hpipm_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_HPIPM_INTERFACE_HPP
#define CASADI_HPIPM_INTERFACE_HPP
 
#include "casadi/core/conic_impl.hpp"
#include "casadi/core/linsol.hpp"
#include <casadi/interfaces/hpipm/casadi_conic_hpipm_export.h>
 
#include <blasfeo_d_aux_ext_dep.h>
 
#include <hpipm_d_ocp_qp_ipm.h>
#include <hpipm_d_ocp_qp_dim.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_sol.h>
#include <hpipm_d_ocp_qp_utils.h>
 
 
namespace casadi {
  #include "hpipm_runtime.hpp"
}
namespace casadi {
 
  // Forward declaration
  class HpipmInterface;
  struct CASADI_CONIC_HPIPM_EXPORT HpipmMemory : public ConicMemory {
    // Problem data structure
    casadi_hpipm_data<double> d;
 
    // unused: lamg, xs, us, workspace, stats
 
    HpipmMemory();
 
    ~HpipmMemory();
  };
 
  class CASADI_CONIC_HPIPM_EXPORT HpipmInterface : public Conic {
  public:
    explicit HpipmInterface();
 
    static Conic* creator(const std::string& name,
                          const std::map<std::string, Sparsity>& st) {
      return new HpipmInterface(name, st);
    }
 
    explicit HpipmInterface(const std::string& name,
                              const std::map<std::string, Sparsity>& st);
 
    Dict get_stats(void* mem) const override;
 
    ~HpipmInterface() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "hpipm";}
 
    // Get name of the class
    std::string class_name() const override { return "HpipmInterface";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void set_hpipm_prob();
    void set_hpipm_prob(CodeGenerator& g) const;
 
    void codegen_body(CodeGenerator& g) const override;
 
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new HpipmMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override { delete static_cast<HpipmMemory*>(mem);}
 
    void set_work(void* mem, const double**& arg, double**& res,
                          casadi_int*& iw, double*& w) const override;
 
    int solve(const double** arg, double** res,
      casadi_int* iw, double* w, void* mem) const override;
 
    static void mproject(double factor, const double* x, const casadi_int* sp_x,
                         double* y, const casadi_int* sp_y, double* w);
 
    static void dense_transfer(double factor, const double* x, const casadi_int* sp_x, double* y,
                               const casadi_int* sp_y, double* w);
 
    static const std::string meta_doc;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new HpipmInterface(s); }
 
  protected:
    explicit HpipmInterface(DeserializingStream& s);
 
    // Memory structure
    casadi_hpipm_prob<double> p_;
 
    static Sparsity blocksparsity(casadi_int rows, casadi_int cols,
                                   const std::vector<casadi_hpipm_block>& blocks, bool eye=false);
    static void blockptr(std::vector<double *>& vs, std::vector<double>& v,
      const std::vector<casadi_hpipm_block>& blocks, bool eye=false);
    Sparsity Asp_, Bsp_, Csp_, Dsp_, Isp_, Rsp_, Ssp_, Qsp_, bsp_, lugsp_, usp_, xsp_;
    Sparsity theirs_xsp_, theirs_usp_, theirs_Xsp_, theirs_Usp_;
    Sparsity lamg_gapsp_;
    Sparsity lam_cusp_, pisp_;
 
    std::vector< casadi_hpipm_block > R_blocks, S_blocks, Q_blocks;
    std::vector< casadi_hpipm_block > b_blocks, lug_blocks;
    std::vector< casadi_hpipm_block > u_blocks, x_blocks;
    std::vector< casadi_hpipm_block > lam_ul_blocks, lam_xl_blocks,
      lam_uu_blocks, lam_xu_blocks, lam_cl_blocks;
    std::vector< casadi_hpipm_block > lam_cu_blocks, A_blocks, B_blocks,
      C_blocks, D_blocks, I_blocks;
 
    std::vector<int> nxs_;
    std::vector<int> nus_;
    std::vector<int> ngs_;
    std::vector<int> zeros_;
    casadi_int N_;
    casadi_int print_level_;
 
    bool warm_start_;
    double inf_;
 
    d_ocp_qp_ipm_arg hpipm_options_;
 
  };
 
 
 
} // namespace casadi
 
#endif // CASADI_HPIPM_INTERFACE_HPP