diff --git a/.gitignore b/.gitignore index 85f668e..cbef308 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,4 @@ a.out **/*.gch # lib/math/Eigen +build/ diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..b175078 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,185 @@ +# Copyright 2021 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cmake_minimum_required(VERSION 3.16) + +# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled. +set(CMAKE_POLICY_DEFAULT_CMP0069 NEW) +# Default to GLVND if available. +set(CMAKE_POLICY_DEFAULT_CMP0072 NEW) + +# This line has to appear before 'PROJECT' in order to be able to disable incremental linking +set(MSVC_INCREMENTAL_DEFAULT ON) +include(FetchContent) + +project( + astra-mjc-sim + VERSION 0.1.0 + DESCRIPTION "Mujoco simulation of ASTRA rocket lander" + HOMEPAGE_URL "https://github.com/activecontrols/ASTRAFlightSoftware" +) + +enable_language(C) +enable_language(CXX) +if(APPLE) + enable_language(OBJC) + enable_language(OBJCXX) +endif() +if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin" AND ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "arm64") + message(STATUS "Apple Silicon detected: Configuring build for arm64") + set(ARM64 TRUE) +else() + set(ARM64 FALSE) +endif() + +# Check if we are building as standalone project. +set(SAMPLE_STANDALONE ON) +set(_INSTALL_SAMPLES ON) +if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR) + set(SAMPLE_STANDALONE ON) + # If standalone, do not install the samples. + set(_INSTALL_SAMPLES OFF) +endif() + +list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake") + +if(SAMPLE_STANDALONE) + include(SampleOptions) +else() + enforce_mujoco_macosx_min_version() +endif() +include(SampleDependencies) + +set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}") +set(MUJOCO_SAMPLE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}") + +if(MUJOCO_HARDEN) + if(WIN32) + set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,/DYNAMICBASE) + else() + set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${MUJOCO_SAMPLE_COMPILE_OPTIONS}" -fPIE) + if(APPLE) + set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,-pie) + else() + set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -pie) + endif() + endif() +endif() + +set(OSQP_EMBEDDED_MODE "1") + +# Build samples that require GLFW. +# Tell the compiler this is a mujoco project +file(GLOB MPC_SOURCE "lib/controller/mpc/src/*.c") +file(GLOB SOLVER_SOURCE "lib/controller/mpc/solver_code/src/*.c" "lib/controller/mpc/solver_code/workspace.c") +add_compile_definitions(IS_MUJOCO) +add_executable(main-mujoco + ${MPC_SOURCE} + ${SOLVER_SOURCE} + lib/flightmodule/Scheduler.cpp + lib/flightmodule/Router.cpp + lib/IMU/src/MujocoIMU.cpp + lib/gps/MujocoGPS.cpp + lib/motor/MujocoMotor.cpp + lib/estimator/MEKF.cpp + lib/estimator/MEKFEstimatorModule.cpp + lib/math/MathFunctions.cpp + # lib/comms/Comms.cpp + lib/controller/ControllerModule.cpp + src/main_mujoco.cpp +) + +target_include_directories(main-mujoco PUBLIC include) +target_include_directories(main-mujoco PUBLIC lib/error) +target_include_directories(main-mujoco PUBLIC lib/math) +target_include_directories(main-mujoco PUBLIC lib/gps) +target_include_directories(main-mujoco PUBLIC lib/IMU/include) +target_include_directories(main-mujoco PUBLIC lib/IMU/src) +target_include_directories(main-mujoco PUBLIC lib/math) +target_include_directories(main-mujoco PUBLIC lib/estimator) +target_include_directories(main-mujoco PUBLIC lib/comms) +target_include_directories(main-mujoco PUBLIC lib/motor) +target_include_directories(main-mujoco PUBLIC lib/controller/mpc/include) +target_include_directories(main-mujoco PUBLIC lib/controller/mpc/solver_code/inc/public) +target_include_directories(main-mujoco PUBLIC lib/controller/mpc/solver_code/inc/private) +target_include_directories(main-mujoco PUBLIC lib/controller/mpc/solver_code/) +target_include_directories(main-mujoco PUBLIC lib/controller) +target_include_directories(main-mujoco PUBLIC lib/flightmodule) + +target_compile_options(main-mujoco PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS} -Wno-logical-op-parentheses -Wno-unused-function -Wno-strict-prototypes) +target_link_libraries( + main-mujoco + mujoco::mujoco + glfw + Threads::Threads +) +target_link_options(main-mujoco PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS}) + +if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS) + embed_in_bundle(main-mujoco simulate) +endif() + +# Do not install if macOS Bundles are created as RPATH is managed manually there. +if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS) + set(_INSTALL_SAMPLES OFF) +endif() + +# if(_INSTALL_SAMPLES) +# +# include(TargetAddRpath) +# +# # Add support to RPATH for the samples. +# target_add_rpath( +# TARGETS +# basic +# compile +# record +# testspeed +# INSTALL_DIRECTORY +# "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}" +# LIB_DIRS +# "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}" +# DEPENDS +# MUJOCO_ENABLE_RPATH +# ) +# +# install( +# TARGETS basic +# compile +# record +# testspeed +# EXPORT ${PROJECT_NAME} +# RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples +# LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples +# ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples +# BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples +# PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples +# ) +# +# if(NOT MUJOCO_SAMPLES_USE_SYSTEM_GLFW) +# # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might +# # need to install it. +# get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE) +# if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY) +# install( +# TARGETS glfw +# EXPORT ${PROJECT_NAME} +# RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples +# LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples +# ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples +# PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples +# ) +# endif() +# endif() +# endif() diff --git a/cmake/CMakeCache.txt b/cmake/CMakeCache.txt new file mode 100644 index 0000000..7bdaed0 --- /dev/null +++ b/cmake/CMakeCache.txt @@ -0,0 +1,1137 @@ +# This is the CMakeCache file. +# For build in directory: /Users/bbworld/git/psp/ASTRAFlightSoftware/cmake +# It was generated by CMake: /opt/homebrew/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build the documentation +BUILD_DOCUMENTATION:BOOL=OFF + +//Build SHARED libraries +BUILD_SHARED_LIBS:BOOL=ON + +//Build static libraries +BUILD_STATIC_LIBS:BOOL=ON + +//Build the testing tree. +BUILD_TESTING:BOOL=ON + +//Use libc++ for clang compilation +CLANG_USE_LIBCPP:BOOL=OFF + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=CMAKE_ADDR2LINE-NOTFOUND + +//Path to a program. +CMAKE_AR:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar + +//Choose the type of build, recommanded options are: Debug or Release +CMAKE_BUILD_TYPE:STRING=Release + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc + +//Flags used by the C compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the C compiler during DEBUG builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the C compiler during MINSIZEREL builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the C compiler during RELEASE builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the C compiler during RELWITHDEBINFO builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND + +//Flags used by the linker during all build types. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. 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+CMAKE_INSTALL_MANDIR:PATH= + +//Path to a program. +CMAKE_INSTALL_NAME_TOOL:FILEPATH=/opt/homebrew/anaconda3/bin/install_name_tool + +//C header files for non-gcc (/usr/include) +CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/usr/local + +//Run-time variable data (LOCALSTATEDIR/run) +CMAKE_INSTALL_RUNSTATEDIR:PATH= + +//System admin executables (sbin) +CMAKE_INSTALL_SBINDIR:PATH=sbin + +//Modifiable architecture-independent data (com) +CMAKE_INSTALL_SHAREDSTATEDIR:PATH=com + +//Read-only single-machine data (etc) +CMAKE_INSTALL_SYSCONFDIR:PATH=etc + +//Path to a program. +CMAKE_LINKER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of modules during +// MINSIZEREL builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of modules during +// RELEASE builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=CMAKE_OBJCOPY-NOTFOUND + +//OBJCXX compiler +CMAKE_OBJCXX_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ + +//Flags used by the Objective-C++ compiler during all build types. +CMAKE_OBJCXX_FLAGS:STRING= + +//Flags used by the Objective-C++ compiler during DEBUG builds. +CMAKE_OBJCXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the Objective-C++ compiler during MINSIZEREL builds. +CMAKE_OBJCXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the Objective-C++ compiler during RELEASE builds. +CMAKE_OBJCXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the Objective-C++ compiler during RELWITHDEBINFO +// builds. +CMAKE_OBJCXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//OBJC compiler +CMAKE_OBJC_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc + +//Flags used by the Objective-C compiler during all build types. +CMAKE_OBJC_FLAGS:STRING= + +//Flags used by the Objective-C compiler during DEBUG builds. +CMAKE_OBJC_FLAGS_DEBUG:STRING=-g + +//Flags used by the Objective-C compiler during MINSIZEREL builds. +CMAKE_OBJC_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the Objective-C compiler during RELEASE builds. +CMAKE_OBJC_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the Objective-C compiler during RELWITHDEBINFO +// builds. +CMAKE_OBJC_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump + +//Build architectures for OSX +CMAKE_OSX_ARCHITECTURES:STRING= + +//Minimum OS X version to target for deployment (at runtime); newer +// APIs weak linked. Set to empty string for default value. +CMAKE_OSX_DEPLOYMENT_TARGET:STRING= + +//The product will be built against the headers and libraries located +// inside the indicated SDK. +CMAKE_OSX_SYSROOT:PATH=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.2.sdk + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC=Mujoco simulation of ASTRA rocket lander + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC=https://github.com/activecontrols/ASTRAFlightSoftware + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=astra-mjc-sim + +//Value Computed by CMake +CMAKE_PROJECT_VERSION:STATIC=0.1.0 + +//Value Computed by CMake +CMAKE_PROJECT_VERSION_MAJOR:STATIC=0 + +//Value Computed by CMake +CMAKE_PROJECT_VERSION_MINOR:STATIC=1 + +//Value Computed by CMake +CMAKE_PROJECT_VERSION_PATCH:STATIC=0 + +//Value Computed by CMake +CMAKE_PROJECT_VERSION_TWEAK:STATIC= + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=CMAKE_READELF-NOTFOUND + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/strip + +//Path to a program. +CMAKE_TAPI:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/tapi + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to the coverage program that CTest uses for performing coverage +// inspection +COVERAGE_COMMAND:FILEPATH=/usr/bin/gcov + +//Extra command line flags to pass to the coverage tool +COVERAGE_EXTRA_FLAGS:STRING=-l + +//How many times to retry timed-out CTest submissions. +CTEST_SUBMIT_RETRY_COUNT:STRING=3 + +//How long to wait between timed-out CTest submissions. +CTEST_SUBMIT_RETRY_DELAY:STRING=5 + +//Maximum time allowed before CTest will kill the test. +DART_TESTING_TIMEOUT:STRING=1500 + +//Directory under which to collect all populated content +FETCHCONTENT_BASE_DIR:PATH=/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps + +//Disables all attempts to download or update content and assumes +// source dirs already exist +FETCHCONTENT_FULLY_DISCONNECTED:BOOL=OFF + +//Enables QUIET option for all content population +FETCHCONTENT_QUIET:BOOL=ON + +//When not empty, overrides where to find pre-populated content +// for ccd +FETCHCONTENT_SOURCE_DIR_CCD:PATH= + +//When not empty, overrides where to find pre-populated content +// for cereal_lib +FETCHCONTENT_SOURCE_DIR_CEREAL_LIB:PATH= + +//When not empty, overrides where to find pre-populated content +// for glfw3 +FETCHCONTENT_SOURCE_DIR_GLFW3:PATH= + +//When not empty, overrides where to find pre-populated content +// for glm_lib +FETCHCONTENT_SOURCE_DIR_GLM_LIB:PATH= + +//When not empty, overrides where to find pre-populated content +// for lodepng +FETCHCONTENT_SOURCE_DIR_LODEPNG:PATH= + +//When not empty, overrides where to find pre-populated content +// for marchingcubecpp +FETCHCONTENT_SOURCE_DIR_MARCHINGCUBECPP:PATH= + +//When not empty, overrides where to find pre-populated content +// for mujoco +FETCHCONTENT_SOURCE_DIR_MUJOCO:PATH= + +//When not empty, overrides where to find pre-populated content +// for qhull +FETCHCONTENT_SOURCE_DIR_QHULL:PATH= + +//When not empty, overrides where to find pre-populated content +// for sdflib +FETCHCONTENT_SOURCE_DIR_SDFLIB:PATH= + +//When not empty, overrides where to find pre-populated content +// for spdlog_lib +FETCHCONTENT_SOURCE_DIR_SPDLOG_LIB:PATH= + +//When not empty, overrides where to find pre-populated content +// for tinyobjloader +FETCHCONTENT_SOURCE_DIR_TINYOBJLOADER:PATH= + +//When not empty, overrides where to find pre-populated content +// for tinyxml2 +FETCHCONTENT_SOURCE_DIR_TINYXML2:PATH= + +//Enables UPDATE_DISCONNECTED behavior for all content population +FETCHCONTENT_UPDATES_DISCONNECTED:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of ccd +FETCHCONTENT_UPDATES_DISCONNECTED_CCD:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of cereal_lib +FETCHCONTENT_UPDATES_DISCONNECTED_CEREAL_LIB:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of glfw3 +FETCHCONTENT_UPDATES_DISCONNECTED_GLFW3:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of glm_lib +FETCHCONTENT_UPDATES_DISCONNECTED_GLM_LIB:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of lodepng +FETCHCONTENT_UPDATES_DISCONNECTED_LODEPNG:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of marchingcubecpp +FETCHCONTENT_UPDATES_DISCONNECTED_MARCHINGCUBECPP:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of mujoco +FETCHCONTENT_UPDATES_DISCONNECTED_MUJOCO:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of qhull +FETCHCONTENT_UPDATES_DISCONNECTED_QHULL:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of sdflib +FETCHCONTENT_UPDATES_DISCONNECTED_SDFLIB:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of spdlog_lib +FETCHCONTENT_UPDATES_DISCONNECTED_SPDLOG_LIB:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of tinyobjloader +FETCHCONTENT_UPDATES_DISCONNECTED_TINYOBJLOADER:BOOL=OFF + +//Enables UPDATE_DISCONNECTED behavior just for population of tinyxml2 +FETCHCONTENT_UPDATES_DISCONNECTED_TINYXML2:BOOL=OFF + +//Path to a program. +GITCOMMAND:FILEPATH=/usr/bin/git + +//Git command line client +GIT_EXECUTABLE:FILEPATH=/usr/bin/git + +//Value Computed by CMake +GLFW_BINARY_DIR:STATIC=/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/glfw3-build + +//Value Computed by CMake +GLFW_IS_TOP_LEVEL:STATIC=OFF + +//Value Computed by CMake +GLFW_SOURCE_DIR:STATIC=/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/glfw3-src + +//Use OSMesa for offscreen context creation +GLFW_USE_OSMESA:BOOL=OFF + +//Assume the Vulkan loader is linked with the application +GLFW_VULKAN_STATIC:BOOL=OFF + +//GLM static library +GLM_DYNAMIC_LIBRARY_ENABLE:BOOL=OFF + +//GLM static library +GLM_STATIC_LIBRARY_ENABLE:BOOL=OFF + +//GLM test +GLM_TEST_ENABLE:BOOL=OFF + +//Enable C++ 0x +GLM_TEST_ENABLE_CXX_0X:BOOL=OFF + +//Enable C++ 11 +GLM_TEST_ENABLE_CXX_11:BOOL=OFF + +//Enable C++ 14 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hand-written AVX intrinsics, if possible. +MUJOCO_ENABLE_AVX_INTRINSICS:BOOL=ON + +//Enable RPath support when installing Mujoco. +MUJOCO_ENABLE_RPATH:BOOL=ON + +//Link MuJoCo sample apps and simulate libraries against GLFW statically. +MUJOCO_EXTRAS_STATIC_GLFW:BOOL=ON + +//Enable build hardening for MuJoCo. +MUJOCO_HARDEN:BOOL=OFF + +//Use installed GLFW version. +MUJOCO_SAMPLES_USE_SYSTEM_GLFW:BOOL=OFF + +//Use installed MuJoCo version. +MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO:BOOL=ON + +//Use installed GLFW version. +MUJOCO_SIMULATE_USE_SYSTEM_GLFW:BOOL=OFF + +//Use installed MuJoCo version. +MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO:BOOL=OFF + +//Build executables for using the library +SDFLIB_BUILD_APPS:BOOL=OFF + +//Build executables for debugging purposes +SDFLIB_BUILD_DEBUG_APPS:BOOL=OFF + +//Print debug information +SDFLIB_DEBUG_INFO:BOOL=OFF + +//Use assimp library for importing models +SDFLIB_USE_ASSIMP:BOOL=OFF + +//Use Enoki for some optimizations +SDFLIB_USE_ENOKI:BOOL=OFF + +//Use 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DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) && defined(__ti__) +# define COMPILER_ID "TIClang" + # define COMPILER_VERSION_MAJOR DEC(__ti_major__) + # define COMPILER_VERSION_MINOR DEC(__ti_minor__) + # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__) +# define COMPILER_VERSION_INTERNAL DEC(__ti_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__clang__) && defined(__ti__) +# if defined(__ARM_ARCH) +# define ARCHITECTURE_ID "ARM" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#define C_STD_99 199901L +#define C_STD_11 201112L +#define C_STD_17 201710L +#define C_STD_23 202311L + +#ifdef __STDC_VERSION__ +# define C_STD __STDC_VERSION__ +#endif + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif C_STD > C_STD_17 +# define C_VERSION "23" +#elif C_STD > C_STD_11 +# define C_VERSION "17" +#elif C_STD > C_STD_99 +# define C_VERSION "11" +#elif C_STD >= C_STD_99 +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/cmake/CMakeFiles/3.31.6/CompilerIdC/CMakeCCompilerId.o b/cmake/CMakeFiles/3.31.6/CompilerIdC/CMakeCCompilerId.o new file mode 100644 index 0000000..21c6d9f Binary files /dev/null and b/cmake/CMakeFiles/3.31.6/CompilerIdC/CMakeCCompilerId.o differ diff --git a/cmake/CMakeFiles/3.31.6/CompilerIdCXX/CMakeCXXCompilerId.cpp b/cmake/CMakeFiles/3.31.6/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..3b6e114 --- /dev/null +++ b/cmake/CMakeFiles/3.31.6/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,919 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) && defined(__ti__) +# define COMPILER_ID "TIClang" + # define COMPILER_VERSION_MAJOR DEC(__ti_major__) + # define COMPILER_VERSION_MINOR DEC(__ti_minor__) + # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__) +# define COMPILER_VERSION_INTERNAL DEC(__ti_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__clang__) && defined(__ti__) +# if defined(__ARM_ARCH) +# define ARCHITECTURE_ID "ARM" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#define CXX_STD_98 199711L +#define CXX_STD_11 201103L +#define CXX_STD_14 201402L +#define CXX_STD_17 201703L +#define CXX_STD_20 202002L +#define CXX_STD_23 202302L + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) +# if _MSVC_LANG > CXX_STD_17 +# define CXX_STD _MSVC_LANG +# elif _MSVC_LANG == CXX_STD_17 && defined(__cpp_aggregate_paren_init) +# define CXX_STD CXX_STD_20 +# elif _MSVC_LANG > CXX_STD_14 && __cplusplus > CXX_STD_17 +# define CXX_STD CXX_STD_20 +# elif _MSVC_LANG > CXX_STD_14 +# define CXX_STD CXX_STD_17 +# elif defined(__INTEL_CXX11_MODE__) && defined(__cpp_aggregate_nsdmi) +# define CXX_STD CXX_STD_14 +# elif defined(__INTEL_CXX11_MODE__) +# define CXX_STD CXX_STD_11 +# else +# define CXX_STD CXX_STD_98 +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# if _MSVC_LANG > __cplusplus +# define CXX_STD _MSVC_LANG +# else +# define CXX_STD __cplusplus +# endif +#elif defined(__NVCOMPILER) +# if __cplusplus == CXX_STD_17 && defined(__cpp_aggregate_paren_init) +# define CXX_STD CXX_STD_20 +# else +# define CXX_STD __cplusplus +# endif +#elif defined(__INTEL_COMPILER) || defined(__PGI) +# if __cplusplus == CXX_STD_11 && defined(__cpp_namespace_attributes) +# define CXX_STD CXX_STD_17 +# elif __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi) +# define CXX_STD CXX_STD_14 +# else +# define CXX_STD __cplusplus +# endif +#elif (defined(__IBMCPP__) || defined(__ibmxl__)) && defined(__linux__) +# if __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi) +# define CXX_STD CXX_STD_14 +# else +# define CXX_STD __cplusplus +# endif +#elif __cplusplus == 1 && defined(__GXX_EXPERIMENTAL_CXX0X__) +# define CXX_STD CXX_STD_11 +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > CXX_STD_23 + "26" +#elif CXX_STD > CXX_STD_20 + "23" +#elif CXX_STD > CXX_STD_17 + "20" +#elif CXX_STD > CXX_STD_14 + "17" +#elif CXX_STD > CXX_STD_11 + "14" +#elif CXX_STD >= CXX_STD_11 + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} diff --git a/cmake/CMakeFiles/3.31.6/CompilerIdCXX/CMakeCXXCompilerId.o b/cmake/CMakeFiles/3.31.6/CompilerIdCXX/CMakeCXXCompilerId.o new file mode 100644 index 0000000..e959c6c Binary files /dev/null and b/cmake/CMakeFiles/3.31.6/CompilerIdCXX/CMakeCXXCompilerId.o differ diff --git a/cmake/CMakeFiles/3.31.6/CompilerIdOBJC/CMakeOBJCCompilerId.m b/cmake/CMakeFiles/3.31.6/CompilerIdOBJC/CMakeOBJCCompilerId.m new file mode 100644 index 0000000..67acb2a --- /dev/null +++ b/cmake/CMakeFiles/3.31.6/CompilerIdOBJC/CMakeOBJCCompilerId.m @@ -0,0 +1,853 @@ +#ifdef __cplusplus +# error "An Objective-C++ compiler has been selected for Objective-C." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) && defined(__ti__) +# define COMPILER_ID "TIClang" + # define COMPILER_VERSION_MAJOR DEC(__ti_major__) + # define COMPILER_VERSION_MINOR DEC(__ti_minor__) + # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__) +# define COMPILER_VERSION_INTERNAL DEC(__ti_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__clang__) && defined(__ti__) +# if defined(__ARM_ARCH) +# define ARCHITECTURE_ID "ARM" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#define C_STD_99 199901L +#define C_STD_11 201112L +#define C_STD_17 201710L +#define C_STD_23 202311L + +#ifdef __STDC_VERSION__ +# define C_STD __STDC_VERSION__ +#endif + +#if !defined(__STDC__) +# if defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif C_STD > C_STD_17 +# define C_VERSION "23" +#elif C_STD > C_STD_11 +# define C_VERSION "17" +#elif C_STD > C_STD_99 +# define C_VERSION "11" +#elif C_STD >= C_STD_99 +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__)) && !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} diff --git a/cmake/CMakeFiles/3.31.6/CompilerIdOBJC/CMakeOBJCCompilerId.o b/cmake/CMakeFiles/3.31.6/CompilerIdOBJC/CMakeOBJCCompilerId.o new file mode 100644 index 0000000..64ecd19 Binary files /dev/null and b/cmake/CMakeFiles/3.31.6/CompilerIdOBJC/CMakeOBJCCompilerId.o differ diff --git a/cmake/CMakeFiles/3.31.6/CompilerIdOBJCXX/CMakeOBJCXXCompilerId.mm b/cmake/CMakeFiles/3.31.6/CompilerIdOBJCXX/CMakeOBJCXXCompilerId.mm new file mode 100644 index 0000000..a13ff27 --- /dev/null +++ b/cmake/CMakeFiles/3.31.6/CompilerIdOBJCXX/CMakeOBJCXXCompilerId.mm @@ -0,0 +1,853 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "An Objective-C compiler has been selected for Objective-C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) && defined(__ti__) +# define COMPILER_ID "TIClang" + # define COMPILER_VERSION_MAJOR DEC(__ti_major__) + # define COMPILER_VERSION_MINOR DEC(__ti_minor__) + # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__) +# define COMPILER_VERSION_INTERNAL DEC(__ti_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__clang__) && defined(__ti__) +# if defined(__ARM_ARCH) +# define ARCHITECTURE_ID "ARM" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; 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:: "a"(__eax)); + | ^ + In file included from /Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/CMakeFiles/CMakeScratch/TryCompile-8vcmE2/src.c:2: + In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/immintrin.h:21: + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:14:2: error: "This header is only meant to be used on x86 and x64 architecture" + 14 | #error "This header is only meant to be used on x86 and x64 architecture" + | ^ + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:54:12: error: invalid conversion between vector type '__m64' (vector of 1 'long long' value) and integer type 'int' of different size + 54 | return (__m64)__builtin_ia32_vec_init_v2si(__i, 0); + | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + 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type 'int' of different size + 193 | return (__m64)__builtin_ia32_packuswb((__v4hi)__m1, (__v4hi)__m2); + | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:220:12: error: invalid conversion between vector type '__m64' (vector of 1 'long long' value) and integer type 'int' of different size + 220 | return (__m64)__builtin_ia32_punpckhbw((__v8qi)__m1, (__v8qi)__m2); + | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:243:12: error: invalid conversion between vector type '__m64' (vector of 1 'long long' value) and integer type 'int' of different size + 243 | return (__m64)__builtin_ia32_punpckhwd((__v4hi)__m1, (__v4hi)__m2); + | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:264:12: error: invalid conversion between vector type '__m64' (vector of 1 'long long' value) and integer type 'int' of different size + 264 | return (__m64)__builtin_ia32_punpckhdq((__v2si)__m1, (__v2si)__m2); + | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:291:12: error: invalid conversion between vector type '__m64' (vector of 1 'long long' value) and integer type 'int' of different size + 291 | return (__m64)__builtin_ia32_punpcklbw((__v8qi)__m1, (__v8qi)__m2); + | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/16/include/mmintrin.h:314:12: error: invalid conversion between vector type '__m64' (vector of 1 'long long' value) and 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"/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/*.png") +set(OLD_GLOB + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/10_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/10_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/10_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/10_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/2_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/2_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/2_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/2_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/3_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/3_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/3_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/3_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/4_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/4_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/4_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/4_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/5_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/5_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/5_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/5_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/6_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/6_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/6_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/6_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/7_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/7_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/7_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/7_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/8_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/8_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/8_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/8_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/9_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/9_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/9_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/9_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/ace_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/ace_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/ace_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/ace_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/black_joker.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/jack_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/jack_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/jack_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/jack_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/king_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/king_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/king_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/king_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/queen_of_clubs.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/queen_of_diamonds.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/queen_of_hearts.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/queen_of_spades.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/assets/red_joker.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_orange.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_orange_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_orange_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_red.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_red_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_red_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/blue_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_orange.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_orange_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_orange_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_red.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_red_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_red_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/green_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/orange.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/orange_red.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/orange_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/orange_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/red.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/red_white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/red_yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/white.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/assets/yellow.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/asset/sponge.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/humanoid/humanoid.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/mug/mug.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/asset/spot.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sensor/a.png" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/replicate/asset/marble.png" + ) +if(NOT "${NEW_GLOB}" STREQUAL "${OLD_GLOB}") + message("-- GLOB mismatch!") + file(TOUCH_NOCREATE "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/CMakeFiles/cmake.verify_globs") +endif() + +# MUJOCO_MODELS at cmake/_deps/mujoco-src/model/CMakeLists.txt:17 (file) +file(GLOB_RECURSE NEW_GLOB LIST_DIRECTORIES false "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/*.xml") +set(OLD_GLOB + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/adhesion/active_adhesion.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/balloons/balloons.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/car/car.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cards/cards.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/cube/cube_3x3x3.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/bunny.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/bunny_with_uv.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/floppy.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/gripper.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/gripper_trilinear.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/jelly.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/press.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/pulley.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/scene.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/softbox.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/sphere_full.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/sphere_radial.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/sphere_trilinear.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/trampoline.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/flex/trilinear.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/hammock/hammock.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/humanoid/100_humanoids.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/humanoid/22_humanoids.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/humanoid/humanoid.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/humanoid/humanoid100.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/mug/mug.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/actuator/pid.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/belt.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/cable.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/coil.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/flag_flex.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/mannequin.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/pancake_flex.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/plate_flex.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/poncho_flex.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/elasticity/scene.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/bowl.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/cow.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/gear.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/mug.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/nutbolt.