acados · FreyJo · Oct 20, 2023 · Sep 28, 2023 · Sep 28, 2023 · Oct 2, 2023
diff --git a/acados/dense_qp/dense_qp_common.h b/acados/dense_qp/dense_qp_common.h
@@ -65,7 +65,9 @@ typedef struct
     void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
     void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
     acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*solver_get)(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
+    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
     void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
 } qp_solver_config;
 #endif

diff --git a/acados/dense_qp/dense_qp_daqp.c b/acados/dense_qp/dense_qp_daqp.c
@@ -746,6 +746,18 @@ void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opt
     exit(1);
 }
 
+void dense_qp_daqp_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work)
+{
+    printf("\nerror: dense_qp_daqp_memory_reset: not implemented yet\n");
+    exit(1);
+}
+
+void dense_qp_daqp_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2)
+{
+    printf("\nerror: dense_qp_daqp_solver_get: not implemented yet\n");
+    exit(1);
+}
+
 
 void dense_qp_daqp_config_initialize_default(void *config_)
 {
@@ -765,8 +777,9 @@ void dense_qp_daqp_config_initialize_default(void *config_)
     config->workspace_calculate_size =
         (acados_size_t (*)(void *, void *, void *)) & dense_qp_daqp_workspace_calculate_size;
     config->eval_sens = &dense_qp_daqp_eval_sens;
-    // config->memory_reset = &dense_qp_daqp_memory_reset;
     config->evaluate = (int (*)(void *, void *, void *, void *, void *, void *)) & dense_qp_daqp;
+    config->memory_reset = &dense_qp_daqp_memory_reset;
+    config->solver_get = &dense_qp_daqp_solver_get;
 
     return;
 }
diff --git a/acados/dense_qp/dense_qp_daqp.h b/acados/dense_qp/dense_qp_daqp.h
@@ -85,7 +85,7 @@ void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, vo
 //
 void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
 //
-// memory 
+// memory
 acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
 //
 void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
@@ -102,6 +102,11 @@ void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opt
 void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
 void dense_qp_daqp_config_initialize_default(void *config_);
+//
+void dense_qp_daqp_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+//
+void dense_qp_daqp_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
+
 
 #ifdef __cplusplus
 } /* extern "C" */

diff --git a/acados/dense_qp/dense_qp_hpipm.c b/acados/dense_qp/dense_qp_hpipm.c
@@ -322,6 +322,18 @@ void dense_qp_hpipm_eval_sens(void *config_, void *param_qp_in_, void *sens_qp_o
 }
 
 
+void dense_qp_hpipm_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work)
+{
+    printf("\nerror: dense_qp_hpipm_memory_reset: not implemented yet\n");
+    exit(1);
+}
+
+void dense_qp_hpipm_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2)
+{
+    printf("\nerror: dense_qp_hpipm_solver_get: not implemented yet\n");
+    exit(1);
+}
+
 
 void dense_qp_hpipm_config_initialize_default(void *config_)
 {
@@ -339,6 +351,8 @@ void dense_qp_hpipm_config_initialize_default(void *config_)
     config->workspace_calculate_size = &dense_qp_hpipm_workspace_calculate_size;
     config->evaluate = &dense_qp_hpipm;
     config->eval_sens = &dense_qp_hpipm_eval_sens;
+    config->memory_reset = &dense_qp_hpipm_memory_reset;
+    config->solver_get = &dense_qp_hpipm_solver_get;
 
     return;
 }
diff --git a/acados/dense_qp/dense_qp_hpipm.h b/acados/dense_qp/dense_qp_hpipm.h
@@ -83,6 +83,11 @@ int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *m
 void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
 void dense_qp_hpipm_config_initialize_default(void *config_);
+//
+void dense_qp_hpipm_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+//
+void dense_qp_hpipm_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
+
 
 #ifdef __cplusplus
 } /* extern "C" */

diff --git a/acados/dense_qp/dense_qp_ooqp.c b/acados/dense_qp/dense_qp_ooqp.c
@@ -621,7 +621,17 @@ void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opt
     exit(1);
 }
 
+void dense_qp_ooqp_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work)
+{
+    printf("\nerror: dense_qp_ooqp_memory_reset: not implemented yet\n");
+    exit(1);
+}
 
