ipqp.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_IPQP_HPP
#define CASADI_IPQP_HPP
 
#include "casadi/core/conic_impl.hpp"
#include <casadi/solvers/casadi_conic_ipqp_export.h>
#include "casadi/core/linsol.hpp"
 
namespace casadi {
  struct CASADI_CONIC_IPQP_EXPORT IpqpMemory : public ConicMemory {
    const char* return_status;
  };
 
  class CASADI_CONIC_IPQP_EXPORT Ipqp : public Conic {
  public:
    explicit Ipqp(const std::string& name,
                  const std::map<std::string, Sparsity> &st);
 
    static Conic* creator(const std::string& name,
                          const std::map<std::string, Sparsity>& st) {
      return new Ipqp(name, st);
    }
 
    ~Ipqp() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "ipqp";}
 
    // Get name of the class
    std::string class_name() const override { return "Ipqp";}
 
    void* alloc_mem() const override { return new IpqpMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<IpqpMemory*>(mem);}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    int solve(const double** arg, double** res,
             casadi_int* iw, double* w, void* mem) const override;
 
    Dict get_stats(void* mem) const override;
 
    static const std::string meta_doc;
    // Memory structure
    casadi_ipqp_prob<double> p_;
    // KKT system
    Sparsity kkt_;
    // KKT linear solver
    Linsol linsol_;
    // Options
    bool print_iter_, print_header_, print_info_;
    std::string linear_solver_;
    Dict linear_solver_options_;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new Ipqp(s); }
 
  protected:
    explicit Ipqp(DeserializingStream& s);
 
  private:
    void set_qp_prob();
  };
 
} // namespace casadi
#endif // CASADI_IPQP_HPP