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/primitives.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/scene.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sdf/torus.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/plugin/sensor/touch_grid.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/replicate/bowl.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/replicate/bunnies.xml" + "/Users/bbworld/git/psp/ASTRAFlightSoftware/cmake/_deps/mujoco-src/model/replicate/container.xml" + 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permissions and +# limitations under the License. + +include(CheckCSourceCompiles) + +# Assigns compiler options to the given variable based on availability of AVX. +function(get_avx_compile_options OUTPUT_VAR) + message(VERBOSE "Checking if AVX is available...") + + if(MSVC) + set(CMAKE_REQUIRED_FLAGS "/arch:AVX") + elseif(WIN32) + # Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows. + set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul") + else() + set(CMAKE_REQUIRED_FLAGS "-mavx") + endif() + + if(APPLE AND "x86_64" IN_LIST CMAKE_OSX_ARCHITECTURES) + message(STATUS "Building x86_64 on macOS, forcing CAN_BUILD_AVX to TRUE.") + set(CAN_BUILD_AVX TRUE) + else() + check_c_source_compiles( + " + #include + int main(int argc, char* argv[]) { + __m256d ymm; + return 0; + } + " + CAN_BUILD_AVX + ) + endif() + + if(CAN_BUILD_AVX) + message(VERBOSE "Checking if AVX is available... 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Note that +# FetchContent variables will override this behaviour. +# - ``PACKAGE_NAME`` name of the system-package. Ignored if +# ``USE_SYSTEM_PACKAGE`` is ``OFF``. +# - ``LIBRARY_NAME`` name of the library. Ignored if +# ``USE_SYSTEM_PACKAGE`` is ``ON``. +# - ``GIT_REPO`` git repository to fetch the library from. Ignored if +# ``USE_SYSTEM_PACKAGE`` is ``ON``. +# - ``GIT_TAG`` tag reference when fetching the library from the git +# repository. Ignored if ``USE_SYSTEM_PACKAGE`` is ``ON``. +# - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an +# update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add +# for details on the parameter. +# - ``TARGETS`` list of targets to be satisfied. 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OFF) +if(MUJOCO_HARDEN + AND NOT + CMAKE_CXX_COMPILER_ID + MATCHES + ".*Clang.*" +) + message(FATAL_ERROR "MUJOCO_HARDEN is only supported when building with Clang") +endif() + +if(MUJOCO_HARDEN) + set(MUJOCO_HARDEN_COMPILE_OPTIONS -D_FORTIFY_SOURCE=2 -fstack-protector) + if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") + set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-bind_at_load) + elseif(${CMAKE_SYSTEM_NAME} MATCHES "Linux") + set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-z,relro -Wl,-z,now) + endif() +else() + set(MUJOCO_HARDEN_COMPILE_OPTIONS "") + set(MUJOCO_HARDEN_LINK_OPTIONS "") +endif() diff --git a/cmake/MujocoLinkOptions.cmake b/cmake/MujocoLinkOptions.cmake new file mode 100644 index 0000000..65b59ba --- /dev/null +++ b/cmake/MujocoLinkOptions.cmake @@ -0,0 +1,67 @@ +# Copyright 2021 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +include(CheckCSourceCompiles) + +# Gets the appropriate linker options for building MuJoCo, based on features available on the +# linker. +function(get_mujoco_extra_link_options OUTPUT_VAR) + if(MSVC) + set(EXTRA_LINK_OPTIONS /OPT:REF /OPT:ICF=5) + else() + set(EXTRA_LINK_OPTIONS) + + if(WIN32) + set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link") + check_c_source_compiles("int main() {}" SUPPORTS_LLD) + if(SUPPORTS_LLD) + set(EXTRA_LINK_OPTIONS + ${EXTRA_LINK_OPTIONS} + -fuse-ld=lld-link + -Wl,/OPT:REF + -Wl,/OPT:ICF + ) + endif() + else() + set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld") + check_c_source_compiles("int main() {}" SUPPORTS_LLD) + if(SUPPORTS_LLD) + set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld) + else() + set(CMAKE_REQUIRED_FLAGS "-fuse-ld=gold") + check_c_source_compiles("int main() {}" SUPPORTS_GOLD) + if(SUPPORTS_GOLD) + set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=gold) + endif() + endif() + + # set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,--gc-sections") + # check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS) + if(FALSE) + set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections) + else() + set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,-dead_strip") + check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP) + if(SUPPORTS_DEAD_STRIP) + set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip) + endif() + endif() + endif() + endif() + + set("${OUTPUT_VAR}" + ${EXTRA_LINK_OPTIONS} + PARENT_SCOPE + ) +endfunction() diff --git a/cmake/MujocoMacOS.cmake b/cmake/MujocoMacOS.cmake new file mode 100644 index 0000000..302300a --- /dev/null +++ b/cmake/MujocoMacOS.cmake @@ -0,0 +1,41 @@ +# Copyright 2022 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +if(APPLE) + # Target the oldest version of macOS that is still supported by Apple. + # We follow https://endoflife.date/macos, which considers a version to become + # unsupported the first time it is excluded from a macOS security update + # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602). + set(MUJOCO_MACOSX_VERSION_MIN 11) + + # We are setting the -mmacosx-version-min compiler flag directly rather than using the + # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK, + # and also we only want to apply the version restriction locally. + set(MUJOCO_MACOS_COMPILE_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN} + -Werror=partial-availability -Werror=unguarded-availability + ) + set(MUJOCO_MACOS_LINK_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN} + -Wl# -no_weak_imports + ) +else() + set(MUJOCO_MACOS_COMPILE_OPTIONS "") + set(MUJOCO_MACOS_LINK_OPTIONS "") +endif() + +function(enforce_mujoco_macosx_min_version) + if(APPLE) + add_compile_options(${MUJOCO_MACOS_COMPILE_OPTIONS}) + add_link_options(${MUJOCO_MACOS_LINK_OPTIONS}) + endif() +endfunction() diff --git a/cmake/SampleDependencies.cmake b/cmake/SampleDependencies.cmake new file mode 100644 index 0000000..6d0dcba --- /dev/null +++ b/cmake/SampleDependencies.cmake @@ -0,0 +1,104 @@ +# Copyright 2021 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +include(FindOrFetch) + +if(SAMPLE_STANDALONE) + # If standalone, by default look for MuJoCo binary version. + set(DEFAULT_USE_SYSTEM_MUJOCO ON) +else() + set(DEFAULT_USE_SYSTEM_MUJOCO OFF) +endif() + +option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." + ${DEFAULT_USE_SYSTEM_MUJOCO} +) +unset(DEFAULT_USE_SYSTEM_MUJOCO) + +option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF) +option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." OFF) + +set(MUJOCO_DEP_VERSION_glfw3 + 7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8 + CACHE STRING "Version of `glfw` to be fetched." +) +mark_as_advanced(MUJOCO_DEP_VERSION_glfw3) + +find_package(Threads REQUIRED) + +set(MUJOCO_BUILD_EXAMPLES OFF) +set(MUJOCO_BUILD_TESTS OFF) +set(MUJOCO_BUILD_PYTHON OFF) +set(MUJOCO_TEST_PYTHON_UTIL OFF) + +findorfetch( + USE_SYSTEM_PACKAGE + MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO + PACKAGE_NAME + mujoco + LIBRARY_NAME + mujoco + GIT_REPO + https://github.com/google-deepmind/mujoco.git + GIT_TAG + main + TARGETS + mujoco + EXCLUDE_FROM_ALL +) + +option(MUJOCO_EXTRAS_STATIC_GLFW + "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON +) +if(MUJOCO_EXTRAS_STATIC_GLFW) + set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS}) + set(BUILD_SHARED_LIBS + OFF + CACHE INTERNAL "Build SHARED libraries" + ) +endif() + +set(GLFW_BUILD_EXAMPLES OFF) +set(GLFW_BUILD_TESTS OFF) +set(GLFW_BUILD_DOCS OFF) +set(GLFW_INSTALL OFF) + +findorfetch( + USE_SYSTEM_PACKAGE + MUJOCO_SAMPLES_USE_SYSTEM_GLFW + PACKAGE_NAME + glfw3 + LIBRARY_NAME + glfw3 + GIT_REPO + https://github.com/glfw/glfw.git + GIT_TAG + ${MUJOCO_DEP_VERSION_glfw3} + TARGETS + glfw + EXCLUDE_FROM_ALL +) + +if(MUJOCO_EXTRAS_STATIC_GLFW) + set(BUILD_SHARED_LIBS + ${BUILD_SHARED_LIBS_OLD} + CACHE BOOL "Build SHARED libraries" FORCE + ) + unset(BUILD_SHARED_LIBS_OLD) +endif() + +if(NOT SAMPLE_STANDALONE) + target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS}) + target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS}) +endif() diff --git a/cmake/SampleOptions.cmake b/cmake/SampleOptions.cmake new file mode 100644 index 0000000..de146d8 --- /dev/null +++ b/cmake/SampleOptions.cmake @@ -0,0 +1,117 @@ +# Copyright 2021 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Global compilation settings +set(CMAKE_C_STANDARD 11) +set(CMAKE_C_STANDARD_REQUIRED ON) +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) +set(CMAKE_C_EXTENSIONS OFF) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling + +if(NOT CMAKE_CONFIGURATION_TYPES) + if(NOT CMAKE_BUILD_TYPE) + message(STATUS "Setting build type to 'Release' as none was specified.") + set(CMAKE_BUILD_TYPE + "Release" + CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE + ) + endif() + set(BUILD_TYPES + "Debug" + "Release" + "MinSizeRel" + "RelWithDebInfo" + ) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES}) +endif() + +include(GNUInstallDirs) + +# Change the default output directory in the build structure. This is not stricly needed, but helps +# running in Windows, such that all built executables have DLLs in the same folder as the .exe +# files. +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}") +set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}") +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}") + +set(OpenGL_GL_PREFERENCE GLVND) + +set(CMAKE_POSITION_INDEPENDENT_CODE ON) +set(CMAKE_C_VISIBILITY_PRESET hidden) +set(CMAKE_CXX_VISIBILITY_PRESET hidden) +set(CMAKE_VISIBILITY_INLINES_HIDDEN ON) + +if(MSVC) + add_compile_options(/Gy /Gw /Oi) +elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-fdata-sections -ffunction-sections) +endif() + +# We default to shared library. +set(BUILD_SHARED_LIBS + ON + CACHE BOOL "Build Mujoco as shared library." +) + +option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON) +option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON) +option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON) +mark_as_advanced(MUJOCO_ENABLE_RPATH) + +if(MUJOCO_ENABLE_AVX) + include(CheckAvxSupport) + get_avx_compile_options(AVX_COMPILE_OPTIONS) +else() + set(AVX_COMPILE_OPTIONS) +endif() + +option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF) + +# Get some extra link options. +include(MujocoLinkOptions) +get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS) + +if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC)) + set(EXTRA_COMPILE_OPTIONS + -Werror + -Wall + -Wpedantic + -Wimplicit-fallthrough + -Wunused + -Wvla + -Wno-int-in-bool-context + -Wno-sign-compare + -Wno-unknown-pragmas + ) + if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") + # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__. + set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5 + -Wno-maybe-uninitialized + ) + endif() +endif() + +if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug")) + set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON) +endif() + +include(MujocoHarden) +set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS}) +set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS}) + +if(WIN32) + add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE) +endif() diff --git a/cmake/ccd-targets.cmake b/cmake/ccd-targets.cmake new file mode 100644 index 0000000..e3ba28d --- /dev/null +++ b/cmake/ccd-targets.cmake @@ -0,0 +1,69 @@ +# Generated by CMake + +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8) + message(FATAL_ERROR "CMake >= 2.8.3 required") +endif() +if(CMAKE_VERSION VERSION_LESS "2.8.3") + message(FATAL_ERROR "CMake >= 2.8.3 required") +endif() +cmake_policy(PUSH) +cmake_policy(VERSION 2.8.3...3.29) +#---------------------------------------------------------------- +# Generated CMake target import file. 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new file mode 100644 index 0000000..fb78ab2 Binary files /dev/null and b/cmake/lib/libtinyxml2.a differ diff --git a/lib/ESC/ESC.cpp b/lib/ESC/ESC.cpp index a3a4a7e..ecf14a8 100644 --- a/lib/ESC/ESC.cpp +++ b/lib/ESC/ESC.cpp @@ -2,7 +2,7 @@ #include "ESC.h" //#include -#include +#include #include #include diff --git a/lib/ESC/ESC.h b/lib/ESC/ESC.h index 59215fa..0ce15d4 100644 --- a/lib/ESC/ESC.h +++ b/lib/ESC/ESC.h @@ -2,7 +2,7 @@ #define ESC_H -#include +#include #include class ESC { diff --git a/lib/IMU/src/FakeIMU.cpp b/lib/IMU/src/FakeIMU.cpp index adbefe7..6d77a99 100644 --- a/lib/IMU/src/FakeIMU.cpp +++ b/lib/IMU/src/FakeIMU.cpp @@ -1,6 +1,6 @@ #ifndef IS_ARDUINO #include "FakeIMU.h" -#include "Error.h" +#include "ASTRAError.h" #include #include diff --git a/lib/IMU/src/IMU.cpp b/lib/IMU/src/IMU.cpp index 334f9b9..ab7f92e 100644 --- a/lib/IMU/src/IMU.cpp +++ b/lib/IMU/src/IMU.cpp @@ -1,5 +1,5 @@ #include -#include +#include #include "IMU.h" #include "LSM6DS_LIS3MDL.h" diff --git a/lib/IMU/src/MujocoIMU.cpp b/lib/IMU/src/MujocoIMU.cpp new file mode 100644 index 0000000..8d20bc9 --- /dev/null +++ b/lib/IMU/src/MujocoIMU.cpp @@ -0,0 +1,49 @@ +#if IS_MUJOCO +#include "MujocoIMU.h" +#include "ASTRAError.h" +#include +#include + +#include +#include "VEigen.h" + +#define NOISE_COEFF 0.1 +#define SENSORS_RADS_TO_DPS 57.2957795 + +MujocoIMUModule::MujocoIMUModule() { + this->measurementVector = &flightData::measurementVectorY; +} + +MujocoIMUModule::MujocoIMUModule(Eigen::VectorXd *measurementVector) { + this->measurementVector = measurementVector; +} + +int MujocoIMUModule::init() { + this->measurementVector->setZero(); + return NO_ERROR_CODE; +} + +void MujocoIMUModule::update(unsigned long time) { + (*this->measurementVector)(0) = this->d->sensordata[0]; + (*this->measurementVector)(1) = this->d->sensordata[1]; + (*this->measurementVector)(2) = this->d->sensordata[2]; + (*this->measurementVector)(3) = this->d->sensordata[3]; + (*this->measurementVector)(4) = this->d->sensordata[4]; + (*this->measurementVector)(5) = this->d->sensordata[5]; + (*this->measurementVector)(6) = this->d->sensordata[6]; + (*this->measurementVector)(7) = this->d->sensordata[7]; + (*this->measurementVector)(8) = this->d->sensordata[8]; + // printf("Y: [%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf]", + // flightData::measurementVectorY(0), + // flightData::measurementVectorY(1), + // flightData::measurementVectorY(2), + // flightData::measurementVectorY(3), + // flightData::measurementVectorY(4), + // flightData::measurementVectorY(5), + // flightData::measurementVectorY(6), + // flightData::measurementVectorY(7), + // flightData::measurementVectorY(8) + // ); +} + +#endif // IS_MUJOCO \ No newline at end of file diff --git a/lib/IMU/src/MujocoIMU.h b/lib/IMU/src/MujocoIMU.h new file mode 100644 index 0000000..0049360 --- /dev/null +++ b/lib/IMU/src/MujocoIMU.h @@ -0,0 +1,37 @@ +/* +FakeIMU.h - IMU module that fills measurement vector with random noise +Author: Vincent Wang +*/ + +#ifdef IS_MUJOCO +#ifndef MJCIMU_H +#define MJCIMU_H + +#include "FlightModule.h" +#include +#include "VEigen.h" + + +namespace flightData { + extern Eigen::VectorXd measurementVectorY; +} + +class MujocoIMUModule : public FlightModule { +public: + // Write directly to measurementVectorY + // NO CHECKS! May clobber other values! + MujocoIMUModule(); + + // Write to passed pointer to Eigen::Vector, useful for + // combining with other modules + MujocoIMUModule(Eigen::VectorXd* measurementVector); + int init() override; + void update(unsigned long time) override; + + mjData *d; +private: + Eigen::VectorXd* measurementVector; +}; + +#endif // MJCIMU_H +#endif // IS_MUJOCO \ No newline at end of file diff --git a/lib/comms/Comms.cpp b/lib/comms/Comms.cpp index 10e4b46..0b34e3b 100644 --- a/lib/comms/Comms.cpp +++ b/lib/comms/Comms.cpp @@ -1,5 +1,5 @@ #include "Comms.h" -#include "Error.h" +#include "ASTRAError.h" /* ----- PRIVATE HELPERS ----- */ diff --git a/lib/controller/ControlMode.h b/lib/controller/ControlMode.h deleted file mode 100644 index d7065e8..0000000 --- a/lib/controller/ControlMode.h +++ /dev/null @@ -1,30 +0,0 @@ -#ifndef CONTROL_MODE_H -#define CONTROL_MODE_H - -/** - * Base class for each control mode (ie, track, stabilize, land, final approach) - * @author Vincent Palmerio - */ - -#define X_VECTOR_LENGTH (6) /* estimated state x length */ -#define ERROR_VECTOR_LENGTH (X_VECTOR_LENGTH) /* integrated X_VECTOR that tells us our error */ -#define U_ROW_LENGTH (4) /* controllerInputU length (vector for controlling servos and torque) */ - -enum CONTROL_MODE { - TRACK_MODE = 0, - STABILIZE_MODE = 1, - LAND_MODE = 2, - FINAL_APPROACH_MODE = 3 -}; - -class ControlMode { -public: - CONTROL_MODE id; //id to identify the control mode - virtual int init() = 0; - virtual void switchTo() = 0; - virtual void update() = 0; -private: - -}; - -#endif \ No newline at end of file diff --git a/lib/controller/ControllerModule.cpp b/lib/controller/ControllerModule.cpp index f924fcd..44b2dc1 100644 --- a/lib/controller/ControllerModule.cpp +++ b/lib/controller/ControllerModule.cpp @@ -1,31 +1,119 @@ #include "ControllerModule.h" #include "settings.h" -#include "EncoderModule.h" +// #include "EncoderModule.h" +#include "VEigen.h" +#include +#include +extern "C" { + #include "cpg_workspace.h" + #include "cpg_solve.h" +} +// #include "cpg_workspace.h" +#include "MathFunctions.h" -int Controller::init() { +int ControllerModule::init() { + // Set final state costs + cpg_update_Psqrt(0, 0); + cpg_update_Psqrt(12*1 + 1, 0); + cpg_update_Psqrt(12*2 + 2, 0); + cpg_update_Psqrt(12*3 + 3, 0); + cpg_update_Psqrt(12*4 + 4, 0); + cpg_update_Psqrt(12*5 + 5, 0); + cpg_update_Psqrt(12*6 + 6, 0); + cpg_update_Psqrt(12*7 + 7, 0); + cpg_update_Psqrt(12*8 + 8, 0); + cpg_update_Psqrt(12*9 + 9, 0); + cpg_update_Psqrt(12*10 + 10, 0); + cpg_update_Psqrt(12*11 + 11, 0); - modes[STABILIZE_MODE] = (ControlMode*) &stabilize; + // Set state error costs + // sqrt(10000) = 100 + // sqrt(2000) = 44.7 + // sqrt(5) = 2.236 + // pos + cpg_update_Qsqrt(0, 60); + cpg_update_Qsqrt(12*1 + 1, 60); + cpg_update_Qsqrt(12*2 + 2, 100); + // vel + cpg_update_Qsqrt(12*3 + 3, 60.0); + cpg_update_Qsqrt(12*4 + 4, 60.0); + cpg_update_Qsqrt(12*5 + 5, 90.7); + // ang + cpg_update_Qsqrt(12*6 + 6, 100); + cpg_update_Qsqrt(12*7 + 7, 100); + cpg_update_Qsqrt(12*8 + 8, 2.2360); + // angvel + cpg_update_Qsqrt(12*9 + 9, 2); + cpg_update_Qsqrt(12*10 + 10, 2); + cpg_update_Qsqrt(12*11 + 11, 2.2360); - return NO_ERROR_CODE; -} + // Set control costs + cpg_update_Rsqrt(0, 0.1); + cpg_update_Rsqrt(4*1 + 1, 0.1); + cpg_update_Rsqrt(4*2 + 2, 0.1); + cpg_update_Rsqrt(4*3 + 3, 0.1); -void Controller::update(unsigned long time) { - //call current control law based on value in flight data - modes[flightData::currentMode]->update(); + // TODO: Set A and B matrices here + // Currently A and B are defined as constants in cvx.py, change this to parameter later! - saturate(); -} + // Set initial X + cpg_update_x_init(0, 0); + cpg_update_x_init(1, 0); + cpg_update_x_init(2, 0); + cpg_update_x_init(3, 0); + cpg_update_x_init(4, 0); + cpg_update_x_init(5, 0); + cpg_update_x_init(6, 0); + cpg_update_x_init(7, 0); + cpg_update_x_init(8, 0); + cpg_update_x_init(9, 0); + cpg_update_x_init(10, 0); + cpg_update_x_init(11, 0); -void Controller::saturate() { - //beta - flightData::controllerInputU(0) = constrain(flightData::controllerInputU(0), BETA_MIN, BETA_MAX); + return NO_ERROR_CODE; +} - //gamma - flightData::controllerInputU(1) = constrain(flightData::controllerInputU(1), GAMMA_MIN, GAMMA_MAX); +void ControllerModule::update(unsigned long time) { + // printf("%lf\n", flightData::estimatedStateX(2)); + std::clock_t start = std::clock(); + this->update_state(); + cpg_solve(); + // Control action + flightData::controllerInputU(0) = CPG_Result.prim->U[0]; + flightData::controllerInputU(1) = CPG_Result.prim->U[1]; + flightData::controllerInputU(2) = CPG_Result.prim->U[2]; + flightData::controllerInputU(3) = 98.1 + CPG_Result.prim->U[3]; + std::clock_t end = std::clock(); + double elapsed_time = static_cast(end - start) / CLOCKS_PER_SEC; + printf("Elapsed time: %lf seconds\n", elapsed_time); - //throttle - flightData::controllerInputU(2) = constrain(flightData::controllerInputU(2), THROTTLE_MIN, THROTTLE_MAX); - //alpha - flightData::controllerInputU(3) = constrain(flightData::controllerInputU(3), ALPHA_MIN, ALPHA_MAX); + printf("X: [%lf, %lf, %lf, %lf, %lf, %lf] U: [%lf, %lf, %lf, %lf]\n", + flightData::estimatedStateX(0), + flightData::estimatedStateX(1), + flightData::estimatedStateX(2), + flightData::estimatedStateX(3), + flightData::estimatedStateX(4), + flightData::estimatedStateX(5), + flightData::controllerInputU(0), + flightData::controllerInputU(1), + flightData::controllerInputU(2), + flightData::controllerInputU(3) + ); } + +void ControllerModule::update_state() { + // Landing point: [2, 1, 0] + cpg_update_x_init(0, flightData::estimatedStateX(0) - 10); + cpg_update_x_init(1, flightData::estimatedStateX(1) - 20); + cpg_update_x_init(2, flightData::estimatedStateX(2) - 1); + cpg_update_x_init(3, flightData::estimatedStateX(3)); + cpg_update_x_init(4, flightData::estimatedStateX(4)); + cpg_update_x_init(5, flightData::estimatedStateX(5)); + cpg_update_x_init(6, flightData::estimatedStateX(6)); + cpg_update_x_init(7, flightData::estimatedStateX(7)); + cpg_update_x_init(8, flightData::estimatedStateX(8)); + cpg_update_x_init(9, flightData::estimatedStateX(9)); + cpg_update_x_init(10, flightData::estimatedStateX(10)); + cpg_update_x_init(11, flightData::estimatedStateX(11)); +} \ No newline at end of file diff --git a/lib/controller/ControllerModule.h b/lib/controller/ControllerModule.h index 76dd514..dd4b5ba 100644 --- a/lib/controller/ControllerModule.h +++ b/lib/controller/ControllerModule.h @@ -1,49 +1,43 @@ -#ifndef CONTROLLER_MODULE_H -#define CONTROLLER_MODULE_H +/** + * This module defines the Basic Controller (BController), a simple proof-of-concept + * Model-Predictive Controller (MPC) using Acados. This controller uses simplified + * EOMs, is written by someone who doesn't know control theory, and generally should + * not be used in production. + * - Vincent Wang + */ +#ifndef BCONTROLLER_MODULE_H +#define BCONTROLLER_MODULE_H #include "FlightModule.h" -#include "ControlMode.h" -#include "StabilizeController.h" -#include "Error.h" - -/** Constants to constrain control values */ -#define BETA_MAX (8) /* outer gimbal max*/ -#define BETA_MIN (-BETA_MAX) /* outer gimbal min */ -#define GAMMA_MAX (8) /* inner gimbal max */ -#define GAMMA_MIN (-GAMMA_MAX) /* inner gimbal min */ -#define THROTTLE_MIN (0) /* Must change in ESC.cpp (cannot include controller.h because circular dependencies)*/ -#define THROTTLE_MAX (1) /* Must change in ESC.cpp (cannot include controller.h because circular dependencies)*/ -#define ALPHA_MAX (8) /* left and right torque vane max */ -#define ALPHA_MIN (-ALPHA_MAX) /* left and right torque vane min */ - +#include "VEigen.h" +#include "ASTRAError.h" + +// /** Constants to constrain control values */ +// #define BETA_MAX (8) /* outer gimbal max*/ +// #define BETA_MIN (-BETA_MAX) /* outer gimbal min */ +// #define GAMMA_MAX (8) /* inner gimbal max */ +// #define GAMMA_MIN (-GAMMA_MAX) /* inner gimbal min */ +// #define THROTTLE_MIN (0) /* Must change in ESC.cpp (cannot include controller.h because circular dependencies)*/ +// #define THROTTLE_MAX (1) /* Must change in ESC.cpp (cannot include controller.h because circular dependencies)*/ +// #define ALPHA_MAX (8) /* left and right torque vane max */ +// #define ALPHA_MIN (-ALPHA_MAX) /* left and right torque vane min */ namespace flightData { extern Eigen::VectorXd controllerInputU; - extern CONTROL_MODE currentMode; + extern Eigen::VectorXd estimatedStateX; } -class Controller : FlightModule { -/** - * Module to handle switching between control modes and updating the current control mode's respective control loop - * @author Vincent Palmerio - */ - - Stabilize stabilize = Stabilize(CONTROL_MODE::STABILIZE_MODE); - +class ControllerModule : FlightModule { public: int init() override; /** initialize */ - void update(unsigned long time) override; /** check switch to different control mode is needed, else update control loop of current control mode */ + void update(unsigned long time) override; /* Control loop */ bool often = true; int every_us = 200; int timeout_ms = 20; private: - - void saturate(); - - ControlMode* modes[4]; - + void update_state(); }; -#endif // CONTROLLER_MODULE_H \ No newline at end of file +#endif // BCONTROLLER_MODULE_H \ No newline at end of file diff --git a/lib/controller/README.md b/lib/controller/README.md new file mode 100644 index 0000000..2e01081 --- /dev/null +++ b/lib/controller/README.md @@ -0,0 +1,12 @@ +# BController + +This library module contains the Basic Controller, which is effectively a wrapper around the TinyMPC MPC framework. To use: +1. `pip3 install cvxpy cvxpygen` +2. Define controller in cvx.py +3. `python3 cvx.py` to generate +4. `rm -rf mpc; mkdir mpc` +5. `cp -r gen/LICENSE gen/README.html gen/c/include gen/c/src gen/c/solver_code mpc` +6. `rm -rf gen` +7. `rm mpc/src/cpg_example.c` + +Note that this should be compatible with all tinympc controllers. diff --git a/lib/controller/StabilizeController.cpp b/lib/controller/StabilizeController.cpp deleted file mode 100644 index e44a390..0000000 --- a/lib/controller/StabilizeController.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include "StabilizeController.h" -#include "Error.h" - -int Stabilize::init() { - - stabilizationGain << 0.010175896789397, -0.999948223723789, -0.000031563385498, 0.010270474752111, -1.009237389930116, -0.000033700327955, - -0.006293635967089, -0.000032482311507, -0.999980194349455, -0.006350485144209, -0.000034619292106, -1.009010144715387, - 0.000000000000000, 0.000000000000001, -0.000000000000003, 0.000000000000000, -0.000000000000000, 0.000000000000004, - 99.992841807351638, 1.017589389543643, -0.629364064139043, 99.992889040319923, 1.017583962544098, -0.629360802065534; - - - return NO_ERROR_CODE; -} - -void Stabilize::update() { - - flightData::controllerInputU = -(stabilizationGain * flightData::estimatedStateX); - - flightData::controllerInputU(0) = 180.0 * flightData::controllerInputU(0)/PI; - - flightData::controllerInputU(1) = 180.0 * flightData::controllerInputU(1)/PI; - - return; -} \ No newline at end of file diff --git a/lib/controller/StabilizeController.h b/lib/controller/StabilizeController.h deleted file mode 100644 index 9df38ce..0000000 --- a/lib/controller/StabilizeController.h +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef STABILIZE_CONTROLLER_H -#define STABILIZE_CONTROLLER_H - -#include "VEigen.h" -#include "ControlMode.h" - -namespace flightData { - extern Eigen::VectorXd controllerInputU; - extern Eigen::VectorXd estimatedStateX; -} - -class Stabilize : ControlMode { -/** - * - * @author Vincent Palmerio (vpalmeri@purdue.edu) - */ - Eigen::MatrixXd stabilizationGain; -public: - Stabilize(CONTROL_MODE id) : stabilizationGain(U_ROW_LENGTH, X_VECTOR_LENGTH) { this->id = id; } - int init() override; - void switchTo() override {}; /** sets conditions in data.h variables before switching to TRACK mode */ - void update() override; /** runs through control loop every iteration of FlightModule loop */ -private: - -}; - -#endif // STABILIZE_CONTROLLER_H \ No newline at end of file diff --git a/lib/controller/__pycache__/control.cpython-312.pyc b/lib/controller/__pycache__/control.cpython-312.pyc new file mode 100644 index 0000000..c27fbe9 Binary files /dev/null and b/lib/controller/__pycache__/control.cpython-312.pyc differ diff --git a/lib/controller/__pycache__/control.cpython-39.pyc b/lib/controller/__pycache__/control.cpython-39.pyc new file mode 100644 index 0000000..2bf99b0 Binary files /dev/null and b/lib/controller/__pycache__/control.cpython-39.pyc differ diff --git a/lib/controller/cvx.py b/lib/controller/cvx.py new file mode 100644 index 0000000..467c77d --- /dev/null +++ b/lib/controller/cvx.py @@ -0,0 +1,173 @@ +import cvxpy as cp +import autograd as AG +import autograd.numpy as np + +# mc = 0.2 # mass of the cart (kg) +# mp = 0.1 # mass of the pole (kg) +# l = 0.5 # distance to the center of mass (meters) +# g = 9.81 + +# xdot = dynamics(x, u) +# x = [pos*3, vel*3, ang*3, angvel*3] +# u = [gimbalx, gimbaly, rollthruster, thruster] +def rot_matrix(rx,ry,rz): + return np.array([ + [np.cos(rz)*np.cos(ry), np.cos(rz)*np.sin(ry)*np.sin(rx) - np.sin(rz)*np.cos(rx), np.cos(rz)*np.sin(ry)*np.cos(rx) + np.sin(rz)*np.sin(rx)], + [np.sin(rz)*np.cos(ry), np.sin(rz)*np.sin(ry)*np.sin(rx) + np.cos(rz)*np.cos(rx), np.sin(rz)*np.sin(ry)*np.cos(rx) - np.cos(rz)*np.sin(rx)], + [-np.sin(ry), np.cos(ry)*np.sin(rx), np.cos(ry)*np.cos(rx)] + ]) + +def dynamics(X, U): + r = 0.35 + M = 10 + I = 1/2 * (M / 2) * r**2 + + x,y,z = X[0:3] + vx,vy,vz = X[3:6] + rx,ry,rz = X[6:9] + drx,dry,drz = X[9:12] + gimbalx, gimbaly, rollT, fT = U + + # xyz are in inertial ref frame + # rotation are in body ref frame + # xyz pos has no effect on vel or angvel + # vx, vy, vz directly affect xyz + # acceleration depends on thrust + direction + # Rot(Body) @ (Rot(Gimbal) @ [0, 0, fT].T) - [0, 0, 9.81] + # angvel directly dependent on drx, dry, drz + # Angular acceleration dependent on torque from gimbaled motor + # tau = rF sin theta -> angaccel = rF sin theta / I, I is rotational inertia + # We assume rocket body is solid cylinder and legs are negligible (change this for real world!) + accel = rot_matrix(rx,ry,rz) @ (rot_matrix(gimbalx, gimbaly, 0) @ np.array([0, 0, fT])) / M - np.array([0, 0, 9.81]) + arx = r * fT * np.sin(gimbalx) / I + ary = r * fT * np.sin(gimbaly) / I + arz = rollT + print(f"arz {arz}, drz {drz}") + return np.array([ + vx, vy, vz, + accel[0], accel[1], accel[2], + drx, dry, drz, + arx, ary, arz + ]) + +def dynamics_rk4(x, u, dt): + f1 = dt*dynamics(x, u) + f2 = dt*dynamics(x + f1/2, u) + f3 = dt*dynamics(x + f2/2, u) + f4 = dt*dynamics(x + f3, u) + return x + (1/6)*(f1 + 2*f2 + 2*f3 + f4) + +# Neutral position to linearize around +xgoal = np.zeros(12) # On ground, straight up, no movement +ugoal = np.array([0, 0, 0, 98.1]) # Thrust force to counteract gravity + +dt = 0.01 +npA = AG.jacobian(lambda x_: dynamics_rk4(x_, ugoal, dt))(xgoal) +npB = AG.jacobian(lambda u_: dynamics_rk4(xgoal, u_, dt))(ugoal) + +# WARNING: Changing these only affects simulation! Change ControllerModule.cpp +npQ = np.diag(np.sqrt([ + 20000.0, 20000.0, 20000.0, + 3000, 3000, 3000, + 5, 5, 5, + 5, 5, 5, +])) +npR = np.diag(np.sqrt([0.0, 0.0, 0.1, 0.1])); # Penalize actuator effort + +npQland = np.diag(np.sqrt([ + 10000.0, 10000.0, 0.0, + 20, 20, 2000, + 5, 5, 5, + 5, 5, 5, +])) + +# define dimensions +H, n, m = 20, 12, 4 + +# define variables +U = cp.Variable((m, H), name='U') +X = cp.Variable((n, H+1), name='X') + +# define parameters +Psqrt = cp.Parameter((n, n), name='Psqrt') +Qsqrt = cp.Parameter((n, n), name='Qsqrt') +Rsqrt = cp.Parameter((m, m), name='Rsqrt') +# TODO: Make A and B parameters when im not lazy +A = npA +B = npB +# A = cp.Parameter((n, n), name='A') +# B = cp.Parameter((n, m), name='B') +# A.value = npA +# B.value = npB +x_init = cp.Parameter(n, name='x_init') + +# define objective +objective = cp.Minimize(cp.sum_squares(Psqrt@X[:,H]) + cp.sum_squares(Qsqrt@X[:,:H]) + cp.sum_squares(Rsqrt@U)) + +# define constraints +constraints = [X[:,1:] == A@X[:,:H]+B@U, + U[0] <= 0.1, + U[0] >= -0.1, + U[1] <= 0.1, + U[1] >= -0.1, + U[3] <= 30, + U[3] >= -30.1, + X[:,0] == x_init] + +# define problem +problem = cp.Problem(objective, constraints) + +Qsqrt.value = npQ +Rsqrt.value = npR +Psqrt.value = np.zeros((n, n)) + +Nsim = 150 +xs = np.zeros((Nsim, Qsqrt.shape[0])) # History of states for plotting +us = np.zeros((Nsim, Rsqrt.shape[0])) # History of controls for plotting +x0 = np.zeros(12) +x0[1] = 2 +x0[2] = 5 +xtarget = np.zeros(12) +# x0[2] = 5 +for i in range(Nsim): + x_init.value = (x0 - xtarget) # Set the first state in the horizon + # if i >= 350: + # Qsqrt.value = npQland + # xtarget[5] = -1 + + objval = problem.solve() # Solve the problem + x0 = dynamics_rk4(x0, ugoal + U.value[:, 0], 0.01) + # x0 = A@x0 + B@ np.array([0, 0, 0, 100.0])# solution["controls"] # Simulate the system + # x0 = A@x0 + B@ solution["controls"] # Simulate the system + print(x0[2], U.value[:, 0]) + xs[i] = x0 + us[i] = U.value[:, 0] + +# prob.codegen("generated_code", verbose=1) + +import matplotlib.pyplot as plt + +# Plot trajectory +fig, axs = plt.subplots(5, 1, sharex=True) +axs[0].plot(xs[:,:3], label=["x", "y", "z"]) +axs[1].plot(xs[:,3:6], label=["vx", "vy", "vz"]) +axs[2].plot(xs[:,6:9], label=["rx", "ry", "rz"]) +axs[3].plot(xs[:,9:12], label=["drx", "dry", "drz"]) +axs[4].plot(us, label=["u1", "u2", "u3", "u4"]) +axs[0].set_title("trajectory over time") +axs[1].set_title("velocity over time") +axs[2].set_title("rotation over time") +axs[3].set_xlabel("angvel over time") +axs[4].set_xlabel("time steps (100Hz)") +axs[0].legend() +axs[1].legend() +axs[2].legend() +axs[3].legend() +axs[4].legend() +plt.show() + +# Generate the controller +from cvxpy.reductions.solvers import defines as slv_def +print("Available solvers:", slv_def.INSTALLED_SOLVERS) +from cvxpygen import cpg +cpg.generate_code(problem, code_dir='gen', solver='OSQP', wrapper=False) \ No newline at end of file diff --git a/lib/controller/mpc/LICENSE b/lib/controller/mpc/LICENSE new file mode 100644 index 0000000..235b146 --- /dev/null +++ b/lib/controller/mpc/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2022 Maximilian Schaller + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/lib/controller/mpc/README.html b/lib/controller/mpc/README.html new file mode 100644 index 0000000..21cd967 --- /dev/null +++ b/lib/controller/mpc/README.html @@ -0,0 +1,327 @@ + + + + + + + CPG Code Documentation + + + + + + + +