+void dense_qp_ooqp_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2)
+{
+    printf("\nerror: dense_qp_ooqp_solver_get: not implemented yet\n");
+    exit(1);
+}
 
 void dense_qp_ooqp_config_initialize_default(void *config_)
 {
@@ -642,4 +652,6 @@ void dense_qp_ooqp_config_initialize_default(void *config_)
         (acados_size_t (*)(void *, void *, void *)) & dense_qp_ooqp_workspace_calculate_size;
     config->evaluate = (int (*)(void *, void *, void *, void *, void *, void *)) & dense_qp_ooqp;
     config->eval_sens = &dense_qp_ooqp_eval_sens;
+    config->memory_reset = &dense_qp_ooqp_memory_reset;
+    config->solver_get = &dense_qp_ooqp_solver_get;
 }
diff --git a/acados/dense_qp/dense_qp_ooqp.h b/acados/dense_qp/dense_qp_ooqp.h
@@ -116,6 +116,10 @@ void dense_qp_ooqp_destroy(void *mem_, void *work);
 //
 void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
+void dense_qp_ooqp_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+//
+void dense_qp_ooqp_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
+//
 void dense_qp_ooqp_config_initialize_default(void *config_);
 
 #ifdef __cplusplus

diff --git a/acados/dense_qp/dense_qp_qore.c b/acados/dense_qp/dense_qp_qore.c
@@ -556,7 +556,17 @@ void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opt
     exit(1);
 }
 
+void dense_qp_qore_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work)
+{
+    printf("\nerror: dense_qp_qore_memory_reset: not implemented yet\n");
+    exit(1);
+}
 
+void dense_qp_qore_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2)
+{
+    printf("\nerror: dense_qp_qore_solver_get: not implemented yet\n");
+    exit(1);
+}
 
 void dense_qp_qore_config_initialize_default(void *config_)
 {
@@ -577,6 +587,8 @@ void dense_qp_qore_config_initialize_default(void *config_)
         (acados_size_t (*)(void *, void *, void *)) & dense_qp_qore_workspace_calculate_size;
     config->evaluate = (int (*)(void *, void *, void *, void *, void *, void *)) & dense_qp_qore;
     config->eval_sens = &dense_qp_qore_eval_sens;
+    config->memory_reset = &dense_qp_qore_memory_reset;
+    config->solver_get = &dense_qp_qore_solver_get;
 
     return;
 }
diff --git a/acados/dense_qp/dense_qp_qore.h b/acados/dense_qp/dense_qp_qore.h
@@ -115,6 +115,10 @@ int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *
 //
 void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
+void dense_qp_qore_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+//
+void dense_qp_qore_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
+//
 void dense_qp_qore_config_initialize_default(void *config);
 
 #ifdef __cplusplus

diff --git a/acados/dense_qp/dense_qp_qpoases.c b/acados/dense_qp/dense_qp_qpoases.c
@@ -772,6 +772,20 @@ void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *
 // }
 
 
+
+void dense_qp_qpoases_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work)
+{
+    printf("\nerror: dense_qp_qpoases_memory_reset: not implemented yet\n");
+    exit(1);
+}
+
+void dense_qp_qpoases_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2)
+{
+    printf("\nerror: dense_qp_qpoases_solver_get: not implemented yet\n");
+    exit(1);
+}
+
+
 void dense_qp_qpoases_config_initialize_default(void *config_)
 {
     qp_solver_config *config = config_;
@@ -792,6 +806,8 @@ void dense_qp_qpoases_config_initialize_default(void *config_)
     config->eval_sens = &dense_qp_qpoases_eval_sens;
     // config->memory_reset = &dense_qp_qpoases_memory_reset;
     config->evaluate = (int (*)(void *, void *, void *, void *, void *, void *)) & dense_qp_qpoases;
+    config->memory_reset = &dense_qp_qpoases_memory_reset;
+    config->solver_get = &dense_qp_qpoases_solver_get;
 
     return;
 }
diff --git a/acados/dense_qp/dense_qp_qpoases.h b/acados/dense_qp/dense_qp_qpoases.h
@@ -118,6 +118,11 @@ void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *
 void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
 void dense_qp_qpoases_config_initialize_default(void *config_);
+//
+void dense_qp_qpoases_memory_reset(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+//
+void dense_qp_qpoases_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
+
 
