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Nov 5, 2024
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Formatting: tabs to spaces #1339

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cbba0a1
C: formatting tabs to spaces
FreyJo Nov 5, 2024
814d621
templates: tabs to spaces
FreyJo Nov 5, 2024
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42 changes: 21 additions & 21 deletions acados/ocp_nlp/ocp_nlp_constraints_bgp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -551,7 +551,7 @@ void *ocp_nlp_constraints_bgp_model_assign(void *config, void *dims_, void *raw_
int nge = dims->nge;
int nphie = dims->nphie;

int ii;
int ii;

// struct
ocp_nlp_constraints_bgp_model *model = (ocp_nlp_constraints_bgp_model *) c_ptr;
Expand Down Expand Up @@ -584,9 +584,9 @@ void *ocp_nlp_constraints_bgp_model_assign(void *config, void *dims_, void *raw_
// h
// model->nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux = NULL;

// default initialization
for(ii=0; ii<nbue+nbxe+nge+nphie; ii++)
model->idxe[ii] = 0;
// default initialization
for(ii=0; ii<nbue+nbxe+nge+nphie; ii++)
model->idxe[ii] = 0;

// assert
assert((char *) raw_memory + ocp_nlp_constraints_bgp_model_calculate_size(config, dims) >=
Expand Down Expand Up @@ -1404,12 +1404,12 @@ void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims_, void *model
// nonlinear
if (nphi > 0)
{
if(nz > 0)
{
// TODO
printf("\nerror: ocp_nlp_constraints_bgp_compute_fun: not implemented yet for nz>0\n");
exit(1);
}
if(nz > 0)
{
// TODO
printf("\nerror: ocp_nlp_constraints_bgp_compute_fun: not implemented yet for nz>0\n");
exit(1);
}

struct blasfeo_dvec_args x_in; // input x of external fun;
x_in.x = ux;
Expand All @@ -1419,7 +1419,7 @@ void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims_, void *model
u_in.x = ux;
u_in.xi = 0;

// TODO tmp_z_alg !!!
// TODO tmp_z_alg !!!
struct blasfeo_dvec_args z_in; // input z of external fun;
z_in.x = memory->z_alg;
z_in.xi = 0;
Expand All @@ -1428,23 +1428,23 @@ void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims_, void *model
fun_out.x = &work->tmp_ni;
fun_out.xi = nb + ng;

ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;
ext_fun_type_in[2] = BLASFEO_DVEC_ARGS;
ext_fun_in[2] = &z_in;
ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;
ext_fun_type_in[2] = BLASFEO_DVEC_ARGS;
ext_fun_in[2] = &z_in;

ext_fun_type_out[0] = BLASFEO_DVEC_ARGS;
ext_fun_out[0] = &fun_out; // fun: nphi
ext_fun_type_out[0] = BLASFEO_DVEC_ARGS;
ext_fun_out[0] = &fun_out; // fun: nphi

if (model->nl_constr_phi_o_r_fun == 0)
{
printf("ocp_nlp_constraints_bgp_compute_fun: nl_constr_phi_o_r_fun is not provided. Exiting.\n");
exit(1);
}
model->nl_constr_phi_o_r_fun->evaluate(model->nl_constr_phi_o_r_fun, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);
}
model->nl_constr_phi_o_r_fun->evaluate(model->nl_constr_phi_o_r_fun, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);
}

blasfeo_daxpy(nb+ng+nphi, -1.0, &work->tmp_ni, 0, &model->d, 0, &memory->fun, 0);
blasfeo_daxpy(nb+ng+nphi, -1.0, &model->d, nb+ng+nphi, &work->tmp_ni, 0, &memory->fun, nb+ng+nphi);
Expand Down
2 changes: 1 addition & 1 deletion acados/ocp_nlp/ocp_nlp_cost_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ typedef struct
void (*opts_update)(void *config, void *dims, void *opts);
void (*opts_set)(void *config, void *opts, const char *field, void *value);
acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
double *(*memory_get_fun_ptr)(void *memory);
double *(*memory_get_fun_ptr)(void *memory);
struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
struct blasfeo_dvec *(*model_get_y_ref_ptr)(void *memory);
struct blasfeo_dmat *(*memory_get_W_chol_ptr)(void *memory_);
Expand Down
2 changes: 1 addition & 1 deletion acados/ocp_nlp/ocp_nlp_cost_external.h
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ typedef struct
struct blasfeo_dvec *Z; // pointer to Z in qp_in
struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out
struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out
double fun; ///< value of the cost function
double fun; ///< value of the cost function
} ocp_nlp_cost_external_memory;