+ Auto-generated by CVXPYgen on April 09, 2025 at 13:51:03. +

+

Generated Code for Solving Your CVXPY Problem

+

Problem Summary

+

+ Your optimization problem has the following parameters, primal and dual variables. + Dual variable di corresponds to the i-th constraint in your problem formulation. + The dimensions after flattening (and considering sparsity) are given in parentheses. +

+
+ + + + + + + + + + + + + + + + + + + + + + +
ParameterDimension
Psqrt12 by 12 (144)
Qsqrt12 by 12 (144)
Rsqrt4 by 4 (16)
x_init12
+ + + + + + + + + + + + + + +
Primal VariableDimension
X12 by 21 (252)
U4 by 20 (80)
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Dual VariableDimension
d012 by 20 (240)
d120
d220
d320
d420
d520
d620
d712
+
+

File Tree

+

+ Your generated code is structured as follows inside your chosen gen directory: +

+ 

+gen
+    c
+      solver_code
+        ...
+      include
+        cpg_workspace.h
+        cpg_solve.h
+      src
+        cpg_workspace.c
+        cpg_solve.c
+        cpg_example.c
+      build
+      CMakeLists.txt
+    cpp
+      include
+        cpg_module.hpp
+      src
+        cpg_module.cpp
+    setup.py
+    cpg_solver.py
+    problem.pickle
+    LICENSE
+    README.html
+
+

+ The c/solver_code subdirectory contains all code from the chosen + numerical solver (OSQP). For documentation on this part, please have a look here. +

+

+ To make this solver usable, your problem needs to be converted to the standard form accepted by OSQP. + This is done by all the other source files inside the gen directory. +

+

File Contents

+ +

+

+
c/include/cpg_workspace.h contains type definitions and variable declarations. + The following types are part of the C interface:
+
+ 

+
+// Struct type with primal solution
+typedef struct {
+  cpg_float    *X;         // Your variable X
+  cpg_float    *U;         // Your variable U
+} CPG_Prim_t;
+
+
+// Struct type with dual solution
+typedef struct {
+  cpg_float    *d0;        // Your dual variable for constraint d0
+  cpg_float    *d1;        // Your dual variable for constraint d1
+  cpg_float    *d2;        // Your dual variable for constraint d2
+  cpg_float    *d3;        // Your dual variable for constraint d3
+  cpg_float    *d4;        // Your dual variable for constraint d4
+  cpg_float    *d5;        // Your dual variable for constraint d5
+  cpg_float    *d6;        // Your dual variable for constraint d6
+  cpg_float    *d7;        // Your dual variable for constraint d7
+} CPG_Dual_t;
+
+
+// Struct type with canonical solver information
+typedef struct {
+  cpg_float    obj_val;    // Objective function value
+  cpg_int      iter;       // Number of iterations
+  char         *status;    // Solver status
+  cpg_float    pri_res;    // Primal residual
+  cpg_float    dua_res;    // Dual residual
+} CPG_Info_t;
+
+
+// Struct type with user-defined objective value and solution as fields
+typedef struct {
+  CPG_Prim_t *prim;        // Primal solution
+  CPG_Dual_t *dual;        // Dual solution
+  CPG_Info_t *info;        // Solver information
+} CPG_Result_t;
+
+
+
+
c/include/cpg_solve.h contains function prototypes. Relevant for the C interface are:
+
+ 