 #ifdef __cplusplus
 } /* extern "C" */

diff --git a/acados/ocp_nlp/ocp_nlp_common.c b/acados/ocp_nlp/ocp_nlp_common.c
@@ -1159,6 +1159,11 @@ void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value
         config->qp_solver->opts_set(config->qp_solver, opts->qp_solver_opts,
                                     field+module_length+1, value);
     }
+    else if ( ptr_module!=NULL && (!strcmp(ptr_module, "reg")) )
+    {
+        config->regularize->opts_set(config->regularize, opts->regularize,
+                                    field+module_length+1, value);
+    }
     else // nlp opts
     {
         if (!strcmp(field, "reuse_workspace"))

diff --git a/acados/ocp_nlp/ocp_nlp_reg_common.h b/acados/ocp_nlp/ocp_nlp_reg_common.h
@@ -80,7 +80,7 @@ typedef struct
     acados_size_t (*opts_calculate_size)(void);
     void *(*opts_assign)(void *raw_memory);
     void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
+    void (*opts_set)(void *config, void *opts, const char *field, void* value);
     /* memory */
     acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
     void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);

diff --git a/acados/ocp_nlp/ocp_nlp_reg_convexify.c b/acados/ocp_nlp/ocp_nlp_reg_convexify.c
@@ -75,7 +75,7 @@ void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_di
 
 
 
-void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value)
+void ocp_nlp_reg_convexify_opts_set(void *config_, void *opts_, const char *field, void* value)
 {
 
     ocp_nlp_reg_convexify_opts *opts = opts_;

diff --git a/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/acados/ocp_nlp/ocp_nlp_reg_convexify.h
@@ -75,7 +75,7 @@ void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
 //
 void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
 //
-void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+void ocp_nlp_reg_convexify_opts_set(void *config_, void *opts_, const char *field, void* value);
 
 
 

diff --git a/acados/ocp_nlp/ocp_nlp_reg_mirror.c b/acados/ocp_nlp/ocp_nlp_reg_mirror.c
@@ -73,7 +73,7 @@ void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims
 
 
 
-void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value)
+void ocp_nlp_reg_mirror_opts_set(void *config_, void *opts_, const char *field, void* value)
 {
 
     ocp_nlp_reg_mirror_opts *opts = opts_;

diff --git a/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/acados/ocp_nlp/ocp_nlp_reg_mirror.h
@@ -73,7 +73,7 @@ void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
 //
 void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
 //
-void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+void ocp_nlp_reg_mirror_opts_set(void *config_, void *opts_, const char *field, void* value);
 
 
 

diff --git a/acados/ocp_nlp/ocp_nlp_reg_noreg.c b/acados/ocp_nlp/ocp_nlp_reg_noreg.c
@@ -72,7 +72,7 @@ void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *
 
 
 
-void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value)
+void ocp_nlp_reg_noreg_opts_set(void *config_, void *opts_, const char *field, void* value)
 {
 
     printf("\nerror: field %s not available in ocp_nlp_reg_noreg_opts_set\n", field);

diff --git a/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/acados/ocp_nlp/ocp_nlp_reg_noreg.h
@@ -69,7 +69,7 @@ void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
 //
 void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
 //
-void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+void ocp_nlp_reg_noreg_opts_set(void *config_, void *opts_, const char *field, void* value);
 
 
 

diff --git a/acados/ocp_nlp/ocp_nlp_reg_project.c b/acados/ocp_nlp/ocp_nlp_reg_project.c
@@ -73,7 +73,7 @@ void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims
 
 
 
-void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value)
+void ocp_nlp_reg_project_opts_set(void *config_, void *opts_, const char *field, void* value)
 {
 
     ocp_nlp_reg_project_opts *opts = opts_;

diff --git a/acados/ocp_nlp/ocp_nlp_reg_project.h b/acados/ocp_nlp/ocp_nlp_reg_project.h
@@ -73,7 +73,7 @@ void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
 //
 void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
 //
-void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+void ocp_nlp_reg_project_opts_set(void *config_, void *opts_, const char *field, void* value);
 
