize(DeserializingStream& s) { return new MadmpecInterface(s); }
 
 protected:
  explicit MadmpecInterface(DeserializingStream& s);
 
 private:
  // Memory structure
  casadi_ccopt_prob<libmad_real> p_;
 
  std::vector<libmad_int> nws_;
  std::vector<libmad_int> ngs_;
};
 
} // namespace casadi
 
#endif // CASADI_CCOPT_INTERFACE_HPP