+
+// Update user-defined parameter values
+void cpg_update_Psqrt(cpg_int idx, cpg_float value);
+void cpg_update_Qsqrt(cpg_int idx, cpg_float value);
+void cpg_update_Rsqrt(cpg_int idx, cpg_float value);
+void cpg_update_x_init(cpg_int idx, cpg_float value);
+
+
+// Solve via canonicalization, canonical solve, retrieval
+void cpg_solve();
+
+
+// Update solver settings
+void cpg_set_solver_default_settings();
+void cpg_set_solver_<setting_name>(<setting_type> <setting_name>_new);
+...
+
+
+
+
+ where <setting_name> and <setting_type> are + the name and type of the solver setting to be updated, respectively. +
+
c/src/cpg_workspace.c contains the static allocation of the C variables declared in include/cpg_workspace.h.
+
c/src/cpg_solve.c contains the definition of functions declared in include/cpg_solve.h.
+
c/src/cpg_example.c contains example code that initializes the problem data and solves a problem instance.
+
c/CMakeLists.txt contains instructions for build file generation inside the c/build directory with CMake.
+
cpp/ contains binding code for the python wrapper generated with pybind11 and setup.py.
+
cpg_solver.py contains a custom CVXPY solve method that uses the python wrapper to solve your problem.
+
Finally, problem.pickle is the serialized version of your CVXPY problem object.
+
+

+ +

Using Generated Code

+ +

CVXPY

+ +

+ To use the CVXPY interface, run exemplarily, +

+ 

+import pickle
+from gen.cpg_solver import cpg_solve
+
+with open('gen/problem.pickle', 'rb') as f:
+    prob = pickle.load(f)
+
+prob.param_dict['<p_name>'].value = <p_value>
+prob.register_solve('CPG', cpg_solve)
+
+obj = prob.solve(method='CPG')
+print(prob.var_dict['<v_name>'].value)
+
+

where <p_name> and <p_value> are parameter name and value, respectively. + After registering <cpg_solve> as custom solve method, the problem can be solved and the objective value + obj and solution in terms of variable <v_name> can be inspected. +

+ +

Example Executable

+

+ Before compiling the example executable, remember to activate the cpg_env environment. +

+ 

+conda activate cpg_env
+
+

+ On Unix platforms, run the following commands in your terminal to compile and run the program: +

+ 

+cd gen/c/build
+cmake ..
+cmake --build . --target cpg_example
+./cpg_example
+
+ +

+ On Windows, type: +

+ 

+cd gen\c\build
+cmake ..
+cmake --build . --target cpg_example --config release
+Release\cpg_example
+
+ +

Existing C/C++ Project

+ +

+ To use the generated code in an existing CMake project, copy the following to a subdirectory <subdir> + of your project: +

+ 

+gen/c/CMakeLists.txt
+gen/c/src/
+gen/c/include/
+gen/c/solver_code/
+
+ +

+ In your top-level CMakeLists.txt, add the subdirectory via +

+ 

+add_subdirectory(<subdir>)
+include_directories(<existing_dirs> ${cpg_include})
+
+

+ where <existing_dirs> is your existing include directories and ${cpg_include} lists + the include directories used by the generated code. Add ${cpg_head} and + ${cpg_src} to all targets that use the generated code. + If not needed, you can remove the cpg_example and cpg targets from gen/c/CMakeLists.txt. +

