Release 260111
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Comma Device
221
third_party/acados/include/acados/sim/sim_common.h
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third_party/acados/include/acados/sim/sim_common.h
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/*
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* Copyright (c) The acados authors.
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*
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* This file is part of acados.
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*
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* The 2-Clause BSD License
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.;
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*/
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#ifndef ACADOS_SIM_SIM_COMMON_H_
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#define ACADOS_SIM_SIM_COMMON_H_
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#include <stdbool.h>
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#include "acados/sim/sim_collocation_utils.h"
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#include "acados/utils/timing.h"
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#include "acados/utils/types.h"
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#include "acados/utils/external_function_generic.h"
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// maximum number of integration stages
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#define NS_MAX 15
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typedef enum
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{
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// ERK and LIFTED_ERK
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EXPL_ODE_FUN,
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EXPL_ODE_HES, // wrt x and u ???
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EXPL_VDE_FOR,
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EXPL_VDE_ADJ,
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// IRK
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IMPL_ODE_FUN,
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IMPL_ODE_FUN_JAC_X_XDOT,
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IMPL_ODE_JAC_X_XDOT_U,
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IMPL_ODE_FUN_JAC_X_XDOT_U,
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IMPL_ODE_HESS,
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// gnsf
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PHI_FUN,
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PHI_FUN_JAC_Y,
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PHI_JAC_Y_UHAT,
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LO_FUN,
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GET_GNSF_MATRICES
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} sim_function_t;
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typedef struct
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{
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void *dims;
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double *x; // x[NX] - initial state value for simulation
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double *u; // u[NU] - control - constant over simulation time
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double *S_forw; // forward seed [Sx, Su]
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double *S_adj; // backward seed
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bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
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void *model;
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double T; // simulation time
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} sim_in;
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typedef struct
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{
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double CPUtime; // in seconds
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double LAtime; // in seconds
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double ADtime; // in seconds
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} sim_info;
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typedef struct
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{
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double *xn; // xn[NX]
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double *S_forw; // S_forw[NX*(NX+NU)]
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double *S_adj; //
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double *S_hess; //
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double *zn; // z - algebraic variables - reported at start of simulation interval
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double *S_algebraic; // sensitivities of reported value of algebraic variables w.r.t.
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// initial stat & control (x_n,u)
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double *grad; // gradient correction
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sim_info *info;
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} sim_out;
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typedef struct
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{
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int ns; // number of integration stages
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int num_steps;
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int num_forw_sens;
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int tableau_size; // check that is consistent with ns
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// only update when butcher tableau is changed
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// kind of private -> no setter!
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double *A_mat;
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double *c_vec;
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double *b_vec;
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bool sens_forw;
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bool sens_adj;
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bool sens_hess;
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bool output_z; // 1 -- if zn should be computed
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bool sens_algebraic; // 1 -- if S_algebraic should be computed
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bool exact_z_output; // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
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sim_collocation_type collocation_type;
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// for explicit integrators: newton_iter == 0 && scheme == NULL
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// && jac_reuse=false
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int newton_iter;
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bool jac_reuse;
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// Newton_scheme *scheme;
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double newton_tol; // optinally used in implicit integrators
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// workspace
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void *work;
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} sim_opts;
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typedef struct
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{
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int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
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int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
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// opts
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acados_size_t (*opts_calculate_size)(void *config_, void *dims);
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void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
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void (*opts_initialize_default)(void *config_, void *dims, void *opts);
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void (*opts_update)(void *config_, void *dims, void *opts);
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void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
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void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
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// mem
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acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
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void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
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int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
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int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
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void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
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// work
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acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
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// model
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acados_size_t (*model_calculate_size)(void *config, void *dims);
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void *(*model_assign)(void *config, void *dims, void *raw_memory);
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int (*model_set)(void *model, const char *field, void *value);
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// config
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void (*config_initialize_default)(void *config);
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// dims
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acados_size_t (*dims_calculate_size)();
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void *(*dims_assign)(void *config, void *raw_memory);
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void (*dims_set)(void *config, void *dims, const char *field, const int *value);
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void (*dims_get)(void *config, void *dims, const char *field, int *value);
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} sim_config;
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/* config */
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//
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acados_size_t sim_config_calculate_size();
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//
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sim_config *sim_config_assign(void *raw_memory);
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/* in */
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//
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acados_size_t sim_in_calculate_size(void *config, void *dims);
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//
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sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
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//
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int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
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/* out */
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//
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acados_size_t sim_out_calculate_size(void *config, void *dims);
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//
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sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
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//
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int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
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/* opts */
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//
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void sim_opts_set_(sim_opts *opts, const char *field, void *value);
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//
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void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
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#endif // ACADOS_SIM_SIM_COMMON_H_
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