qpoases_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_QPOASES_INTERFACE_HPP
#define CASADI_QPOASES_INTERFACE_HPP
 
#include "casadi/core/conic_impl.hpp"
#include "casadi/core/linsol.hpp"
#include <casadi/interfaces/qpoases/casadi_conic_qpoases_export.h>
#include <qpOASES.hpp>
 
namespace casadi {
 
  // Forward declaration
  class QpoasesInterface;
 
  struct  QpoasesMemory : public ConicMemory {
    // Linear solver
    Linsol linsol;
 
    // Linear solver plugin class
    std::string linsol_plugin;
 
    union {
      qpOASES::SQProblem *sqp;
      qpOASES::QProblemB *qp;
    };
 
    // Sparse QP matrices
    qpOASES::SymSparseMat *h;
    qpOASES::SparseMatrix *a;
 
    bool called_once;
 
    // Map linear system nonzeros
    std::vector<casadi_int> lin_map;
 
    // Sparsity pattern as sparse triplet
    std::vector<casadi_int> row, col, nz_map;
 
    std::vector<int> h_row, h_colind, a_row, a_colind;
 
    // Nonzero entries
    std::vector<double> nz;
 
    int return_status;
 
    QpoasesMemory();
 
    ~QpoasesMemory();
  };
 
  class  QpoasesInterface : public Conic {
  public:
    explicit QpoasesInterface();
 
    static Conic* creator(const std::string& name,
                          const std::map<std::string, Sparsity>& st) {
      return new QpoasesInterface(name, st);
    }
 
    explicit QpoasesInterface(const std::string& name,
                              const std::map<std::string, Sparsity>& st);
 
    ~QpoasesInterface() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "qpoases";}
 
    // Get name of the class
    std::string class_name() const override { return "QpoasesInterface";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new QpoasesMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<QpoasesMemory*>(mem);}
 
    int solve(const double** arg, double** res,
      casadi_int* iw, double* w, void* mem) const override;
 
    static const std::string meta_doc;
 
    static int qpoases_init(void* mem, int dim, int nnz, const int* row, const int* col);
 
    static int qpoases_sfact(void* mem, const double* vals);
 
    static int qpoases_nfact(void* mem, const double* vals, int* neig, int* rank);
 
    static int qpoases_solve(void* mem, int nrhs, double* rhs);
 
    static void qpoases_printf(const char* s);
 
    Dict get_stats(void* mem) const override;
 
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new QpoasesInterface(s); }
 
  protected:
    explicit QpoasesInterface(DeserializingStream& s);
 
    static bool from_BooleanType(qpOASES::BooleanType b);
    static qpOASES::BooleanType to_BooleanType(bool b);
    static std::string from_SubjectToStatus(qpOASES::SubjectToStatus b);
    static qpOASES::SubjectToStatus to_SubjectToStatus(std::string b);
    static std::string from_PrintLevel(qpOASES::PrintLevel b);
    static qpOASES::PrintLevel to_PrintLevel(std::string b);
 
    casadi_int max_nWSR_;
    double max_cputime_;
    qpOASES::Options ops_;
    qpOASES::HessianType hess_;
    bool sparse_;
    bool schur_;
    casadi_int max_schur_;
    std::string linsol_plugin_;
 
    static void qpoases_error(const std::string& module, casadi_int flag);
 
    static std::string getErrorMessage(casadi_int flag);
  };
 
} // namespace casadi
 
#endif // CASADI_QPOASES_INTERFACE_HPP