+ + + + diff --git a/lib/controller/mpc/include/cpg_solve.h b/lib/controller/mpc/include/cpg_solve.h new file mode 100644 index 0000000..efa5d2e --- /dev/null +++ b/lib/controller/mpc/include/cpg_solve.h @@ -0,0 +1,35 @@ + +/* +Auto-generated by CVXPYgen on April 09, 2025 at 13:51:03. +Content: Function declarations. +*/ + +#include "cpg_workspace.h" + +// Update user-defined parameter values +extern void cpg_update_Psqrt(cpg_int idx, cpg_float val); +extern void cpg_update_Qsqrt(cpg_int idx, cpg_float val); +extern void cpg_update_Rsqrt(cpg_int idx, cpg_float val); +extern void cpg_update_x_init(cpg_int idx, cpg_float val); + +// Map user-defined to canonical parameters +extern void cpg_canonicalize_A(); +extern void cpg_canonicalize_l(); +extern void cpg_canonicalize_u(); + +// Retrieve solver information +extern void cpg_retrieve_info(); + +// Solve via canonicalization, canonical solve, retrieval +extern void cpg_solve(); + +// Update solver settings +extern void cpg_set_solver_default_settings(); +extern void cpg_set_solver_max_iter(cpg_int max_iter_new); +extern void cpg_set_solver_eps_abs(cpg_float eps_abs_new); +extern void cpg_set_solver_eps_rel(cpg_float eps_rel_new); +extern void cpg_set_solver_eps_prim_inf(cpg_float eps_prim_inf_new); +extern void cpg_set_solver_eps_dual_inf(cpg_float eps_dual_inf_new); +extern void cpg_set_solver_scaled_termination(cpg_int scaled_termination_new); +extern void cpg_set_solver_check_termination(cpg_int check_termination_new); +extern void cpg_set_solver_warm_starting(cpg_int warm_starting_new); diff --git a/lib/controller/mpc/include/cpg_workspace.h b/lib/controller/mpc/include/cpg_workspace.h new file mode 100644 index 0000000..15cecc7 --- /dev/null +++ b/lib/controller/mpc/include/cpg_workspace.h @@ -0,0 +1,134 @@ + +/* +Auto-generated by CVXPYgen on April 09, 2025 at 13:51:03. +Content: Type definitions and variable declarations. +*/ + +#include "osqp.h" +#include "workspace.h" + +#ifndef CPG_TYPES_H +# define CPG_TYPES_H + +typedef double cpg_float; +typedef int cpg_int; + +// Compressed sparse column matrix +typedef struct { + cpg_int *p; + cpg_int *i; + cpg_float *x; + cpg_int nnz; +} cpg_csc; + +// Canonical parameters +typedef struct { + cpg_csc *P; // Canonical parameter P + cpg_float *q; // Canonical parameter q + cpg_float d; // Canonical parameter d + cpg_csc *A; // Canonical parameter A + cpg_float *l; // Canonical parameter l + cpg_float *u; // Canonical parameter u +} Canon_Params_t; + +// Flags indicating outdated canonical parameters +typedef struct { + int P; // Bool, if canonical parameter P outdated + int q; // Bool, if canonical parameter q outdated + int d; // Bool, if canonical parameter d outdated + int A; // Bool, if canonical parameter A outdated + int l; // Bool, if canonical parameter l outdated + int u; // Bool, if canonical parameter u outdated +} Canon_Outdated_t; + +// Primal solution +typedef struct { + cpg_float *X; // Your variable X + cpg_float *U; // Your variable U +} CPG_Prim_t; + +// Dual solution +typedef struct { + cpg_float *d0; // Your dual variable for constraint d0 + cpg_float *d1; // Your dual variable for constraint d1 + cpg_float *d2; // Your dual variable for constraint d2 + cpg_float *d3; // Your dual variable for constraint d3 + cpg_float *d4; // Your dual variable for constraint d4 + cpg_float *d5; // Your dual variable for constraint d5 + cpg_float *d6; // Your dual variable for constraint d6 + cpg_float *d7; // Your dual variable for constraint d7 +} CPG_Dual_t; + +// Solver information +typedef struct { + cpg_float obj_val; // Objective function value + cpg_int iter; // Number of iterations + char *status; // Solver status + cpg_float pri_res; // Primal residual + cpg_float dua_res; // Dual residual +} CPG_Info_t; + +// Solution and solver information +typedef struct { + CPG_Prim_t *prim; // Primal solution + CPG_Dual_t *dual; // Dual solution + CPG_Info_t *info; // Solver info +} CPG_Result_t; + +// Parameter deltas +typedef struct { + cpg_float *Psqrt; // Delta of your parameter Psqrt + cpg_float *Qsqrt; // Delta of your parameter Qsqrt + cpg_float *Rsqrt; // Delta of your parameter Rsqrt + cpg_float *x_init; // Delta of your parameter x_init +} CPG_Delta_t; + +// Solver settings +typedef struct { + cpg_int max_iter; + cpg_float eps_abs; + cpg_float eps_rel; + cpg_float eps_prim_inf; + cpg_float eps_dual_inf; + cpg_int scaled_termination; + cpg_int check_termination; + cpg_int warm_starting; +} Canon_Settings_t; + +#endif // ifndef CPG_TYPES_H + +// Vector containing flattened user-defined parameters +extern cpg_float cpg_params_vec[317]; + +// Sparse mappings from user-defined to canonical parameters +extern cpg_csc canon_A_map; +extern cpg_csc canon_l_map; +extern cpg_csc canon_u_map; + +// Canonical parameters +extern cpg_csc canon_P; +extern cpg_float canon_q[664]; +extern cpg_csc canon_A; +extern cpg_float canon_l[704]; +extern cpg_float canon_u[704]; + +// Struct containing canonical parameters +extern Canon_Params_t Canon_Params; + +// Struct containing flags for outdated canonical parameters +extern Canon_Outdated_t Canon_Outdated; + +// Struct containing primal solution +extern CPG_Prim_t CPG_Prim; + +// Struct containing dual solution +extern CPG_Dual_t CPG_Dual; + +// Struct containing solver info +extern CPG_Info_t CPG_Info; + +// Struct containing solution and info +extern CPG_Result_t CPG_Result; + +// Struct containing solver settings +extern Canon_Settings_t Canon_Settings; diff --git a/lib/controller/mpc/solver_code/CMakeLists.txt b/lib/controller/mpc/solver_code/CMakeLists.txt new file mode 100644 index 0000000..3d468e8 --- /dev/null +++ b/lib/controller/mpc/solver_code/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.15) +project(osqp_ext_emosqp) + +set(CMAKE_VERBOSE_MAKEFILE ON) +set(CMAKE_POSITION_INDEPENDENT_CODE ON) # -fPIC +set(OSQP_EMBEDDED_MODE "1") + +file( + GLOB + OSQP_SOURCES + ${CMAKE_CURRENT_SOURCE_DIR}/src/*.c) + + +file( + GLOB + SOLVER_HEAD + ${CMAKE_CURRENT_SOURCE_DIR}/*.h + ${CMAKE_CURRENT_SOURCE_DIR}/inc/public/*.h + ${CMAKE_CURRENT_SOURCE_DIR}/inc/private/*.h) + +set(solver_head ${SOLVER_HEAD} PARENT_SCOPE) + +file( + GLOB + SOLVER_SRC + ${OSQP_SOURCES} + ${CMAKE_CURRENT_SOURCE_DIR}/workspace.c) +set(solver_src ${SOLVER_SRC} PARENT_SCOPE) diff --git a/lib/controller/mpc/solver_code/LICENSE b/lib/controller/mpc/solver_code/LICENSE new file mode 100644 index 0000000..8dada3e --- /dev/null +++ b/lib/controller/mpc/solver_code/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/lib/controller/mpc/solver_code/Makefile b/lib/controller/mpc/solver_code/Makefile new file mode 100644 index 0000000..cf29883 --- /dev/null +++ b/lib/controller/mpc/solver_code/Makefile @@ -0,0 +1,39 @@ +# Simple makefile to compile the OSQP embedded code into a static library + + +# libmath is needed for the mode 2 embedded code (sqrt specifically). +# This can be removed for type 1 embedded mode. +LDLIBS = -lm + +# The OSQP code needs the private and public include directories. +# The code also needs the osqp_configure.h header that is generated in the code, +# so it should be copied into this directory before building. +INCLUDES = -I./inc/public -I./inc/private -I./ + +.PHONY: all +all: emosqp + +srcs := $(wildcard src/*.c) +objs := $(patsubst %.c,%.o,$(srcs)) + +pubhead := $(wildcard inc/public/*.h) +privhead := $(wildcard inc/private/*.h) + +%.o: %.c $(pubhead) $(privhead) osqp_configure.h + gcc -c $< -o $@ $(INCLUDES) + +libemosqp.a: $(objs) + ar rcs $@ $^ + +wrksrc := $(wildcard *workspace.c) +wrkhead := $(wildcard *workspace.h) + +emosqp: libemosqp.a emosqp.c $(wrksrc) $(wrkhead) + gcc -o emosqp emosqp.c $(wrksrc) libemosqp.a $(INCLUDES) $(LDLIBS) + +.PHONY: clean +clean: + -rm -f *.o + -rm -f src/*.o + -rm -f emosqp + -rm -f libemosqp.a diff --git a/lib/controller/mpc/solver_code/bindings.cpp b/lib/controller/mpc/solver_code/bindings.cpp new file mode 100644 index 0000000..8911069 --- /dev/null +++ b/lib/controller/mpc/solver_code/bindings.cpp @@ -0,0 +1,105 @@ +#include +#include +#include + +namespace py = pybind11; +using namespace pybind11::literals; + +#include "osqp_api_functions.h" +#include "osqp_api_types.h" +#include "workspace.h" + +py::tuple solve() { + py::gil_scoped_release release; + OSQPInt status = osqp_solve(&solver); + py::gil_scoped_acquire acquire; + + if (status != 0) throw std::runtime_error("Solve failed"); + + OSQPInt m; + OSQPInt n; + osqp_get_dimensions(&solver, &m, &n); + + auto x = py::array_t({n}, {sizeof(OSQPFloat)}, (&solver)->solution->x); + auto y = py::array_t({m}, {sizeof(OSQPFloat)}, (&solver)->solution->y); + + py::tuple results = py::make_tuple(x, y, status, (&solver)->info->iter, (&solver)->info->run_time); + return results; +} + +OSQPInt update_data_vec(py::object q, py::object l, py::object u) { + OSQPFloat* _q; + OSQPFloat* _l; + OSQPFloat* _u; + + if (q.is_none()) { + _q = NULL; + } else { + _q = (OSQPFloat *)py::array_t(q).data(); + } + if (l.is_none()) { + _l = NULL; + } else { + _l = (OSQPFloat *)py::array_t(l).data(); + } + if (u.is_none()) { + _u = NULL; + } else { + _u = (OSQPFloat *)py::array_t(u).data(); + } + + return osqp_update_data_vec(&solver, _q, _l, _u); +} + +#if OSQP_EMBEDDED_MODE == 2 +OSQPInt update_data_mat(py::object P_x, py::object P_i, py::object A_x, py::object A_i) { + OSQPFloat* _P_x; + OSQPInt* _P_i; + OSQPInt _P_n = 0; + OSQPFloat* _A_x; + OSQPInt* _A_i; + OSQPInt _A_n = 0; + + if (P_x.is_none()) { + _P_x = NULL; + } else { + auto _P_x_array = py::array_t(P_x); + _P_x = (OSQPFloat *)_P_x_array.data(); + _P_n = _P_x_array.size(); + } + + if (P_i.is_none()) { + _P_i = NULL; + } else { + auto _P_i_array = py::array_t(P_i); + _P_i = (OSQPInt *)_P_i_array.data(); + _P_n = _P_i_array.size(); + } + + if (A_x.is_none()) { + _A_x = NULL; + } else { + auto _A_x_array = py::array_t(A_x); + _A_x = (OSQPFloat *)_A_x_array.data(); + _A_n = _A_x_array.size(); + } + + if (A_i.is_none()) { + _A_i = NULL; + } else { + auto _A_i_array = py::array_t(A_i); + _A_i = (OSQPInt *)_A_i_array.data(); + _A_n = _A_i_array.size(); + } + + return osqp_update_data_mat(&solver, _P_x, _P_i, _P_n, _A_x, _A_i, _A_n); +} +#endif + +PYBIND11_MODULE(emosqp, m) { + m.def("solve", &solve); + m.def("update_data_vec", &update_data_vec, "Update q/l/u", py::arg("q") = py::none(), py::arg("l") = py::none(), py::arg("u") = py::none()); +#if OSQP_EMBEDDED_MODE == 2 + m.def("update_data_mat", &update_data_mat, "Update P/A", py::arg("P_x") = py::none(), py::arg("P_i") = py::none(), py::arg("A_x") = py::none(), py::arg("A_i") = py::none()); +#endif +} \ No newline at end of file diff --git a/lib/controller/mpc/solver_code/emosqp.c b/lib/controller/mpc/solver_code/emosqp.c new file mode 100644 index 0000000..9036197 --- /dev/null +++ b/lib/controller/mpc/solver_code/emosqp.c @@ -0,0 +1,24 @@ +/* + * This file was autogenerated by OSQP on Wed Apr 9 13:51:03 2025 + * + * This file contains a sample solver to run the embedded code. + */ + +#include +#include "osqp.h" +#include "workspace.h" + +int main() { + OSQPInt exitflag; + + printf( "Embedded test program for vector updates.\n"); + + exitflag = osqp_solve( &solver ); + + if( exitflag > 0 ) { + printf( " OSQP errored: %s\n", osqp_error_message(exitflag)); + return (int)exitflag; + } else { + printf( " Solved workspace with no error.\n" ); + } +} diff --git a/lib/controller/mpc/solver_code/inc/private/algebra_impl.h b/lib/controller/mpc/solver_code/inc/private/algebra_impl.h new file mode 100644 index 0000000..e38924c --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/algebra_impl.h @@ -0,0 +1,47 @@ +#ifndef ALGEBRA_IMPL_H +#define ALGEBRA_IMPL_H + +#include "csc_math.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/********************************************* +* Internal definition of OSQPVector types +* and supporting definitions +*********************************************/ + +struct OSQPVectori_ { + OSQPInt* values; + OSQPInt length; +}; + +struct OSQPVectorf_ { + OSQPFloat* values; + OSQPInt length; +}; + + +/********************************************* +* Internal definition of OSQPMatrix type +* and supporting definitions +*********************************************/ + +/** + * An enum used to indicate whether a matrix is symmetric. Options + * NONE : matrix is fully populated + * TRIU : matrix is symmetric and only upper triangle is stored + */ +typedef enum OSQPMatrix_symmetry_type {NONE,TRIU} OSQPMatrix_symmetry_type; + +struct OSQPMatrix_ { + OSQPCscMatrix* csc; + OSQPMatrix_symmetry_type symmetry; +}; + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef ALGEBRA_IMPL_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/algebra_matrix.h b/lib/controller/mpc/solver_code/inc/private/algebra_matrix.h new file mode 100644 index 0000000..336a9d8 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/algebra_matrix.h @@ -0,0 +1,146 @@ +#ifndef ALGEBRA_MATRIX_H +#define ALGEBRA_MATRIX_H + +#include "osqp_api_types.h" + +#include "glob_opts.h" +#include "algebra_vector.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * OSQPMatrix types. Not defined here since it + * is implementation-specific + */ + +/* float valued matrices*/ +typedef struct OSQPMatrix_ OSQPMatrix; + + +#ifndef OSQP_EMBEDDED_MODE + +/* logical functions ------------------------------------------------------*/ + +OSQPInt OSQPMatrix_is_eq(const OSQPMatrix* A, + const OSQPMatrix* B, + OSQPFloat tol); + +/* Non-embeddable functions (using malloc) ----------------------------------*/ + + +//Make a copy from a csc matrix. Returns OSQP_NULL on failure +OSQPMatrix* OSQPMatrix_new_from_csc(const OSQPCscMatrix* A, + OSQPInt is_triu); + +/* Return a copy of the matrix in CSC format */ +OSQPCscMatrix* OSQPMatrix_get_csc(const OSQPMatrix* M); + +/* Return a copy of a matrix as output (Uses MALLOC) */ +OSQPMatrix* OSQPMatrix_copy_new(const OSQPMatrix* A); + +// Convert an upper triangular matrix into a fully populated matrix +OSQPMatrix* OSQPMatrix_triu_to_symm(const OSQPMatrix* A); + +// Vertically stack two matrices +OSQPMatrix* OSQPMatrix_vstack(const OSQPMatrix* A, const OSQPMatrix* B); + +#endif //OSQP_EMBEDDED_MODE + + +/* direct data access functions ---------------------------------------------*/ + +/* These functions allow getting data in csc format from +* the OSQPMatrix type. Data is passed in/out using bare +* pointers instead of OSQPVectors since these functions interface +* with user defined linear solvers and the user API +*/ + +void OSQPMatrix_update_values(OSQPMatrix* M, + const OSQPFloat* Mx_new, + const OSQPInt* Mx_new_idx, + OSQPInt M_new_n); + +/* returns the row dimension */ +OSQPInt OSQPMatrix_get_m(const OSQPMatrix* M); + +/* returns the columns dimension */ +OSQPInt OSQPMatrix_get_n(const OSQPMatrix* M); + +/* returns a pointer to the array of data values */ +OSQPFloat* OSQPMatrix_get_x(const OSQPMatrix* M); + +/* returns a pointer to the array of row indices */ +OSQPInt* OSQPMatrix_get_i(const OSQPMatrix* M); + +/* returns a pointer to the array of col indices (csc format). Should be n+1 long */ +OSQPInt* OSQPMatrix_get_p(const OSQPMatrix* M); + +/* returns the number of nonzeros (length of x and i arrays) */ +OSQPInt OSQPMatrix_get_nz(const OSQPMatrix* M); + +/* math functions ----------------------------------------------------------*/ + +//A = sc*A +void OSQPMatrix_mult_scalar(OSQPMatrix* A, + OSQPFloat sc); + +//A = L*A, with diagonal entries of L specified +void OSQPMatrix_lmult_diag(OSQPMatrix* A, + const OSQPVectorf* L); + +//A = A*R, with diagonal entries of R specified +void OSQPMatrix_rmult_diag(OSQPMatrix* A, + const OSQPVectorf* R); + +// d = diag(At*diag(D)*A) +void OSQPMatrix_AtDA_extract_diag(const OSQPMatrix* A, + const OSQPVectorf* D, + OSQPVectorf* d); + +// Extract the main diagonal of A into d +void OSQPMatrix_extract_diag(const OSQPMatrix* A, + OSQPVectorf* d); + +//y = alpha*A*x + beta*y +void OSQPMatrix_Axpy(const OSQPMatrix* A, + const OSQPVectorf* x, + OSQPVectorf* y, + OSQPFloat alpha, + OSQPFloat beta); + +//y = alpha*A^T*x + beta*y +void OSQPMatrix_Atxpy(const OSQPMatrix* A, + const OSQPVectorf* x, + OSQPVectorf* y, + OSQPFloat alpha, + OSQPFloat beta); + +// OSQPFloat OSQPMatrix_quad_form(const OSQPMatrix *P, +// const OSQPVectorf *x); + +#if OSQP_EMBEDDED_MODE != 1 + +void OSQPMatrix_col_norm_inf(const OSQPMatrix* M, + OSQPVectorf* E); + +void OSQPMatrix_row_norm_inf(const OSQPMatrix* M, + OSQPVectorf* E); + +#endif /* if OSQP_EMBEDDED_MODE != 1 */ + +#ifndef OSQP_EMBEDDED_MODE + +void OSQPMatrix_free(OSQPMatrix* M); + +OSQPMatrix* OSQPMatrix_submatrix_byrows(const OSQPMatrix* A, + const OSQPVectori* rows); + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef ALGEBRA_MATRIX_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/algebra_vector.h b/lib/controller/mpc/solver_code/inc/private/algebra_vector.h new file mode 100644 index 0000000..4759d73 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/algebra_vector.h @@ -0,0 +1,298 @@ +#ifndef ALGEBRA_VECTOR_H +#define ALGEBRA_VECTOR_H + +#include "osqp_api_types.h" + +#include "glob_opts.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * OSQPVector[fi] types. Not defined here since it + * is implementation-specific + */ + +/* integer valued vectors */ +typedef struct OSQPVectori_ OSQPVectori; + +/* float valued vectors*/ +typedef struct OSQPVectorf_ OSQPVectorf; + + +/* VECTOR FUNCTIONS ----------------------------------------------------------*/ + +# ifndef OSQP_EMBEDDED_MODE + +OSQPInt OSQPVectorf_is_eq(const OSQPVectorf* A, + const OSQPVectorf* B, + OSQPFloat tol); + +/* malloc/calloc for floats and ints (USES MALLOC/CALLOC) */ +OSQPVectorf* OSQPVectorf_malloc(OSQPInt length); +OSQPVectorf* OSQPVectorf_calloc(OSQPInt length); +OSQPVectori* OSQPVectori_malloc(OSQPInt length); +OSQPVectori* OSQPVectori_calloc(OSQPInt length); + +/* Return a float vector using a raw array as input (Uses MALLOC) */ +OSQPVectorf* OSQPVectorf_new(const OSQPFloat* a, + OSQPInt length); + +/* Return an int vector using a raw array as input (Uses MALLOC) */ +OSQPVectori* OSQPVectori_new(const OSQPInt* a, + OSQPInt length); + +/* Return a copy of a float vector a as output (Uses MALLOC) */ +OSQPVectorf* OSQPVectorf_copy_new(const OSQPVectorf* a); + +/* Free a float vector */ +void OSQPVectorf_free(OSQPVectorf* a); + +/* Free an int vector */ +void OSQPVectori_free(OSQPVectori* a); + +/* + * Assign the data from array b to vector A starting at the index given by start. + */ +void OSQPVectorf_subvector_assign(OSQPVectorf* A, + OSQPFloat* b, + OSQPInt start, + OSQPInt length, + OSQPFloat multiplier); + +/* + * Assign a scalar to vector A starting at the index given by start. + */ +void OSQPVectorf_subvector_assign_scalar(OSQPVectorf* A, + OSQPFloat sc, + OSQPInt start, + OSQPInt length); + +OSQPVectorf* OSQPVectorf_subvector_byrows(const OSQPVectorf* A, + const OSQPVectori* rows); + +OSQPVectorf* OSQPVectorf_concat(const OSQPVectorf* A, + const OSQPVectorf* B); + +/* Create subview of a larger vector. Internal data should not be freed. + * Behavior is otherwise identical to OSQPVectorf (Uses MALLOC) + */ +OSQPVectorf* OSQPVectorf_view(const OSQPVectorf* a, + OSQPInt head, + OSQPInt length); + +/* Points existing subview somewhere else. (Does not use MALLOC) + * TODO: Get rid of this function + */ +void OSQPVectorf_view_update(OSQPVectorf* a, const OSQPVectorf* b, OSQPInt head, OSQPInt length); + +/* Free a view of a float vector */ +void OSQPVectorf_view_free(OSQPVectorf* a); + +# endif /* ifndef OSQP_EMBEDDED_MODE */ + + +/* Length of the vector (floats) */ +OSQPInt OSQPVectorf_length(const OSQPVectorf* a); + +/* Length of the vector (ints) */ +OSQPInt OSQPVectori_length(const OSQPVectori* a); + +/* Pointer to vector data (floats) */ +OSQPFloat* OSQPVectorf_data(const OSQPVectorf* a); + +/* Copy a float vector a into another vector b (pre-allocated) */ +void OSQPVectorf_copy(OSQPVectorf* b, + const OSQPVectorf* a); + +/* Copy an array of floats into a into a vector b (pre-allocated) */ +void OSQPVectorf_from_raw(OSQPVectorf* b, + const OSQPFloat* a); + +/* copy an array of ints into a into a vector b (pre-allocated) */ +void OSQPVectori_from_raw(OSQPVectori* b, + const OSQPInt* a); + +/* copy a vector into an array of floats (pre-allocated) */ +void OSQPVectorf_to_raw(OSQPFloat* bv, + const OSQPVectorf* a); + +/* copy a vector into an array of ints (pre-allocated) */ +void OSQPVectori_to_raw(OSQPInt* bv, + const OSQPVectori* a); + +/* set float vector to scalar */ +void OSQPVectorf_set_scalar(OSQPVectorf* a, + OSQPFloat sc); + +/* Set float vector to one of three scalars based on sign of vector of ints */ +void OSQPVectorf_set_scalar_conditional(OSQPVectorf* a, + const OSQPVectori* test, + OSQPFloat val_if_neg, + OSQPFloat val_if_zero, + OSQPFloat val_if_pos); + +/** + * Round any values of a between [-tol, tol] to zero, creating a deadband around 0. + */ +void OSQPVectorf_round_to_zero(OSQPVectorf* a, + OSQPFloat tol); + +/* multiply float vector by float */ +void OSQPVectorf_mult_scalar(OSQPVectorf* a, + OSQPFloat sc); + +/* x = a + b. Set x == a for x += b. */ +void OSQPVectorf_plus(OSQPVectorf* x, + const OSQPVectorf* a, + const OSQPVectorf* b); + +/* x = a - b. Set x==a for x -= b. */ +void OSQPVectorf_minus(OSQPVectorf* x, + const OSQPVectorf* a, + const OSQPVectorf* b); + +/* x = sca*a + scb*b. Set (x == a, sca==1.) for x += scb*b. */ +void OSQPVectorf_add_scaled(OSQPVectorf* x, + OSQPFloat sca, + const OSQPVectorf* a, + OSQPFloat scb, + const OSQPVectorf* b); + +/* x = sca*a + scb*b + scc*c. Set (x == a, sca==1.) for x += scb*b scc*c. */ +void OSQPVectorf_add_scaled3(OSQPVectorf* x, + OSQPFloat sca, + const OSQPVectorf* a, + OSQPFloat scb, + const OSQPVectorf* b, + OSQPFloat scc, + const OSQPVectorf* c); + +/* ||v||_inf */ +OSQPFloat OSQPVectorf_norm_inf(const OSQPVectorf* v); + +/* ||Sv||_inf */ +OSQPFloat OSQPVectorf_scaled_norm_inf(const OSQPVectorf* S, + const OSQPVectorf* v); + +/* ||a - b||_inf */ +OSQPFloat OSQPVectorf_norm_inf_diff(const OSQPVectorf* a, + const OSQPVectorf* b); + +/* ||v||2 */ +OSQPFloat OSQPVectorf_norm_2(const OSQPVectorf* v); + +/* ||v||1 */ +OSQPFloat OSQPVectorf_norm_1(const OSQPVectorf* a); + +/* Inner product a'b */ +OSQPFloat OSQPVectorf_dot_prod(const OSQPVectorf* a, + const OSQPVectorf* b); + +/* Inner product a'b, but using only the positive or negative + * terms in b. Use sign = 1 for positive terms, sign = -1 for + * negative terms. Setting any other value for sign will return + * the normal dot product + */ +OSQPFloat OSQPVectorf_dot_prod_signed(const OSQPVectorf* a, + const OSQPVectorf* b, + OSQPInt sign); + +/* Elementwise product a.