 
 

diff --git a/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.c b/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.c
@@ -77,7 +77,7 @@ void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_n
 
 
 
-void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value)
+void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, void *opts_, const char *field, void* value)
 {
 
     ocp_nlp_reg_project_reduc_hess_opts *opts = opts_;

diff --git a/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
@@ -76,7 +76,7 @@ void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
 //
 void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
 //
-void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, void *opts_, const char *field, void* value);
 
 
 

diff --git a/acados/ocp_qp/ocp_qp_common.h b/acados/ocp_qp/ocp_qp_common.h
@@ -69,6 +69,7 @@ typedef struct
     void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
     acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
     int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*solver_get)(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2);
     void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
     void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
 } qp_solver_config;

diff --git a/acados/ocp_qp/ocp_qp_hpipm.c b/acados/ocp_qp/ocp_qp_hpipm.c
@@ -323,6 +323,50 @@ void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void
     ocp_qp_hpipm_memory_assign(config_, qp_in->dim, opts_, mem_);
 }
 
+void ocp_qp_hpipm_solver_get(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, const char *field, int stage, void* value, int size1, int size2)
+{
+    ocp_qp_in *qp_in = qp_in_;
+    // ocp_qp_out *qp_out = qp_out_;
+    ocp_qp_hpipm_opts *opts = opts_;
+    ocp_qp_hpipm_memory *mem = mem_;
+
+    double *double_values = value;
+    int nx = qp_in->dim->nx[stage];
+    int nu = qp_in->dim->nu[stage];
+
+    // d_ocp_qp_ipm_get_ric_P
+    if (!strcmp(field, "P"))
+    {
+        if ((size1 != nx) || (size2 != nx))
+        {
+            printf("ocp_qp_hpipm_solver_get: size of P not as expected, got size %d %d.", size1, size2);
+        }
+        d_ocp_qp_ipm_get_ric_P(qp_in, opts->hpipm_opts, mem->hpipm_workspace, stage, double_values);
+        // void OCP_QP_IPM_GET_RIC_P(struct OCP_QP *qp, struct OCP_QP_IPM_ARG *arg, struct OCP_QP_IPM_WS *ws, int stage, REAL *P)
+    }
+    else if (!strcmp(field, "K"))
+    {
+        if ((size1 != nu) || (size2 != nx))
+        {
+            printf("ocp_qp_hpipm_solver_get: size of K not as expected, got size %d %d.", size1, size2);
+        }
+        d_ocp_qp_ipm_get_ric_K(qp_in, opts->hpipm_opts, mem->hpipm_workspace, stage, double_values);
+    }
+    else if (!strcmp(field, "Lr"))
+    {
+        if ((size1 != nu) || (size2 != nu))
+        {
+            printf("ocp_qp_hpipm_solver_get: size of Lr not as expected, got size %d %d.", size1, size2);
+        }
+        d_ocp_qp_ipm_get_ric_Lr(qp_in, opts->hpipm_opts, mem->hpipm_workspace, stage, double_values);
+    }
+    else
+    {
+        printf("\nocp_qp_hpipm_solver_get: field %s not supported", field);
+    }
+    return;
+}
+
 
 void ocp_qp_hpipm_eval_sens(void *config_, void *param_qp_in_, void *sens_qp_out_, void *opts_, void *mem_, void *work_)
 {
@@ -368,6 +412,7 @@ void ocp_qp_hpipm_config_initialize_default(void *config_)
     config->memory_get = &ocp_qp_hpipm_memory_get;
     config->workspace_calculate_size = &ocp_qp_hpipm_workspace_calculate_size;
     config->evaluate = &ocp_qp_hpipm;
+    config->solver_get = &ocp_qp_hpipm_solver_get;
     config->memory_reset = &ocp_qp_hpipm_memory_reset;
     config->eval_sens = &ocp_qp_hpipm_eval_sens;
-Original file line number
+Diff line change
@@ Expand Up @@
-    void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value)
+    void ocp_nlp_reg_convexify_opts_set(void *config_, void *opts_, const char *field, void* value)
     {
         ocp_nlp_reg_convexify_opts *opts = opts_;
@@ Expand Down @@