//
Expand Down
2 changes: 1 addition & 1 deletion acados/ocp_nlp/ocp_nlp_cost_ls.h
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Original file line number Diff line number Diff line change
Expand Up @@ -170,7 +170,7 @@ typedef struct
struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out
struct blasfeo_dmat *RSQrq; ///< pointer to RSQrq in qp_in
struct blasfeo_dvec *Z; ///< pointer to Z in qp_in
double fun; ///< value of the cost function
double fun; ///< value of the cost function
} ocp_nlp_cost_ls_memory;

//
Expand Down
66 changes: 33 additions & 33 deletions acados/ocp_nlp/ocp_nlp_dynamics_disc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -454,13 +454,13 @@ void ocp_nlp_dynamics_disc_memory_get(void *config_, void *dims_, void *mem_, co

if (!strcmp(field, "time_sim") || !strcmp(field, "time_sim_ad") || !strcmp(field, "time_sim_la"))
{
double *ptr = value;
double *ptr = value;
*ptr = 0;
}
else
{
printf("\nerror: ocp_nlp_dynamics_disc_memory_get: field %s not available\n", field);
exit(1);
printf("\nerror: ocp_nlp_dynamics_disc_memory_get: field %s not available\n", field);
exit(1);
}

}
Expand Down Expand Up @@ -772,16 +772,16 @@ void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims_, void *model_,
fun_out.x = &memory->fun;
fun_out.xi = 0;

ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;
ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;

ext_fun_type_out[0] = BLASFEO_DVEC_ARGS;
ext_fun_out[0] = &fun_out; // fun: nx1
ext_fun_type_out[0] = BLASFEO_DVEC_ARGS;
ext_fun_out[0] = &fun_out; // fun: nx1

// call external function
model->disc_dyn_fun->evaluate(model->disc_dyn_fun, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);
// call external function
model->disc_dyn_fun->evaluate(model->disc_dyn_fun, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);

// fun
blasfeo_daxpy(nx1, -1.0, ux1, nu1, &memory->fun, 0, &memory->fun, 0);
Expand Down Expand Up @@ -816,22 +816,22 @@ void ocp_nlp_dynamics_disc_compute_jac_hess_p(void *config_, void *dims_, void *
pi_in.x = memory->pi;
pi_in.xi = 0;

ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;
ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;

ext_fun_type_in[2] = BLASFEO_DVEC_ARGS;
ext_fun_in[2] = &pi_in;
ext_fun_type_in[2] = BLASFEO_DVEC_ARGS;
ext_fun_in[2] = &pi_in;

ext_fun_type_out[0] = BLASFEO_DMAT;
ext_fun_out[0] = &memory->params_jac; // jac: nx1 x np_global
ext_fun_type_out[0] = BLASFEO_DMAT;
ext_fun_out[0] = &memory->params_jac; // jac: nx1 x np_global

ext_fun_type_out[1] = BLASFEO_DMAT;
ext_fun_out[1] = &memory->params_lag_jac; // jac: nxnu x np_global
ext_fun_type_out[1] = BLASFEO_DMAT;
ext_fun_out[1] = &memory->params_lag_jac; // jac: nxnu x np_global

// call external function
model->disc_dyn_phi_jac_p_hess_xu_p->evaluate(model->disc_dyn_phi_jac_p_hess_xu_p, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);
// call external function
model->disc_dyn_phi_jac_p_hess_xu_p->evaluate(model->disc_dyn_phi_jac_p_hess_xu_p, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);

return;
}
Expand Down Expand Up @@ -939,24 +939,24 @@ void ocp_nlp_dynamics_disc_compute_adj_p(void* config_, void *dims_, void *model
pi_in.x = memory->pi;
pi_in.xi = 0;

ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;
ext_fun_type_in[0] = BLASFEO_DVEC_ARGS;
ext_fun_in[0] = &x_in;
ext_fun_type_in[1] = BLASFEO_DVEC_ARGS;
ext_fun_in[1] = &u_in;

ext_fun_type_in[2] = BLASFEO_DVEC_ARGS;
ext_fun_in[2] = &pi_in;
ext_fun_type_in[2] = BLASFEO_DVEC_ARGS;
ext_fun_in[2] = &pi_in;

ext_fun_type_out[0] = BLASFEO_DVEC;
ext_fun_out[0] = out;
ext_fun_type_out[0] = BLASFEO_DVEC;
ext_fun_out[0] = out;

// call external function
// call external function
if (model->disc_dyn_adj_p == NULL)
{
printf("ocp_nlp_dynamics_disc_compute_adj_p - model->disc_dyn_adj_p is NULL\n");
exit(1);
}
model->disc_dyn_adj_p->evaluate(model->disc_dyn_adj_p, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);
model->disc_dyn_adj_p->evaluate(model->disc_dyn_adj_p, ext_fun_type_in, ext_fun_in, ext_fun_type_out, ext_fun_out);

return;
}
Expand Down
2 changes: 1 addition & 1 deletion acados/ocp_nlp/ocp_nlp_globalization_merit_backtracking.c
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Original file line number Diff line number Diff line change
Expand Up @@ -865,7 +865,7 @@ double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims,

merit_fun = cost_fun + dyn_fun + constr_fun;

// printf("Merit fun: %e cost: %e dyn: %e constr: %e\n", merit_fun, cost_fun, dyn_fun, constr_fun);
// printf("Merit fun: %e cost: %e dyn: %e constr: %e\n", merit_fun, cost_fun, dyn_fun, constr_fun);

return merit_fun;
}
Expand Down
34 changes: 17 additions & 17 deletions acados/ocp_nlp/ocp_nlp_reg_common.c
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Expand Up @@ -98,23 +98,23 @@ ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory)

dims->N = N;

// initialize to zero by default
int ii;
// nx
for(ii=0; ii<=N; ii++)
dims->nx[ii] = 0;
// nu
for(ii=0; ii<=N; ii++)
dims->nu[ii] = 0;
// nbx
for(ii=0; ii<=N; ii++)
dims->nbx[ii] = 0;
// nbu
for(ii=0; ii<=N; ii++)
dims->nbu[ii] = 0;
// ng
for(ii=0; ii<=N; ii++)
dims->ng[ii] = 0;
// initialize to zero by default
int ii;
// nx
for(ii=0; ii<=N; ii++)
dims->nx[ii] = 0;
// nu
for(ii=0; ii<=N; ii++)
dims->nu[ii] = 0;
// nbx
for(ii=0; ii<=N; ii++)
dims->nbx[ii] = 0;
// nbu
for(ii=0; ii<=N; ii++)
dims->nbu[ii] = 0;
// ng
for(ii=0; ii<=N; ii++)
dims->ng[ii] = 0;

assert((char *) raw_memory + ocp_nlp_reg_dims_calculate_size(N) >= c_ptr);

Expand Down
6 changes: 3 additions & 3 deletions acados/ocp_nlp/ocp_nlp_reg_convexify.h
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Original file line number Diff line number Diff line change
Expand Up @@ -100,8 +100,8 @@ typedef struct {
struct blasfeo_dmat *original_RSQrq;
struct blasfeo_dmat tmp_RSQ;

struct blasfeo_dvec tmp_nuxM;
struct blasfeo_dvec tmp_nbgM;
struct blasfeo_dvec tmp_nuxM;
struct blasfeo_dvec tmp_nbgM;

// struct blasfeo_dvec grad;
// struct blasfeo_dvec b2;
Expand All @@ -115,7 +115,7 @@ typedef struct {
struct blasfeo_dvec **ux; // pointer to ux in qp_out
struct blasfeo_dvec **pi; // pointer to pi in qp_out
struct blasfeo_dvec **lam; // pointer to lam in qp_out
int **idxb; // pointer to idxb in qp_in
int **idxb; // pointer to idxb in qp_in

} ocp_nlp_reg_convexify_memory;

Expand Down
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