*b stored in c. Set c==a for c *= b */ +void OSQPVectorf_ew_prod(OSQPVectorf* c, + const OSQPVectorf* a, + const OSQPVectorf* b); + +/* check l <= u elementwise. Returns 1 if inequality is true + * for every element pair in both vectors + */ +OSQPInt OSQPVectorf_all_leq(const OSQPVectorf* l, + const OSQPVectorf* u); + +/* Elementwise bounding vectors x = min(max(z,l),u) + * It is acceptable to assign x = z in this call, so + * that x = min(max(x,l),u) is allowed + */ +void OSQPVectorf_ew_bound_vec(OSQPVectorf* x, + const OSQPVectorf* z, + const OSQPVectorf* l, + const OSQPVectorf* u); + + +/* Elementwise projection of y onto the polar recession cone + of the set [l u]. Values of +/- infval or larger are + treated as infinite + */ +void OSQPVectorf_project_polar_reccone(OSQPVectorf* y, + const OSQPVectorf* l, + const OSQPVectorf* u, + OSQPFloat infval); + +/* Elementwise test of whether y is in the polar recession + cone of the set [l u]. Values of +/- infval or larger are + treated as infinite. Values in y within tol of zero are treated + as zero. + */ +OSQPInt OSQPVectorf_in_reccone(const OSQPVectorf* y, + const OSQPVectorf* l, + const OSQPVectorf* u, + OSQPFloat infval, + OSQPFloat tol); + +# if OSQP_EMBEDDED_MODE != 1 + +/* Vector elementwise reciprocal b = 1./a (needed for scaling)*/ +void OSQPVectorf_ew_reciprocal(OSQPVectorf* b, + const OSQPVectorf* a); + +/* elementwise sqrt of the vector elements */ +void OSQPVectorf_ew_sqrt(OSQPVectorf* a); + +/* Elementwise maximum between vectors c = max(a, b) */ +void OSQPVectorf_ew_max_vec(OSQPVectorf* c, + const OSQPVectorf* a, + const OSQPVectorf* b); + +/* Elementwise minimum between vectors c = min(a, b) */ +void OSQPVectorf_ew_min_vec(OSQPVectorf* c, + const OSQPVectorf* a, + const OSQPVectorf* b); + +/* Elementwise check for constraint type. + if u[i] - l[i] < tol, iseq[i] = 1 otherwise iseq[i] = 0, + unless values exceed +/- infval, in which case marked + as iseq[i] = -1. + + Returns 1 if any value in iseq has been modified. O otherwise. + */ +OSQPInt OSQPVectorf_ew_bounds_type(OSQPVectori* iseq, + const OSQPVectorf* l, + const OSQPVectorf* u, + OSQPFloat tol, + OSQPFloat infval); + + +/* Elementwise replacement based on lt comparison. + x[i] = z[i] < testval ? newval : z[i]; +*/ +void OSQPVectorf_set_scalar_if_lt(OSQPVectorf* x, + const OSQPVectorf* z, + OSQPFloat testval, + OSQPFloat newval); + +/* Elementwise replacement based on gt comparison. + * x[i] = z[i] > testval ? newval : z[i]; + */ +void OSQPVectorf_set_scalar_if_gt(OSQPVectorf* x, + const OSQPVectorf* z, + OSQPFloat testval, + OSQPFloat newval); + +# endif /* if OSQP_EMBEDDED_MODE != 1 */ + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef ALGEBRA_VECTOR_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/auxil.h b/lib/controller/mpc/solver_code/inc/private/auxil.h new file mode 100644 index 0000000..658042e --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/auxil.h @@ -0,0 +1,196 @@ +#ifndef AUXIL_H +#define AUXIL_H + +#include "types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/*********************************************************** +* Auxiliary functions needed to evaluate ADMM iterations * * +***********************************************************/ +# if OSQP_EMBEDDED_MODE != 1 + +/** + * Compute rho estimate from residuals + * @param solver Solver + * @return rho estimate + */ +OSQPFloat compute_rho_estimate(const OSQPSolver* solver); + +/** + * Adapt rho value based on current unscaled primal/dual residuals + * @param solver Solver + * @return Exitflag + */ +OSQPInt adapt_rho(OSQPSolver* solver); + +/** + * Set values of rho vector based on constraint types. + * returns 1 if any constraint types have been updated, + * and 0 otherwise. + * @param solver Solver + */ +OSQPInt set_rho_vec(OSQPSolver* solver); + +/** + * Update values of rho vector based on updated constraints. + * If the constraints change, update the linear systems solver. + * + * @param solver Solver + * @return Exitflag + */ +OSQPInt update_rho_vec(OSQPSolver *solver); + +# endif // OSQP_EMBEDDED_MODE + +/** + * Swap OSQPFloat vector pointers + * @param a first vector + * @param b second vector + */ +void swap_vectors(OSQPVectorf** a, + OSQPVectorf** b); + + +/** + * Update x_tilde and z_tilde variable (first ADMM step) + * @param solver Solver + * @param admm_iter Current ADMM iteration + */ +void update_xz_tilde(OSQPSolver* solver, + OSQPInt admm_iter); + + +/** + * Update x (second ADMM step) + * Update also delta_x (For for dual infeasibility) + * @param solver Solver + */ +void update_x(OSQPSolver* solver); + + +/** + * Update z (third ADMM step) + * @param solver Solver + */ +void update_z(OSQPSolver* solver); + + +/** + * Update y variable (fourth ADMM step) + * Update also delta_y to check for primal infeasibility + * @param solver Solver + */ +void update_y(OSQPSolver* solver); + + +/** + * Compute objective functions and duality gap from data at (x,y) + * @param solver Solver + * @param x Primal values x + * @param y Dual values y + * @param prim_obj_val Primal objective function value + * @param dual_obj_val Dual objective function value + * @param duality_gap Duality gap value + */ +void compute_obj_val_dual_gap(const OSQPSolver* solver, + const OSQPVectorf* x, + const OSQPVectorf* y, + OSQPFloat* prim_obj_val, + OSQPFloat* dual_obj_val, + OSQPFloat* duality_gap); + +/** + * Check whether QP has solution + * @param info OSQPInfo + */ +OSQPInt has_solution(const OSQPInfo* info); + +/** + * Store the QP solution + * @param solver Solver + * @param solution Solution object to write to + */ +void store_solution(OSQPSolver* solver, OSQPSolution* solution); + + +/** + * Update solver information + * @param solver Solver + * @param iter Iteration number + * @param polishing Boolean (if called from polish) + */ +void update_info(OSQPSolver* solver, + OSQPInt iter, + OSQPInt polishing); + + +/** + * Reset solver information (after problem updates) + * @param info Information structure + */ +void reset_info(OSQPInfo* info); + + +/** + * Update solver status (value and string) + * @param info OSQPInfo + * @param status_val new status value + */ +void update_status(OSQPInfo* info, + OSQPInt status_val); + + +/** + * Check if termination conditions are satisfied + * If the boolean flag is ON, it checks for approximate conditions (10 x larger + * tolerances than the ones set) + * + * @param solver Solver + * @param approximate Boolean + * @return Residuals check + */ +OSQPInt check_termination(OSQPSolver* solver, + OSQPInt approximate); + + +# ifndef OSQP_EMBEDDED_MODE + +/** + * Validate problem data + * @param P Problem data (quadratic cost term, csc format) + * @param q Problem data (linear cost term) + * @param A Problem data (constraint matrix, csc format) + * @param l Problem data (constraint lower bound) + * @param u Problem data (constraint upper bound) + * @param m Problem data (number of constraints) + * @param n Problem data (number of variables) + * @return Exitflag to check + */ +OSQPInt validate_data(const OSQPCscMatrix* P, + const OSQPFloat* q, + const OSQPCscMatrix* A, + const OSQPFloat* l, + const OSQPFloat* u, + OSQPInt m, + OSQPInt n); + +# endif /* ifndef OSQP_EMBEDDED_MODE */ + + +/** + * Validate problem settings + * @param settings OSQPSettings to be validated + * @param from_setup Is the function called from osqp_setup? + * @return Exitflag to check + */ +OSQPInt validate_settings(const OSQPSettings* settings, + OSQPInt from_setup); + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef AUXIL_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/csc_math.h b/lib/controller/mpc/solver_code/inc/private/csc_math.h new file mode 100644 index 0000000..dba0fd3 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/csc_math.h @@ -0,0 +1,92 @@ +#ifndef CSC_MATH_H +# define CSC_MATH_H + + +# include "osqp_api_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/**************************************************************************** +* CSC Matrix updates * +*****************************************************************************/ + + /** + * Update elements of a previously allocated csc matrix + * without changing its sparsity structure. + * + * If Mx_new_idx is OSQP_NULL, Mx_new is assumed to be as long as M->x + * and all matrix entries are replaced + * + * The caller is responsible for ensuring that P_new_n is not greater + * the number of nonzeros in the matrix + * + * @param M csc matrix + * @param Mx_new Vector of new elements in M->x + * @param Mx_new_idx Index mapping new elements to positions in M->x + * @param P_new_n Number of new elements to be changed + * + */ + +void csc_update_values(OSQPCscMatrix* M, + const OSQPFloat* Mx_new, + const OSQPInt* Mx_new_idx, + OSQPInt P_new_n); + +/***************************************************************************** +* CSC Algebraic Operations * +******************************************************************************/ + +// A = sc*A +void csc_scale(OSQPCscMatrix* A, OSQPFloat sc); + +// A = diag(L)*A +void csc_lmult_diag(OSQPCscMatrix* A, const OSQPFloat* L); + +// A = A*diag(R) +void csc_rmult_diag(OSQPCscMatrix* A, const OSQPFloat* R); + +// d = diag(At*diag(D)*A) +void csc_AtDA_extract_diag(const OSQPCscMatrix* A, + const OSQPFloat* D, + OSQPFloat* d); + +//y = alpha*A*x + beta*y, where A is symmetric and only triu is stored +void csc_Axpy_sym_triu(const OSQPCscMatrix* A, + const OSQPFloat* x, + OSQPFloat* y, + OSQPFloat alpha, + OSQPFloat beta); + +//y = alpha*A*x + beta*y +void csc_Axpy(const OSQPCscMatrix* A, + const OSQPFloat* x, + OSQPFloat* y, + OSQPFloat alpha, + OSQPFloat beta); + +//y = alpha*A^T*x + beta*y +void csc_Atxpy(const OSQPCscMatrix* A, + const OSQPFloat* x, + OSQPFloat* y, + OSQPFloat alpha, + OSQPFloat beta); + +// // returns 1/2 x'*P*x +// OSQPFloat csc_quad_form(const csc *P, const OSQPFloat *x); + +// E[i] = inf_norm(M(:,i)) +void csc_col_norm_inf(const OSQPCscMatrix* M, OSQPFloat* E); + +// E[i] = inf_norm(M(i,:)) +void csc_row_norm_inf(const OSQPCscMatrix* M, OSQPFloat* E); + +// E[i] = inf_norm(M(i,:)), where M stores triu part only +void csc_row_norm_inf_sym_triu(const OSQPCscMatrix* M, OSQPFloat* E); + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef CSC_MATH_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/csc_utils.h b/lib/controller/mpc/solver_code/inc/private/csc_utils.h new file mode 100644 index 0000000..d953e4e --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/csc_utils.h @@ -0,0 +1,211 @@ +#ifndef CSC_UTILS_H +#define CSC_UTILS_H + +#include "osqp_configure.h" +#include "osqp_api_types.h" +#include "glob_opts.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// ========== Logical, testing and debug =========== + +OSQPInt csc_is_eq(OSQPCscMatrix* A, OSQPCscMatrix* B, OSQPFloat tol); + +/***************************************************************************** +* Create and free CSC Matrices * +*****************************************************************************/ + +#ifndef OSQP_EMBEDDED_MODE + +/** + * Create uninitialized CSC matrix structure + (uses MALLOC to create inner arrays x, i, p) + * @param m First dimension + * @param n Second dimension + * @param nzmax Maximum number of nonzero elements + * @param values Allocate values (0/1) + * @param triplet Allocate CSC or triplet format matrix (1/0) + * @return Matrix pointer + */ +OSQPCscMatrix* csc_spalloc(OSQPInt m, + OSQPInt n, + OSQPInt nzmax, + OSQPInt values, + OSQPInt triplet); + + +/** + * Free sparse matrix + (uses FREE to free inner arrays x, i, p) + * @param A Matrix in CSC format + */ +void csc_spfree(OSQPCscMatrix* A); + +/** + * Create a new matrix from a subset of the rows of A + (uses MALLOC to create the new matrix) + * @param A CSC matrix + * @param rows vector indicating which rows to select (all nonzeros are selected) + this should be the same length as A->m + * @return Returns A(rows,:) if successful, null otherwise + */ +OSQPCscMatrix* csc_submatrix_byrows(const OSQPCscMatrix* A, + OSQPInt* rows); + + +/** + * free workspace and return a sparse matrix result + * @param C CSC matrix + * @param w Workspace vector + * @param x Workspace vector + * @param ok flag + * @return Return result C if OK, otherwise free it + */ +OSQPCscMatrix* csc_done(OSQPCscMatrix* C, + void* w, + void* x, + OSQPInt ok); +#endif /* OSQP_EMBEDDED_MODE */ + +/***************************************************************************** +* Copy Matrices * +*****************************************************************************/ + +#ifndef OSQP_EMBEDDED_MODE + +/** + * Copy sparse CSC matrix A to output. + * output is allocated by this function (uses MALLOC) + */ +OSQPCscMatrix* csc_copy(const OSQPCscMatrix* A); + +// /** +// * Copy sparse CSC matrix A to B (B is preallocated, NO MALLOC) +// */ +// void csc_copy_prea(const OSQPCscMatrix* A, +// OSQPCscMatrix* B); + +/* Convert sparse CSC to dense (uses MALLOC)*/ +OSQPFloat* csc_to_dns(OSQPCscMatrix* M); + +#endif /* OSQP_EMBEDDED_MODE */ + +/***************************************************************************** +* Matrices Conversion * +*****************************************************************************/ + +#ifndef OSQP_EMBEDDED_MODE + +/** + * C = compressed-column CSC from matrix T in triplet form + * + * TtoC stores the vector of indices from T to C + * -> C[TtoC[i]] = T[i] + * + * @param T matrix in triplet format + * @param TtoC vector of indices from triplet to CSC format + * @return matrix in CSC format + */ +OSQPCscMatrix* triplet_to_csc(const OSQPCscMatrix* T, + OSQPInt* TtoC); + + +/** + * C = compressed-row CSR from matrix T in triplet form + * + * TtoC stores the vector of indices from T to C + * -> C[TtoC[i]] = T[i] + * + * @param T matrix in triplet format + * @param TtoC vector of indices from triplet to CSR format + * @return matrix in CSR format + */ +OSQPCscMatrix* triplet_to_csr(const OSQPCscMatrix* T, + OSQPInt* TtoC); + + +// /** +// * Convert square CSC matrix into upper triangular one +// * +// * @param M Matrix to be converted +// * @return Upper triangular matrix in CSC format +// */ +// OSQPCscMatrix* csc_to_triu(OSQPCscMatrix* M); + +/** + * Convert upper triangular square CSC matrix into symmetric by copying + * data above diagonal. + * + * @param M Matrix to be converted + * @return Symmetric matrix in CSC format + */ +OSQPCscMatrix* triu_to_csc(OSQPCscMatrix* M); + + +/** + * Vertically stack two csc matrices + * + * @param A First CSC matrix + * @param B Second CSC matrix + * @return CSC matrix resulting from vstacking A and B + */ +OSQPCscMatrix* vstack(OSQPCscMatrix* A, + OSQPCscMatrix* B); + +#endif /* OSQP_EMBEDDED_MODE */ + +/***************************************************************************** +* Extra operations * +*****************************************************************************/ + +// /** +// * p [0..n] = cumulative sum of c [0..n-1], and then copy p [0..n-1] into c +// * +// * @param p Create cumulative sum into p +// * @param c Vector of which we compute cumulative sum +// * @param n Number of elements +// * @return Exitflag +// */ +// OSQPInt csc_cumsum(OSQPInt *p, +// OSQPInt *c, +// OSQPInt n); + +/** + * Extract main diagonal from matrix A into vector d. + */ +void csc_extract_diag(const OSQPCscMatrix* A, + OSQPFloat* d); + +#ifndef OSQP_EMBEDDED_MODE + +/** + * Compute inverse of permutation matrix stored in the vector p. + * The computed inverse is also stored in a vector. + * Allocates return vector (uses MALLOC) + */ +OSQPInt* csc_pinv(const OSQPInt* p, + OSQPInt n); + +/** + * C = A(p,p)= PAP' where A and C are symmetric the upper part stored; + * NB: pinv not p! + * @param A Original matrix (upper-triangular) + * @param pinv Inverse of permutation vector + * @param AtoC Mapping from indices of A-x to C->x + * @param values Are values of A allocated? + * @return New matrix (allocated) + */ +OSQPCscMatrix* csc_symperm(const OSQPCscMatrix* A, + const OSQPInt* pinv, + OSQPInt* AtoC, + OSQPInt values); + +#endif /* OSQP_EMBEDDED_MODE */ + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef CSC_UTILS_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/error.h b/lib/controller/mpc/solver_code/inc/private/error.h new file mode 100644 index 0000000..866d496 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/error.h @@ -0,0 +1,48 @@ +#ifndef ERROR_H +#define ERROR_H + +/* OSQP error handling */ + +#include "osqp.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* OSQP error macro */ +#if __STDC_VERSION__ >= 199901L +/* The C99 standard gives the __func__ macro, which is preferred over __FUNCTION__ */ +# define osqp_error(error_code) _osqp_error(error_code, __func__); +#else +# define osqp_error(error_code) _osqp_error(error_code, __FUNCTION__); +#endif + + + +/** + * Internal function to print error description and return error code. + * @param error_code Error code + * @param function_name Function name + * @return Error code + */ +OSQPInt _osqp_error(enum osqp_error_type error_code, + const char* function_name); + +/** + * Internal function to print error description, location and return error code. + * @param error_code Error code + * @param function_name Function name + * @param filename Filename + * @param line_number Line number of error + * @return Error code + */ +OSQPInt _osqp_error_line(enum osqp_error_type error_code, + const char* function_name, + const char* filename, + OSQPInt line_number); + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef ERROR_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/glob_opts.h b/lib/controller/mpc/solver_code/inc/private/glob_opts.h new file mode 100644 index 0000000..ff7df9f --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/glob_opts.h @@ -0,0 +1,72 @@ +#ifndef GLOB_OPTS_H +#define GLOB_OPTS_H + +/* + Define OSQP compiler flags + */ + +// cmake generated compiler flags +#include "osqp_configure.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* DATA CUSTOMIZATIONS (depending on memory manager)----------------------- */ + +/* We do not need memory allocation functions if OSQP_EMBEDDED_MODE is enabled */ +# ifndef OSQP_EMBEDDED_MODE +# ifdef OSQP_CUSTOM_MEMORY +/* Use user-provided memory management functions */ +# include OSQP_CUSTOM_MEMORY +# else +/* If no custom memory allocator defined, use standard library functions. */ +# include +# define c_malloc malloc +# define c_calloc calloc +# define c_free free +# define c_realloc realloc +# endif +# endif /* end ifndef OSQP_EMBEDDED_MODE */ + + +/* Use customized operations */ + +# ifndef c_absval +# define c_absval(x) (((x) < 0) ? -(x) : (x)) +# endif /* ifndef c_absval */ + +# ifndef c_max +# define c_max(a, b) (((a) > (b)) ? (a) : (b)) +# endif /* ifndef c_max */ + +# ifndef c_min +# define c_min(a, b) (((a) < (b)) ? (a) : (b)) +# endif /* ifndef c_min */ + +// Round x to the nearest multiple of N +# ifndef c_roundmultiple +# define c_roundmultiple(x, N) ((x) + .5 * (N)-c_fmod((x) + .5 * (N), (N))) +# endif /* ifndef c_roundmultiple */ + + +/* Use customized functions ----------------------------------------------- */ + +# if OSQP_EMBEDDED_MODE != 1 + +# include +# ifndef OSQP_USE_FLOAT // Doubles +# define c_sqrt sqrt +# define c_fmod fmod +# else // Floats +# define c_sqrt sqrtf +# define c_fmod fmodf +# endif /* ifndef OSQP_USE_FLOAT */ + +# endif // end OSQP_EMBEDDED_MODE + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef GLOB_OPTS_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/kkt.h b/lib/controller/mpc/solver_code/inc/private/kkt.h new file mode 100644 index 0000000..e59feb1 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/kkt.h @@ -0,0 +1,109 @@ +#ifndef KKT_H +#define KKT_H + + +#include "osqp.h" + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef OSQP_EMBEDDED_MODE + +#include "csc_utils.h" + +/** + * Form square symmetric KKT matrix of the form + * + * [P + param1 I, A'; + * A -diag(param2)] + * + * NB: Only the upper triangular part is filled + * + * + * If rhotoKKT is not null it stores indices of param2 in the final KKT matrix + * + * @param P data for P in csc format (triu form) + * @param A data for A in csc format + * @param format CSC (0) or CSR (1) + * @param param1 regularization parameter + * @param param2 regularization parameter (vector) + * @param param2_sc regularization parameter (scalar, used if param2 is NULL) + * @param PtoKKT (modified) index mapping from elements of P to KKT matrix + * @param AtoKKT (modified) index mapping from elements of A to KKT matrix + * @param param2toKKT(modified) index mapping from param2 to elements of + *KKT + * @return return status flag + */ + OSQPCscMatrix* form_KKT(OSQPCscMatrix* P, + OSQPCscMatrix* A, + OSQPInt format, + OSQPFloat param1, + OSQPFloat* param2, + OSQPFloat param2_sc, + OSQPInt* PtoKKT, + OSQPInt* AtoKKT, + OSQPInt* param2toKKT); +# endif // ifndef OSQP_EMBEDDED_MODE + + +# if OSQP_EMBEDDED_MODE != 1 + +/** + * Update KKT matrix using the elements of P + * + * @param KKT KKT matrix in CSC form (upper-triangular) + * @param P P matrix in csc format (triu form) + * @param P_new_idx indices of P to be updated + * @param P_new_n number of elements of P to be updated + * @param PtoKKT Vector of pointers from P->x to KKT->x + * @param param1 Parameter added to the diagonal elements of P + * @param format 0 for CSC, 1 for CSR + */ + void update_KKT_P(OSQPCscMatrix* KKT, + OSQPCscMatrix* P, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + OSQPInt* PtoKKT, + OSQPFloat param1, + OSQPInt format); + + +/** + * Update KKT matrix using the elements of A + * + * @param KKT KKT matrix in CSC form (upper-triangular) + * @param A A matrix in csc format + * @param A_new_idx indices of A to be updated + * @param A_new_n number of elements of A to be updated + * @param AtoKKT Vector of pointers from A->x to KKT->x + */ + void update_KKT_A(OSQPCscMatrix* KKT, + OSQPCscMatrix* A, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n, + OSQPInt* AtoKKT); + + +/** + * Update KKT matrix with new param2 + * + * @param KKT KKT matrix + * @param param2 Parameter of the KKT matrix (vector) + * @param param2_sc Parameter of the KKT matrix (scalar, used if param2 == NULL) + * @param param2toKKT index where param2 enters in the KKT matrix + * @param m number of constraints + */ +void update_KKT_param2(OSQPCscMatrix* KKT, + OSQPFloat* param2, + OSQPFloat param2_sc, + OSQPInt* param2toKKT, + OSQPInt m); + +# endif // OSQP_EMBEDDED_MODE != 1 + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef KKT_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/lin_alg.h b/lib/controller/mpc/solver_code/inc/private/lin_alg.h new file mode 100644 index 0000000..7cd2a37 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/lin_alg.h @@ -0,0 +1,74 @@ +#ifndef LIN_ALG_H +#define LIN_ALG_H + +# include "algebra_vector.h" +# include "algebra_matrix.h" +# include "types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* Return which linear system solvers are supported */ +OSQPInt osqp_algebra_linsys_supported(void); + +/* Return the default linear system the algebra backend prefers */ +enum osqp_linsys_solver_type osqp_algebra_default_linsys(void); + +/* Initialize libraries that implement algebra. */ +OSQPInt osqp_algebra_init_libs(OSQPInt device); + +/* Free libraries that implement algebra. */ +void osqp_algebra_free_libs(void); + +/* Get the name of the linear algebra backend */ +OSQPInt osqp_algebra_name(char* name, OSQPInt nameLen); + +/* Get the name of the device the linear algebra backend is using */ +OSQPInt osqp_algebra_device_name(char* name, OSQPInt nameLen); + +/* KKT linear system definition and solution */ + +// NB: Only the upper triangular part of P is filled. + +/** + * Initialize linear system solver structure + * @param s Pointer to linear system solver structure + * @param P Objective function matrix + * @param A Constraint matrix + * @param rho_vec Algorithm parameter + * @param settings Solver settings + * @param scaled_prim_res Pointer to the scaled primal residual + * @param scaled_dual_res Pointer to the scaled dual residual + * @param polishing 0/1 depending whether we are allocating for polishing or not + * @return Exitflag for error (0 if no errors) + */ +OSQPInt osqp_algebra_init_linsys_solver(LinSysSolver** s, + const OSQPMatrix* P, + const OSQPMatrix* A, + const OSQPVectorf* rho_vec, + const OSQPSettings* settings, + OSQPFloat* scaled_prim_res, + OSQPFloat* scaled_dual_res, + OSQPInt polishing); + + +#ifdef OSQP_ALGEBRA_BUILTIN +#ifndef OSQP_EMBEDDED_MODE +OSQPInt adjoint_derivative_linsys_solver(LinSysSolver** s, + const OSQPSettings* settings, + const OSQPMatrix* P, + const OSQPMatrix* G, + const OSQPMatrix* A_eq, + OSQPMatrix* GDiagLambda, + OSQPVectorf* slacks, + OSQPVectorf* rhs); + +#endif +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef LIN_ALG_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/printing.h b/lib/controller/mpc/solver_code/inc/private/printing.h new file mode 100644 index 0000000..fce31e2 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/printing.h @@ -0,0 +1,53 @@ +/* Header file defining printing functions */ +#ifndef PRINTING_H_ +#define PRINTING_H_ + +/* cmake generated compiler flags */ +#include "osqp_configure.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* Format specifier to use for the OSQP integers */ +# ifdef OSQP_USE_LONG /* Long integers */ +#define OSQP_INT_FMT "lld" +# else /* Standard integers */ +#define OSQP_INT_FMT "d" +# endif + +/* Error printing function */ +/* Always define this, and let implementations undefine if they want to change it */ +# if __STDC_VERSION__ >= 199901L +/* The C99 standard gives the __func__ macro, which is preferred over __FUNCTION__ */ +# define c_eprint(...) c_print("ERROR in %s: ", __func__); \ + c_print(__VA_ARGS__); c_print("\n"); +#else +# define c_eprint(...) c_print("ERROR in %s: ", __FUNCTION__); \ + c_print(__VA_ARGS__); c_print("\n"); +#endif + +#ifdef OSQP_CUSTOM_PRINTING +/* Use user-provided printing functions */ +# include OSQP_CUSTOM_PRINTING + +#elif defined(OSQP_ENABLE_PRINTING) +/* Use standard printing routine */ +# include +# include + +# define c_print printf + +#else +/* No printing is desired, so turn the two functions into NOPs */ +# undef c_eprint +# define c_print(...) +# define c_eprint(...) + +#endif /* OSQP_CUSTOM_PRINTING */ + +#ifdef __cplusplus +} +#endif + +#endif /* PRINTING_H_ */ diff --git a/lib/controller/mpc/solver_code/inc/private/profilers.h b/lib/controller/mpc/solver_code/inc/private/profilers.h new file mode 100644 index 0000000..7d4f5e8 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/profilers.h @@ -0,0 +1,117 @@ +#ifndef PROFILERS_H_ +#define PROFILERS_H_ + +// cmake generated compiler flags +#include "osqp_configure.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Profiler section annotations that will be used by certain profilers. + */ +typedef enum { + /* Level 1 detail (coarse) */ + OSQP_PROFILER_SEC_SETUP, /* Workspace setup */ + OSQP_PROFILER_SEC_SCALE, /* Problem scaling */ + OSQP_PROFILER_SEC_OPT_SOLVE, /* Solving optimization problem */ + OSQP_PROFILER_SEC_ADMM_ITER, /* Single ADMM iteration */ + OSQP_PROFILER_SEC_ADMM_KKT_SOLVE, /* Solve KKT system */ + OSQP_PROFILER_SEC_ADMM_UPDATE, /* Update the vectors in the ADMM */ + OSQP_PROFILER_SEC_ADMM_PROJ, /* Project vector */ + OSQP_PROFILER_SEC_POLISH, /* Solution polishing */ + + /* Level 2 detail (more details) */ + OSQP_PROFILER_SEC_LINSYS_INIT, /* Linsys: initialization */ + OSQP_PROFILER_SEC_LINSYS_SOLVE, /* Linsys: solving */ + OSQP_PROFILER_SEC_LINSYS_SYM_FAC, /* Linsys: symbolic factorization */ + OSQP_PROFILER_SEC_LINSYS_NUM_FAC, /* Linsys: numerical factorization */ + OSQP_PROFILER_SEC_LINSYS_BACKSOLVE, /* Linsys: backsolve */ + OSQP_PROFILER_SEC_LINSYS_MVM, /* Linsys: matrix-vector multiply */ + + /* Sentinel element */ + OSQP_PROFILER_SEC_ARRAY_LAST +} OSQPProfilerSection; + +/** + * Profiler event annotations that will be used by certain profilers. + */ +typedef enum { + /* Level 1 details (coarse) */ + OSQP_PROFILER_EVENT_RHO_UPDATE, /* Rho value updated */ + + /* Sentinel element */ + OSQP_PROFILER_EVENT_ARRAY_LAST +} OSQPProfilerEvent; + +/* + * Metadata for a profiler annotation + */ +typedef struct { + const char* name; /* Visible name for the item */ + const char* desc; /* Description of the item */ + int level; /* Level the item is enabled at */ +} OSQPProfilerItemInfo; + +/** + * Initialize the profiler annotations for level @c level. + * + * @param level is the level (0, 1, 2) of annotations to enable + */ +void _osqp_profiler_init(int level); + +/** + * Update the active profiler annotation level. + * + * @param level is the new level (0, 1, 2) of annotations to enable + */ +void _osqp_profiler_update_level(int level); + +/** + * Push a profiler section annotation onto the stack to show the code is in the section. + * + * @param section is the section to push + */ +void _osqp_profiler_sec_push(OSQPProfilerSection section); + +/** + * Pop the most recent profiler section off the stack (when leaving the section). + */ +void _osqp_profiler_sec_pop(OSQPProfilerSection section); + +/** + * Mark an event as occuring for the profiler. + */ +void _osqp_profiler_event_mark(OSQPProfilerEvent event); + +/* + * Allow disabling the profiler annotations completely with no overhead by just ignoring the call. + */ +#ifdef OSQP_PROFILER_ANNOTATIONS +#define osqp_profiler_init(level) _osqp_profiler_init(level) +#define osqp_profiler_update_level(level) _osqp_profiler_update_level(level) +#define osqp_profiler_sec_push(sec) _osqp_profiler_sec_push(sec) +#define osqp_profiler_sec_pop(sec) _osqp_profiler_sec_pop(sec) +#define osqp_profiler_event_mark(event) _osqp_profiler_event_mark(event) + +/* Array containing information about each valid section for profiling */ +extern OSQPProfilerItemInfo osqp_profiler_sections[]; + +/* Array containing information about each valid event for profiling */ +extern OSQPProfilerItemInfo osqp_profiler_events[]; + +#else +#define osqp_profiler_init(level) +#define osqp_profiler_update_level(level) +#define osqp_profiler_sec_push(sec) +#define osqp_profiler_sec_pop(sec) +#define osqp_profiler_event_mark(event) +#endif + + +#ifdef __cplusplus +} +#endif + +#endif /* PROFILERS_H_ */ diff --git a/lib/controller/mpc/solver_code/inc/private/qdldl.h b/lib/controller/mpc/solver_code/inc/private/qdldl.h new file mode 100644 index 0000000..6e32b0b --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/qdldl.h @@ -0,0 +1,193 @@ +/* + * This file is part of QDLDL, a library for performing the LDL^T factorization + * of a symmetric indefinite matrix. + * + * QDLDL is part of the OSQP project, and is available at https://github.com/osqp/qdldl. + * + * Copyright 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac, Ian McInerney, The OSQP developers + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * SPDX-License-Identifier: Apache-2.0 + * SPDX-ExternalRef: PACKAGE_MANAGER purl pkg:github/osqp/qdldl + */ +#ifndef QDLDL_H +#define QDLDL_H + +// Include qdldl type options +#include "qdldl_types.h" +#include "qdldl_version.h" + +// Define the function attributes that are needed to mark functions as being +// visible for linking in the shared library version of QDLDL +#if defined(_WIN32) +#if defined(BUILDING_QDLDL) +#define QDLDL_API_EXPORT __declspec(dllexport) +#else +#define QDLDL_API_EXPORT __declspec(dllimport) +#endif +#else +#if defined(BUILDING_QDLDL) +#define QDLDL_API_EXPORT __attribute__((visibility("default"))) +#else +#define QDLDL_API_EXPORT +#endif +#endif + +// Only define API export parts when using the shared library +#if defined(QDLDL_SHARED_LIB) +#define QDLDL_API QDLDL_API_EXPORT +#else +#define QDLDL_API +#endif + +#ifdef __cplusplus +extern "C" { +#endif // ifdef __cplusplus + +/** + * Compute the elimination tree for a quasidefinite matrix + * in compressed sparse column form, where the input matrix is + * assumed to contain data for the upper triangular part of A only, + * and there are no duplicate indices. + * + * Returns an elimination tree for the factorization A = LDL^T and a + * count of the nonzeros in each column of L that are strictly below the + * diagonal. + * + * Does not use MALLOC. It is assumed that the arrays work, Lnz, and + * etree will be allocated with a number of elements equal to n. + * + * The data in (n,Ap,Ai) are from a square matrix A in CSC format, and + * should include the upper triangular part of A only. + * + * This function is only intended for factorisation of QD matrices specified + * by their upper triangular part. An error is returned if any column has + * data below the diagonal or s completely empty. + * + * For matrices with a non-empty column but a zero on the corresponding diagonal, + * this function will *not* return an error, as it may still be possible to factor + * such a matrix in LDL form. No promises are made in this case though... + * + * @param n number of columns in CSC matrix A (assumed square) + * @param Ap column pointers (size n+1) for columns of A + * @param Ai row indices of A. Has Ap[n] elements + * @param work work vector (size n) (no meaning on return) + * @param Lnz count of nonzeros in each column of L (size n) below diagonal + * @param etree elimination tree (size n) + * @return total sum of Lnz (i.e. total nonzeros in L below diagonal). + * Returns -1 if the input is not triu or has an empty column. + * Returns -2 if the return value overflows QDLDL_int. + * + */ +QDLDL_API QDLDL_int QDLDL_etree(const QDLDL_int n, const QDLDL_int* Ap, const QDLDL_int* Ai, + QDLDL_int* work, QDLDL_int* Lnz, QDLDL_int* etree); + + +/** + * Compute an LDL decomposition for a quasidefinite matrix + * in compressed sparse column form, where the input matrix is + * assumed to contain data for the upper triangular part of A only, + * and there are no duplicate indices. + * + * Returns factors L, D and Dinv = 1./D. + * + * Does not use MALLOC. It is assumed that L will be a compressed + * sparse column matrix with data (n,Lp,Li,Lx) with sufficient space + * allocated, with a number of nonzeros equal to the count given + * as a return value by QDLDL_etree + * + * @param n number of columns in L and A (both square) + * @param Ap column pointers (size n+1) for columns of A (not modified) + * @param Ai row indices of A. Has Ap[n] elements (not modified) + * @param Ax data of A. Has Ap[n] elements (not modified) + * @param Lp column pointers (size n+1) for columns of L + * @param Li row indices of L. Has Lp[n] elements + * @param Lx data of L. Has Lp[n] elements + * @param D vectorized factor D. Length is n + * @param Dinv reciprocal of D. Length is n + * @param Lnz count of nonzeros in each column of L below diagonal, + * as given by QDLDL_etree (not modified) + * @param etree elimination tree as as given by QDLDL_etree (not modified) + * @param bwork working array of bools. Length is n + * @param iwork working array of integers. Length is 3*n + * @param fwork working array of floats. Length is n + * @return Returns a count of the number of positive elements + * in D. Returns -1 and exits immediately if any element + * of D evaluates exactly to zero (matrix is not quasidefinite + * or otherwise LDL factorisable) + * + */ +QDLDL_API QDLDL_int QDLDL_factor(const QDLDL_int n, const QDLDL_int* Ap, const QDLDL_int* Ai, + const QDLDL_float* Ax, QDLDL_int* Lp, QDLDL_int* Li, + QDLDL_float* Lx, QDLDL_float* D, QDLDL_float* Dinv, + const QDLDL_int* Lnz, const QDLDL_int* etree, QDLDL_bool* bwork, + QDLDL_int* iwork, QDLDL_float* fwork); + + +/** + * Solves LDL'x = b + * + * It is assumed that L will be a compressed + * sparse column matrix with data (n,Lp,Li,Lx). + * + * @param n number of columns in L + * @param Lp column pointers (size n+1) for columns of L + * @param Li row indices of L. Has Lp[n] elements + * @param Lx data of L. Has Lp[n] elements + * @param Dinv reciprocal of D. Length is n + * @param x initialized to b. Equal to x on return + * + */ +QDLDL_API void QDLDL_solve(const QDLDL_int n, const QDLDL_int* Lp, const QDLDL_int* Li, + const QDLDL_float* Lx, const QDLDL_float* Dinv, QDLDL_float* x); + + +/** + * Solves (L+I)x = b + * + * It is assumed that L will be a compressed + * sparse column matrix with data (n,Lp,Li,Lx). + * + * @param n number of columns in L + * @param Lp column pointers (size n+1) for columns of L + * @param Li row indices of L. Has Lp[n] elements + * @param Lx data of L. Has Lp[n] elements + * @param x initialized to b. Equal to x on return + * + */ +QDLDL_API void QDLDL_Lsolve(const QDLDL_int n, const QDLDL_int* Lp, const QDLDL_int* Li, + const QDLDL_float* Lx, QDLDL_float* x); + + +/** + * Solves (L+I)'x = b + * + * It is assumed that L will be a compressed + * sparse column matrix with data (n,Lp,Li,Lx). + * + * @param n number of columns in L + * @param Lp column pointers (size n+1) for columns of L + * @param Li row indices of L. Has Lp[n] elements + * @param Lx data of L. Has Lp[n] elements + * @param x initialized to b. Equal to x on return + * + */ +QDLDL_API void QDLDL_Ltsolve(const QDLDL_int n, const QDLDL_int* Lp, const QDLDL_int* Li, + const QDLDL_float* Lx, QDLDL_float* x); + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // ifndef QDLDL_H diff --git a/lib/controller/mpc/solver_code/inc/private/qdldl_interface.h b/lib/controller/mpc/solver_code/inc/private/qdldl_interface.h new file mode 100644 index 0000000..41d0fa8 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/qdldl_interface.h @@ -0,0 +1,207 @@ +#ifndef QDLDL_INTERFACE_H +#define QDLDL_INTERFACE_H + + +#include "osqp.h" +#include "types.h" //OSQPMatrix and OSQPVector[fi] types +#include "qdldl_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * QDLDL solver structure + */ +typedef struct qdldl qdldl_solver; + +struct qdldl { + enum osqp_linsys_solver_type type; + + /** + * @name Functions + * @{ + */ + const char* (*name)(struct qdldl* s); + + OSQPInt (*solve)(struct qdldl* self, + OSQPVectorf* b, + OSQPInt admm_iter); + + void (*update_settings)(struct qdldl* self, + const OSQPSettings* settings); + + void (*warm_start)(struct qdldl* self, + const OSQPVectorf* x); + +#ifndef OSQP_EMBEDDED_MODE + OSQPInt (*adjoint_derivative)(qdldl_solver** s, + const OSQPMatrix* P, + const OSQPMatrix* G, + const OSQPMatrix* A_eq, + const OSQPMatrix* GDiagLambda, + const OSQPVectorf* slacks, + OSQPVectorf* rhs); + + void (*free)(struct qdldl* self); ///< Free workspace (only if desktop) +#endif + + // This used only in non embedded or embedded 2 version +#if OSQP_EMBEDDED_MODE != 1 + OSQPInt (*update_matrices)(struct qdldl* self, + const OSQPMatrix* P, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + const OSQPMatrix* A, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n); ///< Update solver matrices + + OSQPInt (*update_rho_vec)(struct qdldl* self, + const OSQPVectorf* rho_vec, + OSQPFloat rho_sc); ///< Update rho_vec parameter +#endif + + OSQPInt nthreads; + + /** @} */ + + /** + * @name Attributes + * @{ + */ + OSQPCscMatrix* L; ///< lower triangular matrix in LDL factorization + OSQPFloat* Dinv; ///< inverse of diag matrix in LDL (as a vector) + OSQPInt* P; ///< permutation of KKT matrix for factorization + OSQPFloat* bp; ///< workspace memory for solves + OSQPFloat* sol; ///< solution to the KKT system + OSQPFloat* rho_inv_vec; ///< parameter vector + OSQPFloat sigma; ///< scalar parameter + OSQPFloat rho_inv; ///< scalar parameter (used if rho_inv_vec == NULL) +#ifndef OSQP_EMBEDDED_MODE + OSQPInt polishing; ///< polishing flag +#endif + OSQPInt n; ///< number of QP variables + OSQPInt m; ///< number of QP constraints + + +#if OSQP_EMBEDDED_MODE != 1 + // These are required for matrix updates + OSQPCscMatrix* KKT; ///< Permuted KKT matrix in sparse form (used to update P and A matrices) + OSQPInt* PtoKKT; ///< Index of elements from P to KKT matrix + OSQPInt* AtoKKT; ///< Index of elements from A to KKT matrix + OSQPInt* rhotoKKT; ///< Index of rho places in KKT matrix + // QDLDL Numeric workspace + QDLDL_float* D; + QDLDL_int* etree; + QDLDL_int* Lnz; + QDLDL_int* iwork; + QDLDL_bool* bwork; + QDLDL_float* fwork; + + OSQPCscMatrix* adj; +#endif + + /** @} */ +}; + + + +/** + * Initialize QDLDL Solver + * + * @param s Pointer to a private structure + * @param P Objective function matrix (upper triangular form) + * @param A Constraints matrix + * @param rho_vec Algorithm parameter. If polish, then rho_vec = OSQP_NULL. + * @param settings Solver settings + * @param polishing Flag whether we are initializing for polishing or not + * @return Exitflag for error (0 if no errors) + */ +OSQPInt init_linsys_solver_qdldl(qdldl_solver** sp, + const OSQPMatrix* P, + const OSQPMatrix* A, + const OSQPVectorf* rho_vec, + const OSQPSettings* settings, + OSQPInt polishing); + +/** + * Get the user-friendly name of the QDLDL solver. + * @return The user-friendly name + */ +const char* name_qdldl(qdldl_solver* s); + +/** + * Solve linear system and store result in b + * @param s Linear system solver structure + * @param b Right-hand side + * @return Exitflag + */ +OSQPInt solve_linsys_qdldl(qdldl_solver* s, + OSQPVectorf* b, + OSQPInt admm_iter); + + +void update_settings_linsys_solver_qdldl(qdldl_solver* s, + const OSQPSettings* settings); + +void warm_start_linsys_solver_qdldl(qdldl_solver* s, + const OSQPVectorf* x); + + +#if OSQP_EMBEDDED_MODE != 1 +/** + * Update linear system solver matrices + * @param s Linear system solver structure + * @param P Matrix P + * @param Px_new_idx elements of P to update, + * @param P_new_n number of elements to update + * @param A Matrix A + * @param Ax_new_idx elements of A to update, + * @param A_new_n number of elements to update + * @return Exitflag + */ +OSQPInt update_linsys_solver_matrices_qdldl(qdldl_solver* s, + const OSQPMatrix* P, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + const OSQPMatrix* A, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n); + + + + +/** + * Update rho_vec parameter in linear system solver structure + * @param s Linear system solver structure + * @param rho_vec new rho_vec value + * @return exitflag + */ +OSQPInt update_linsys_solver_rho_vec_qdldl(qdldl_solver* s, + const OSQPVectorf* rho_vec, + OSQPFloat rho_sc); + +#endif + +#ifndef OSQP_EMBEDDED_MODE +/** + * Free linear system solver + * @param s linear system solver object + */ +void free_linsys_solver_qdldl(qdldl_solver* s); + +OSQPInt adjoint_derivative_qdldl(qdldl_solver** s, + const OSQPMatrix* P, + const OSQPMatrix* G, + const OSQPMatrix* A_eq, + const OSQPMatrix* GDiagLambda, + const OSQPVectorf* slacks, + OSQPVectorf* rhs); + +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* QDLDL_INTERFACE_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/qdldl_types.h b/lib/controller/mpc/solver_code/inc/private/qdldl_types.h new file mode 100644 index 0000000..62c3675 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/qdldl_types.h @@ -0,0 +1,35 @@ +/* + * Fix the types that QDLDL uses for the generated code to match + * the OSQP types and be C89 compliant. + */ + +#ifndef QDLDL_TYPES_H +# define QDLDL_TYPES_H + +#include "osqp_api_types.h" + +# ifdef __cplusplus +extern "C" { +# endif /* ifdef __cplusplus */ + +#include //for the QDLDL_INT_TYPE_MAX + +/* Set the QDLDL integer and float types the same as OSQP */ +typedef OSQPInt QDLDL_int; /* for indices */ +typedef OSQPFloat QDLDL_float; /* for numerical values */ + +/* Always use int for bool because we must be C89 compliant */ +typedef int QDLDL_bool; + +/* Maximum value of the signed type QDLDL_int. */ +#ifdef OSQP_USE_LONG +#define QDLDL_INT_MAX LLONG_MAX +#else +#define QDLDL_INT_MAX INT_MAX +#endif + +# ifdef __cplusplus +} +# endif /* ifdef __cplusplus */ + +#endif /* ifndef QDLDL_TYPES_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/qdldl_version.h b/lib/controller/mpc/solver_code/inc/private/qdldl_version.h new file mode 100644 index 0000000..5d4bbf7 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/qdldl_version.h @@ -0,0 +1,31 @@ +/* + * This file is part of QDLDL, a library for performing the LDL^T factorization + * of a symmetric indefinite matrix. + * + * QDLDL is part of the OSQP project, and is available at https://github.com/osqp/qdldl. + * + * Copyright 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac, Ian McInerney, The OSQP developers + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * SPDX-License-Identifier: Apache-2.0 + * SPDX-ExternalRef: PACKAGE_MANAGER purl pkg:github/osqp/qdldl + */ +#ifndef QDLDL_VERSION_H_ +#define QDLDL_VERSION_H_ + +#define QDLDL_VERSION_MAJOR 0 +#define QDLDL_VERSION_MINOR 1 +#define QDLDL_VERSION_PATCH 8 + +#endif // #ifndef QDLDL_VERSION_H_ diff --git a/lib/controller/mpc/solver_code/inc/private/scaling.h b/lib/controller/mpc/solver_code/inc/private/scaling.h new file mode 100644 index 0000000..d047d7a --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/scaling.h @@ -0,0 +1,53 @@ +#ifndef SCALING_H +#define SCALING_H + + +// Functions to scale problem data +#include "osqp.h" +#include "types.h" +#include "lin_alg.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// Enable data scaling if OSQP_EMBEDDED_MODE is disabled or if OSQP_EMBEDDED_MODE == 2 +# if OSQP_EMBEDDED_MODE != 1 + +/** + * Scale problem matrices + * @param solver OSQP solver + * @return exitflag + */ +OSQPInt scale_data(OSQPSolver* solver); +# endif // if OSQP_EMBEDDED_MODE != 1 + + +/** + * Unscale problem matrices + * @param solver OSQP solver + * @return exitflag + */ +OSQPInt unscale_data(OSQPSolver* solver); + + +/** + * Unscale solution + @param usolx unscaled x result + @param usoly unscaled y result + @param solx x solution to be unscaled + @param solx y solution to be unscaled + * @param work Workspace + * @return exitflag + */ +OSQPInt unscale_solution(OSQPVectorf* usolx, + OSQPVectorf* usoly, + const OSQPVectorf* solx, + const OSQPVectorf* soly, + OSQPWorkspace* work); + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef SCALING_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/timing.h b/lib/controller/mpc/solver_code/inc/private/timing.h new file mode 100644 index 0000000..8e66773 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/timing.h @@ -0,0 +1,48 @@ +#ifndef TIMING_H_ +#define TIMING_H_ + +#include "osqp_configure.h" +#include "types.h" + +/** + * Timer Methods + */ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef OSQP_ENABLE_PROFILING + +/** + * Create a new timer. + * @return the timer + */ +OSQPTimer* OSQPTimer_new(); + +/** + * Free an existing timer. + * @param t Timer object to destroy + */ +void OSQPTimer_free(OSQPTimer* t); + +/** + * Start timer + * @param t Timer object + */ +void osqp_tic(OSQPTimer* t); + +/** + * Report time + * @param t Timer object + * @return Reported time + */ +OSQPFloat osqp_toc(OSQPTimer* t); + +#endif /* #ifdef OSQP_ENABLE_PROFILING */ + +#ifdef __cplusplus +} +#endif + +#endif /* #ifdef TIMING_H_ */ diff --git a/lib/controller/mpc/solver_code/inc/private/types.h b/lib/controller/mpc/solver_code/inc/private/types.h new file mode 100644 index 0000000..59dd6d4 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/types.h @@ -0,0 +1,285 @@ +#ifndef TYPES_H +#define TYPES_H + +#include "osqp.h" //includes user API types + +#include "algebra_matrix.h" +#include "algebra_vector.h" +#include "glob_opts.h" + +/****************** +* Internal types * +******************/ + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Linear system solver structure (sublevel objects initialize it differently) + */ + +typedef struct linsys_solver LinSysSolver; + +/** + * OSQP Timer for statistics + */ +typedef struct OSQPTimer_ OSQPTimer; + +/** + * Problem scaling matrices stored as vectors + */ +typedef struct { + OSQPFloat c; ///< objective function scaling + OSQPVectorf* D; ///< primal variable scaling + OSQPVectorf* E; ///< dual variable scaling + OSQPFloat cinv; ///< objective function rescaling + OSQPVectorf* Dinv; ///< primal variable rescaling + OSQPVectorf* Einv; ///< dual variable rescaling +} OSQPScaling; + + + + +# ifndef OSQP_EMBEDDED_MODE + +/** + * Polish structure + */ + +typedef struct { + OSQPMatrix* Ared; ///< active rows of A; Ared = vstack[Alow, Aupp] + OSQPInt n_active; ///< number of active constraints + OSQPVectori* active_flags; ///< -1/0/1 to indicate lower/ inactive / upper active constraints + OSQPVectorf* x; ///< optimal x-solution obtained by polish + OSQPVectorf* z; ///< optimal z-solution obtained by polish + OSQPVectorf* y; ///< optimal y-solution obtained by polish + OSQPFloat obj_val; ///< objective value at polished solution + OSQPFloat dual_obj_val; ///< Dual objective value at polished solution + OSQPFloat duality_gap; ///< Duality gap at polished solution + OSQPFloat prim_res; ///< primal residual at polished solution + OSQPFloat dual_res; ///< dual residual at polished solution +} OSQPPolish; +# endif // ifndef OSQP_EMBEDDED_MODE + + +/********************************** +* Main structures and Data Types * +**********************************/ + +/** + * QP problem data (possibly internally scaled) + */ +typedef struct { + OSQPInt n; ///< number of variables n + OSQPInt m; ///< number of constraints m + OSQPMatrix* P; ///< the upper triangular part of the quadratic objective matrix P (size n x n). + OSQPMatrix* A; ///< linear constraints matrix A (size m x n) + OSQPVectorf* q; ///< dense array for linear part of objective function (size n) + OSQPVectorf* l; ///< dense array for lower bound (size m) + OSQPVectorf* u; ///< dense array for upper bound (size m) +} OSQPData; + +typedef struct { + OSQPInt n_ineq_l; ///< number of inequalities where -inf < l < u + OSQPInt n_ineq_u; ///< number of inequalities where l < u < inf + OSQPInt n_eq; ///< number of equalities where l == u + OSQPVectorf *y_l; ///< for internal use, size m + OSQPVectorf *y_u; ///< for internal use, size m + OSQPVectorf *ryl; ///< for internal use, size m + OSQPVectorf *ryu; ///< for internal use, size m + OSQPVectorf *rhs; ///< rhs of linear system to solve for derivatives; length 2*(n + n_ineq_l + n_ineq_u + n_eq) + ///< conservatively allocated with length 2(n + 2m) in `osqp_setup` +} OSQPDerivativeData; + +/** + * OSQP Workspace + */ + +struct OSQPWorkspace_ { + /// Problem data to work on (possibly scaled) + OSQPData* data; + + /// Linear System solver structure + LinSysSolver* linsys_solver; + +# ifndef OSQP_EMBEDDED_MODE + /// Polish structure + OSQPPolish* pol; +# endif // ifndef OSQP_EMBEDDED_MODE + + /** + * @name Vector used to store a vectorized rho parameter + * @{ + */ + OSQPVectorf* rho_vec; ///< vector of rho values + OSQPVectorf* rho_inv_vec; ///< vector of inv rho values + + /** @} */ + +# if OSQP_EMBEDDED_MODE != 1 + OSQPVectori* constr_type; ///< Type of constraints: loose (-1), equality (1), inequality (0) +# endif // if OSQP_EMBEDDED_MODE != 1 + + /** + * @name Iterates + * @{ + */ + OSQPVectorf* x; ///< Iterate x + OSQPVectorf* y; ///< Iterate y + OSQPVectorf* z; ///< Iterate z + OSQPVectorf* xz_tilde; ///< Iterate xz_tilde + OSQPVectorf* xtilde_view; ///< xtilde view into xz_tilde + OSQPVectorf* ztilde_view; ///< ztilde view into xz_tilde + + OSQPVectorf* x_prev; ///< Previous x, used also as temp vector in primal info computation + OSQPVectorf* z_prev; ///< Previous z, used also as temp vector in dual info computation + + /** + * @name Primal and dual residuals workspace variables + * + * Needed for residuals computation, tolerances computation, + * approximate tolerances computation and adapting rho + * @{ + */ + OSQPVectorf* Ax; ///< scaled A * x + OSQPVectorf* Px; ///< scaled P * x + OSQPVectorf* Aty; ///< scaled A' * y + + /** @} */ + + /** + * @name Objective and duality gap workspace variables + * + * Needed for objective/duality gap computation, tolerances computation, and + * approximate tolerances computation. + * @{ + */ + OSQPFloat xtPx; ///< scaled x' * P *x + OSQPFloat qtx; ///< scaled q' * x + OSQPFloat SC; ///< scaled support function value + OSQPFloat scaled_dual_gap; ///< scaled primal-dual gap + + /** @} */ + + /** + * @name Primal infeasibility variables + * @{ + */ + OSQPVectorf* delta_y; ///< difference between consecutive dual iterates + OSQPVectorf* Atdelta_y; ///< A' * delta_y + + /** @} */ + + /** + * @name Dual infeasibility variables + * @{ + */ + OSQPVectorf* delta_x; ///< difference between consecutive primal iterates + OSQPVectorf* Pdelta_x; ///< P * delta_x + OSQPVectorf* Adelta_x; ///< A * delta_x + + /** @} */ + + /** + * @name Temporary vectors used in scaling + * @{ + */ +#if OSQP_EMBEDDED_MODE != 1 + OSQPVectorf* D_temp; ///< temporary primal variable scaling vectors + OSQPVectorf* D_temp_A; ///< temporary primal variable scaling vectors storing norms of A columns + OSQPVectorf* E_temp; ///< temporary constraints scaling vectors storing norms of A' columns +#endif + + /** @} */ + OSQPScaling* scaling; ///< scaling vectors + + /// Scaled primal and dual residuals used for computing rho estimate. + /// They are also passed to indirect linear system solvers for computing required accuracy. + OSQPFloat scaled_prim_res; + OSQPFloat scaled_dual_res; + + /// Reciprocal of rho + OSQPFloat rho_inv; + +# ifdef OSQP_ENABLE_PROFILING + OSQPTimer* timer; ///< timer object + + /// flag indicating whether the solve function has been run before + OSQPInt first_run; + + /// flag indicating whether the update_time should be cleared + OSQPInt clear_update_time; + + /// flag indicating that osqp_update_rho is called from osqp_solve function + OSQPInt rho_update_from_solve; +# endif // ifdef OSQP_ENABLE_PROFILING + +# ifdef OSQP_ENABLE_PRINTING + OSQPInt summary_printed; ///< Has last summary been printed? (true/false) +# endif // ifdef OSQP_ENABLE_PRINTING + +# ifdef OSQP_ENABLE_DERIVATIVES + OSQPDerivativeData *derivative_data; +# endif // ifdef OSQP_ENABLE_DERIVATIVES + + /// Flag indicating rho was updated during the solve + OSQPInt rho_updated; + + /// Relative KKT of last update + OSQPFloat last_rel_kkt; +}; + +// NB: "typedef struct OSQPWorkspace_ OSQPWorkspace" is declared already +// in the osqp API where the main OSQPSolver is defined. + + +/** + * Define linsys_solver prototype structure + * + * NB: The details are defined when the linear solver is initialized depending + * on the choice + */ +struct linsys_solver { + enum osqp_linsys_solver_type type; ///< linear system solver type functions + + const char* (*name)(LinSysSolver* self); + + OSQPInt (*solve)(LinSysSolver* self, + OSQPVectorf* b, + OSQPInt admm_iter); + + void (*update_settings)(LinSysSolver* self, + const OSQPSettings* settings); + + void (*warm_start)(LinSysSolver* self, + const OSQPVectorf* x); + +# ifndef OSQP_EMBEDDED_MODE + OSQPInt (*adjoint_derivative)(LinSysSolver* self); + + void (*free)(LinSysSolver* self); ///< free linear system solver (only in desktop version) +# endif // ifndef OSQP_EMBEDDED_MODE + +# if OSQP_EMBEDDED_MODE != 1 + OSQPInt (*update_matrices)(LinSysSolver* self, + const OSQPMatrix* P, ///< update matrices P + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + const OSQPMatrix* A, // and A in the solver + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n); + + OSQPInt (*update_rho_vec)(LinSysSolver* self, + const OSQPVectorf* rho_vec, + OSQPFloat rho_sc); ///< Update rho_vec +# endif // if OSQP_EMBEDDED_MODE != 1 + + OSQPInt nthreads; ///< number of threads active +}; + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef TYPES_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/util.h b/lib/controller/mpc/solver_code/inc/private/util.h new file mode 100644 index 0000000..7baf1ef --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/util.h @@ -0,0 +1,130 @@ +#ifndef UTIL_H +#define UTIL_H + + +# include "osqp.h" +# include "types.h" + +/********************** + * Helper macros * + *********************/ +/* Identify unused variables */ +#define OSQP_UnusedVar(x) (void)(x) + + +/********************** +* Utility Functions * +**********************/ + +#ifdef __cplusplus +extern "C" { +#endif + +# ifndef OSQP_EMBEDDED_MODE + +/** + * Copy settings creating a new settings structure (uses MALLOC) + * @param settings Settings to be copied + * @return New settings structure + */ +OSQPSettings* copy_settings(const OSQPSettings* settings); + +# endif /* ifndef OSQP_EMBEDDED_MODE */ + +/** + * Custom string copy to avoid string.h library + * @param dest destination string + * @param source source string + */ +void c_strcpy(char dest[], + const char source[]); + + +# ifdef OSQP_ENABLE_PRINTING + +/** + * Print Header before running the algorithm + * @param solver osqp solver + */ +void print_setup_header(const OSQPSolver* solver); + +/** + * Print header with data to be displayed per iteration + */ +void print_header(void); + +/** + * Print iteration summary + * @param solver osqp solver + */ +void print_summary(OSQPSolver* solver); + +/** + * Print information after polish + * @param solver osqp solver + */ +void print_polish(OSQPSolver* solver); + +/** + * Print footer when algorithm terminates + * @param info info structure + * @param polishing is polishing enabled? + */ +void print_footer(OSQPInfo* info, + OSQPInt polishing); + + +# endif /* ifdef OSQP_ENABLE_PRINTING */ + + +/* ================================= DEBUG FUNCTIONS ======================= */ + +/*! \cond PRIVATE */ + + +#if defined(OSQP_ENABLE_DEBUG) && defined(OSQP_ENABLE_PRINTING) + +# include + +/* Print a csc sparse matrix */ +void print_csc_matrix(const OSQPCscMatrix* M, + const char* name); + +/* Dump csc sparse matrix to file */ +void dump_csc_matrix(const OSQPCscMatrix* M, + const char* file_name); + +/* Print a triplet format sparse matrix */ +void print_trip_matrix(const OSQPCscMatrix* M, + const char* name); + +/* Print a dense matrix */ +void print_dns_matrix(const OSQPFloat* M, + OSQPInt m, + OSQPInt n, + const char* name); + +/* Print vector */ +void print_vec(const OSQPFloat* v, + OSQPInt n, + const char* name); + +/* Dump vector to file */ +void dump_vec(const OSQPFloat* v, + OSQPInt len, + const char* file_name); + +// Print int array +void print_vec_int(const OSQPInt* x, + OSQPInt n, + const char* name); + +# endif /* #if defined(OSQP_ENABLE_DEBUG) && defined(OSQP_ENABLE_PRINTING) */ + +/*! \endcond */ + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef UTIL_H */ diff --git a/lib/controller/mpc/solver_code/inc/private/version.h b/lib/controller/mpc/solver_code/inc/private/version.h new file mode 100644 index 0000000..fc083cb --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/private/version.h @@ -0,0 +1,9 @@ +/** +This file is replaced by an auto-generated version.h +with an OSQP_VERSION obtained from a variable supplied +to cmake +*/ + +#ifndef OSQP_VERSION +#define OSQP_VERSION "1.0.0" +#endif diff --git a/lib/controller/mpc/solver_code/inc/public/osqp.h b/lib/controller/mpc/solver_code/inc/public/osqp.h new file mode 100644 index 0000000..62e1de0 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/public/osqp.h @@ -0,0 +1,11 @@ +#ifndef OSQP_H +#define OSQP_H + + +/* Types, functions etc required by the OSQP API */ +# include "osqp_configure.h" +# include "osqp_api_constants.h" +# include "osqp_api_types.h" +# include "osqp_api_functions.h" + +#endif /* ifndef OSQP_H */ diff --git a/lib/controller/mpc/solver_code/inc/public/osqp_api_constants.h b/lib/controller/mpc/solver_code/inc/public/osqp_api_constants.h new file mode 100644 index 0000000..11eb3a8 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/public/osqp_api_constants.h @@ -0,0 +1,224 @@ +#ifndef OSQP_API_CONSTANTS_H +#define OSQP_API_CONSTANTS_H + +#include "osqp_configure.h" + +/*********************** +* Solver capabilities * +***********************/ +/** + * Flags used to represent what capabilities the compiled OSQP solver has. + * + * These flags are used as bit flags, so capabilities can be tested using bit-wise operations. + */ +enum osqp_capabilities_type { + /* This enum serves as a bit-flag definition, so each capability must be represented by + a different bit in an int variable */ + OSQP_CAPABILITY_DIRECT_SOLVER = 0x01, /**<< A direct linear solver is present in the algebra. */ + OSQP_CAPABILITY_INDIRECT_SOLVER = 0x02, /**<< An indirect linear solver is present in the algebra. */ + OSQP_CAPABILITY_CODEGEN = 0x04, /**<< Code generation is present. */ + OSQP_CAPABILITY_UPDATE_MATRICES = 0x08, /**<< The problem matrices can be updated. */ + OSQP_CAPABILITY_DERIVATIVES = 0x10 /**<< Solution derivatives w.r.t P/q/A/l/u are available. */ +}; + + +/****************** +* Solver Status * +******************/ +enum osqp_status_type { + OSQP_SOLVED = 1, + OSQP_SOLVED_INACCURATE, + OSQP_PRIMAL_INFEASIBLE, + OSQP_PRIMAL_INFEASIBLE_INACCURATE, + OSQP_DUAL_INFEASIBLE, + OSQP_DUAL_INFEASIBLE_INACCURATE, + OSQP_MAX_ITER_REACHED, + OSQP_TIME_LIMIT_REACHED, + OSQP_NON_CVX, /* problem non-convex */ + OSQP_SIGINT, /* interrupted by user */ + OSQP_UNSOLVED /* Unsolved; only setup function has been called */ +}; +extern const char * OSQP_STATUS_MESSAGE[]; + +/****************** +* Polish Status * +******************/ +enum osqp_polish_status_type { + OSQP_POLISH_LINSYS_ERROR = -2, + OSQP_POLISH_FAILED = -1, + OSQP_POLISH_NOT_PERFORMED = 0, + OSQP_POLISH_SUCCESS = 1, + OSQP_POLISH_NO_ACTIVE_SET_FOUND = 2 /* No active set detected, polishing skipped (not an error) */ +}; + +/************************* +* Linear System Solvers * +*************************/ +enum osqp_linsys_solver_type { + OSQP_UNKNOWN_SOLVER = 0, /* Start from 0 for unknown solver because we index an array*/ + OSQP_DIRECT_SOLVER, + OSQP_INDIRECT_SOLVER, +}; + +/********************************* +* Preconditioners for CG method * +*********************************/ +typedef enum { + OSQP_NO_PRECONDITIONER = 0, /* Don't use a preconditioner */ + OSQP_DIAGONAL_PRECONDITIONER, /* Diagonal (Jacobi) preconditioner */ +} osqp_precond_type; + +/****************** +* Solver Errors * +******************/ +enum osqp_error_type { + OSQP_NO_ERROR = 0, + OSQP_DATA_VALIDATION_ERROR = 1, /* Start errors from 1 */ + OSQP_SETTINGS_VALIDATION_ERROR, + OSQP_LINSYS_SOLVER_INIT_ERROR, + OSQP_NONCVX_ERROR, + OSQP_MEM_ALLOC_ERROR, + OSQP_WORKSPACE_NOT_INIT_ERROR, + OSQP_ALGEBRA_LOAD_ERROR, + OSQP_FOPEN_ERROR, + OSQP_CODEGEN_DEFINES_ERROR, + OSQP_DATA_NOT_INITIALIZED, + OSQP_FUNC_NOT_IMPLEMENTED, /**< Function not implemented in this library */ + OSQP_LAST_ERROR_PLACE, /* This must always be the last item in the enum */ +}; +extern const char * OSQP_ERROR_MESSAGE[]; + + +/********************************** +* Solver Parameters and Settings * +**********************************/ + +# define OSQP_VERBOSE (1) +# define OSQP_WARM_STARTING (1) +# define OSQP_SCALING (10) +# define OSQP_POLISHING (0) + +// ADMM parameters +# define OSQP_RHO (0.1) +# define OSQP_SIGMA (1E-06) +# define OSQP_ALPHA (1.6) + +# define OSQP_RHO_MIN (1e-06) +# define OSQP_RHO_MAX (1e06) +# define OSQP_RHO_TOL (1e-04) ///< tolerance for detecting if an inequality is set to equality +# define OSQP_RHO_EQ_OVER_RHO_INEQ (1e03) + +#ifdef OSQP_ALGEBRA_CUDA +# define OSQP_RHO_IS_VEC (0) +#else +# define OSQP_RHO_IS_VEC (1) +#endif + +// CG parameters +# define OSQP_CG_MAX_ITER (20) +# define OSQP_CG_TOL_REDUCTION (10) +# define OSQP_CG_TOL_FRACTION (0.15) + +/******************************* + * Adaptive rho update methods * + *******************************/ +#define OSQP_ADAPTIVE_RHO_UPDATE_DISABLED (0) ///< Disable rho adaptation +#define OSQP_ADAPTIVE_RHO_UPDATE_ITERATIONS (1) ///< Fixed iteration interval +#define OSQP_ADAPTIVE_RHO_UPDATE_TIME (2) ///< Time based +#define OSQP_ADAPTIVE_RHO_UPDATE_KKT_ERROR (3) ///< KKT error decrease based + +// Sentinel value, not for user use +#define _OSQP_ADAPTIVE_RHO_UPDATE_LAST_VALUE (4) + +#define OSQP_ADAPTIVE_RHO_UPDATE_DEFAULT (OSQP_ADAPTIVE_RHO_UPDATE_ITERATIONS) + +#define OSQP_ADAPTIVE_RHO_INTERVAL (50) ///< Default interval for iteration-based rho update + +#ifdef OSQP_ALGEBRA_CUDA +# define OSQP_ADAPTIVE_RHO_TOLERANCE (2.0) +#else +# define OSQP_ADAPTIVE_RHO_TOLERANCE (5.0) ///< tolerance for adopting new rho; minimum ratio between new rho and the current one +#endif + +# define OSQP_ADAPTIVE_RHO_FRACTION (0.4) ///< fraction of setup time after which we update rho + +/** + * Multiple of check_termination after which we update rho if using interval-based + * rho adaptation and adaptive_rho_interval == 0. + */ +# define OSQP_ADAPTIVE_RHO_MULTIPLE_TERMINATION (4) + +/** + * Number of iterations after which we update rho if using interval-based rho adaptation + * and adaptive_rho_interval == 0 and termination_check is disabled. + */ +# define OSQP_ADAPTIVE_RHO_FIXED (100) + +// termination parameters +# define OSQP_MAX_ITER (4000) +# define OSQP_EPS_ABS (1E-3) +# define OSQP_EPS_REL (1E-3) +# define OSQP_EPS_PRIM_INF (1E-4) +# define OSQP_EPS_DUAL_INF (1E-4) +# define OSQP_SCALED_TERMINATION (0) +# define OSQP_TIME_LIMIT (1e10) ///< Disable time limit by default + +// Disable the duality gap termination criteria on float builds by default for now, because +// floats can't always give the necessary precision in the current solver architecture. +#ifdef OSQP_USE_FLOAT +# define OSQP_CHECK_DUALGAP (0) +#else +# define OSQP_CHECK_DUALGAP (1) +#endif + +#ifdef OSQP_ALGEBRA_CUDA +# define OSQP_CHECK_TERMINATION (5) +#else +# define OSQP_CHECK_TERMINATION (25) +#endif + +# define OSQP_DELTA (1E-6) +# define OSQP_POLISH_REFINE_ITER (3) + + +/********************************* +* Hard-coded values and settings * +**********************************/ + +# ifndef OSQP_NULL +# define OSQP_NULL 0 +# endif + +# ifndef OSQP_NAN +# define OSQP_NAN ((OSQPFloat)0x7fc00000UL) // not a number +# endif + +# ifndef OSQP_INFTY +#if defined(OSQP_ALGEBRA_CUDA) && defined(OSQP_USE_FLOAT) +// Multiplying two floats that are in the order of 1e20 results in an overflow +# define OSQP_INFTY ((OSQPFloat)1e17) +#else +# define OSQP_INFTY ((OSQPFloat)1e30) // infinity +#endif +# endif /* ifndef OSQP_INFTY */ + +# ifndef OSQP_DIVISION_TOL +# define OSQP_DIVISION_TOL (1.0 / OSQP_INFTY) +# endif + + +# define OSQP_PRINT_INTERVAL 200 + +# define OSQP_MIN_SCALING (1e-04) ///< minimum scaling value +# define OSQP_MAX_SCALING (1e+04) ///< maximum scaling value + +# define OSQP_CG_TOL_MIN (1E-7) +# define OSQP_CG_POLISH_TOL (1e-5) + +#ifdef OSQP_USE_FLOAT +# define OSQP_ZERO_DEADZONE (1e-10) ///< Minimum permitted value +#else +# define OSQP_ZERO_DEADZONE (1e-15) ///< Minimum permitted value +#endif + +#endif /* ifndef OSQP_API_CONSTANTS_H */ diff --git a/lib/controller/mpc/solver_code/inc/public/osqp_api_functions.h b/lib/controller/mpc/solver_code/inc/public/osqp_api_functions.h new file mode 100644 index 0000000..526ce76 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/public/osqp_api_functions.h @@ -0,0 +1,554 @@ +#ifndef OSQP_API_FUNCTIONS_H +#define OSQP_API_FUNCTIONS_H + +/* Types required by the OSQP API */ +# include "osqp_api_types.h" +# include "osqp_export_define.h" + +# ifdef __cplusplus +extern "C" { +# endif + + +/********************** + * OSQP type helpers * + **********************/ + +/** + * @name CSC matrix manipulation + * @{ + */ + +#ifndef OSQP_EMBEDDED_MODE +/** + * Allocates a new Compressed-Column-Sparse (CSC) matrix from existing arrays. + * + * This will malloc the new matrix structure, but use the arrays passed in as the + * backing data for the matrix (e.g. not copy the actual matrix data, just reference + * the existing data.) + * + * @note Not available in embedded mode (requires malloc) + * + * @param m Number of rows + * @param n number of columns + * @param nzmax Maximum number of nonzero elements + * @param x Vector of data + * @param i Vector of row indices + * @param p Vector of column pointers + * @return Pointer to new CSC matrix, or null on error + */ +OSQPCscMatrix* OSQPCscMatrix_new(OSQPInt m, + OSQPInt n, + OSQPInt nzmax, + OSQPFloat* x, + OSQPInt* i, + OSQPInt* p); + +/** + * Free a CSC matrix object allocated by @ref OSQPCscMatrix_new. + * + * @note This function will only free the internal @ref OSQPCscMatrix.x, @ref OSQPCscMatrix.p, + * @ref OSQPCscMatrix.i arrays if the @ref OSQPCscMatrix.owned variable is set to `1`, otherwise + * only the outer CSC wrapper is free'd. + * + * @note Not available in embedded mode (requires free) + * + * @param mat Matrix to free + */ +void OSQPCscMatrix_free(OSQPCscMatrix* mat); + +/** + * Allocates a new Compressed-Column-Sparse (CSC) matrix with zero entries. + * + * This matrix will contain all structural zeros, so no non-zero elements will be present. + * + * @note Not available in embedded mode (requires malloc) + * + * @param m Number of rows + * @param n Number of columns + * @return Pointer to new CSC matrix, or null on error + */ +OSQPCscMatrix* OSQPCscMatrix_zeros(OSQPInt m, + OSQPInt n); + +/** + * Allocates a new Compressed-Column-Sparse (CSC) identity with 1s on the diagonal. + * + * @note Not available in embedded mode (requires malloc) + * + * @param m Number of rows/columns + * @return Pointer to new CSC matrix, or null on error + */ +OSQPCscMatrix* OSQPCscMatrix_identity(OSQPInt m); + +/** + * Allocates a new Compressed-Column-Sparse (CSC) diagonal matrix with a given value. + * + * This will start populating at the upper-left element and continue down the main diagonal + * until either the last row or column (in the case of non-square matrices). + * + * @note Not available in embedded mode (requires malloc) + * + * @param m Number of rows + * @param n Number of columns + * @param scalar Scalar value to put on the diagonal + * @return Pointer to new CSC matrix, or null on error + */ +OSQPCscMatrix* OSQPCscMatrix_diag_scalar(OSQPInt m, + OSQPInt n, + OSQPFloat scalar); + +/** + * Allocates a new Compressed-Column-Sparse (CSC) diagonal matrix with given values on the diagonal. + * + * This will start populating at the upper-left element and continue down the main diagonal + * until either the last row or column (in the case of non-square matrices). + * + * @note Not available in embedded mode (requires malloc) + * + * @param m Number of rows + * @param n Number of columns + * @param vals Values to put on the diagonal - length min(n,m) + * @return Pointer to new CSC matrix, or null on error + */ +OSQPCscMatrix* OSQPCscMatrix_diag_vec(OSQPInt m, + OSQPInt n, + OSQPFloat* vals); + +#endif + +/** + * Populates a Compressed-Column-Sparse matrix from existing data arrays. + * This will just assign the pointers - no malloc or copying is done. + * + * @param M Matrix pointer + * @param m First dimension + * @param n Second dimension + * @param nzmax Maximum number of nonzero elements + * @param x Vector of data + * @param i Vector of row indices + * @param p Vector of column pointers + */ +OSQP_API void OSQPCscMatrix_set_data(OSQPCscMatrix* M, + OSQPInt m, + OSQPInt n, + OSQPInt nzmax, + OSQPFloat* x, + OSQPInt* i, + OSQPInt* p); + +/** @} */ + +/** + * @name Settings object memory management + * @{ + */ + +#ifndef OSQP_EMBEDDED_MODE +/** + * Allocate a new OSQPSettings object with the default settings. + * + * @note Not available in embedded mode (requires malloc) + * + * @return Pointer to new settings object, or null on error + */ +OSQPSettings* OSQPSettings_new(); + +/** + * Free an OSQPSettings object. + * + * @note Not available in embedded mode (requires free) + * + * @param settings The settings object to free + */ +void OSQPSettings_free(OSQPSettings* settings); +#endif + +/** @} */ + +/** + * @name Codegen defines object memory management + * @{ + */ + +#ifndef OSQP_EMBEDDED_MODE +/** + * Allocate a new OSQPCodegenDefines object with the default options. + * + * @note Not available in embedded mode (requires malloc) + * + * @return Pointer to new codegen defines object, or null on error + */ +OSQPCodegenDefines* OSQPCodegenDefines_new(); + +/** + * Free an OSQPCodegenDefines object. + * + * @note Not available in embedded mode (requires free) + * + * @param defs The defines object to free + */ +void OSQPCodegenDefines_free(OSQPCodegenDefines* defs); +#endif + +/** @} */ + +/******************** +* Main Solver API * +********************/ + +/** + * @name Main solver API + * @{ + */ + + +/** + * Return the capabilities of the OSQP solver. + * + * @return + */ +OSQP_API OSQPInt osqp_capabilities(void); + +/** + * Return OSQP version + * + * @return OSQP version string + */ +OSQP_API const char* osqp_version(void); + + +/** + * Return the error string for a given error code. + * + * @param error_flag Error code to get description of + * @return String describing the error code + */ +OSQP_API const char* osqp_error_message(OSQPInt error_flag); + + +/** + * Return the number of variables and constraints + * + * @param[in] solver Solver + * @param[out] m Pointer to integer that will hold m + * @param[out] n Pointer to integer that will hold n + */ +OSQP_API void osqp_get_dimensions(OSQPSolver* solver, + OSQPInt* m, + OSQPInt* n); + +# ifndef OSQP_EMBEDDED_MODE + +/** + * Initialize OSQP solver allocating memory. + * + * It performs: + * - data and settings validation + * - problem data scaling + * - setup linear system solver: + * - direct solver: KKT matrix factorization is performed here + * - indirect solver: reduced KKT matrix preconditioning is performed here + * + * NB: This is the only function that allocates dynamic memory and is not used + * during code generation + * + * @param solverp Solver pointer + * @param P Problem data (upper triangular part of quadratic cost term, csc format) + * @param q Problem data (linear cost term) + * @param A Problem data (constraint matrix, csc format) + * @param l Problem data (constraint lower bound) + * @param u Problem data (constraint upper bound) + * @param m Problem data (number of constraints) + * @param n Problem data (number of variables) + * @param settings Solver settings + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_setup(OSQPSolver** solverp, + const OSQPCscMatrix* P, + const OSQPFloat* q, + const OSQPCscMatrix* A, + const OSQPFloat* l, + const OSQPFloat* u, + OSQPInt m, + OSQPInt n, + const OSQPSettings* settings); + +# endif /* ifndef OSQP_EMBEDDED_MODE */ + +/** + * Solve quadratic program + * + * The final solver information is stored in the \a solver->info structure + * + * The solution is stored in the \a solver->solution structure + * + * If the problem is primal infeasible, the certificate is stored + * in \a solver->delta_y + * + * If the problem is dual infeasible, the certificate is stored in \a + * solver->delta_x + * + * @param solver Solver + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_solve(OSQPSolver* solver); + +/** + * Store the optimization problem result from solver \a solver into the solution + * \a solution. Note that \a solution must already be allocated with the component + * vectors the correct lengths. + * + * @param solver Solver + * @param solution Solution object to store result in + * @return Error flag + */ +OSQPInt osqp_get_solution(OSQPSolver* solver, OSQPSolution* solution); + +# ifndef OSQP_EMBEDDED_MODE + +/** + * Cleanup workspace by deallocating memory + * + * This function is not used in code generation + * @param solver Solver + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_cleanup(OSQPSolver* solver); + +# endif /* ifndef OSQP_EMBEDDED_MODE */ + + +/** @} */ + + +/******************************************** + * Sublevel API * + * * + * These functions can be called without * + * performing setup again. * + ********************************************/ + +/** + * @name Sublevel API + * @{ + */ + +/** + * Warm start primal and dual variables + * @param solver Solver + * @param x Primal variable, NULL if none + * @param y Dual variable, NULL if none + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_warm_start(OSQPSolver* solver, + const OSQPFloat* x, + const OSQPFloat* y); + +/** + * Cold start workspace variables xz and y + * @param solver Solver + */ +OSQP_API void osqp_cold_start(OSQPSolver* solver); + +/** + * Update problem data vectors + * @param solver Solver + * @param q_new New linear cost, NULL if none + * @param l_new New lower bound, NULL if none + * @param u_new New upper bound, NULL if none + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_update_data_vec(OSQPSolver* solver, + const OSQPFloat* q_new, + const OSQPFloat* l_new, + const OSQPFloat* u_new); + +# if OSQP_EMBEDDED_MODE != 1 + +/** + * Update elements of matrices P (upper triangular) and A by preserving + * their sparsity structures. + * + * If Px_new_idx (Ax_new_idx) is OSQP_NULL, Px_new (Ax_new) is assumed + * to be as long as P->x (A->x) and the whole P->x (A->x) is replaced. + * + * @param solver Solver + * @param Px_new Vector of new elements in P->x (upper triangular), NULL if none + * @param Px_new_idx Index mapping new elements to positions in P->x + * @param P_new_n Number of new elements to be changed + * @param Ax_new Vector of new elements in A->x, NULL if none + * @param Ax_new_idx Index mapping new elements to positions in A->x + * @param A_new_n Number of new elements to be changed + * @return output flag: 0: OK + * 1: P_new_n > nnzP + * 2: A_new_n > nnzA + * <0: error in the update + */ +OSQP_API OSQPInt osqp_update_data_mat(OSQPSolver* solver, + const OSQPFloat* Px_new, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + const OSQPFloat* Ax_new, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n); + + +# endif /* if OSQP_EMBEDDED_MODE != 1 */ + +/** @} */ + + +/** + * @name Settings + * @{ + */ + +/** + * Get the default settings from the osqp_api_constants.h file. + * + * @note the @c settings parameter must already be allocated in memory. + * + * @param settings Settings structure to populate + */ +OSQP_API void osqp_set_default_settings(OSQPSettings* settings); + +/** + * Update settings in @c solver with the new settings from @c new_settings. + * + * The following settings can only be set at problem setup time through @c osqp_setup and are ignored + * in this function: + * - scaling + * - rho_is_vec + * - sigma + * - adaptive_rho + * - adaptive_rho_interval + * - adaptive_rho_fraction + * - adaptive_rho_tolerance + * + * The rho setting must be updated using @c osqp_update_rho, and is ignored by this function. + * + * @note Every setting from @c new_settings is copied to @c solver. + * + * @param solver Solver + * @param new_settings New solver settings + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_update_settings(OSQPSolver* solver, + const OSQPSettings* new_settings); + +// TODO: Allow for ADAPTIVE_RHO_* settings to be updated. + + +# if OSQP_EMBEDDED_MODE != 1 + +/** + * Update the ADMM parameter rho. + * + * Limit it between OSQP_RHO_MIN and OSQP_RHO_MAX. + * + * @param solver Solver + * @param rho_new New rho value + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_update_rho(OSQPSolver* solver, + OSQPFloat rho_new); + +# endif /* if EMBEDDED != 1 */ + +/** @} */ + +/* ------------------ Derivative functions ----------------- */ + +/** + * @name Solution derivatives + * @{ + */ + +/** + * Compute internal data structures needed for calculation of the adjoint derivatives of P/q/A/l/u. + * + * @note An optimal solution must be obtained before calling this function. + * + * @param[in] solver Solver + * @param[in] dx Vector of dx values (observed - true) of length n + * @param[in] dy Vector of dy values (observed - true) of length m + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_adjoint_derivative_compute(OSQPSolver* solver, + OSQPFloat* dx, + OSQPFloat* dy); + +/** + * Calculate adjoint derivatives of P/A. + * + * @note @c osqp_adjoint_derivative_compute must be called first. + * + * @param[in] solver Solver + * @param[out] dP Matrix of dP values (n x n) + * @param[out] dA Matrix of dA values (m x n) + * @return Exitflag for errors (0 if no errors; dP, dA are filled in) + */ +OSQP_API OSQPInt osqp_adjoint_derivative_get_mat(OSQPSolver* solver, + OSQPCscMatrix* dP, + OSQPCscMatrix* dA); + +/** + * Calculate adjoint derivatives of q/l/u. + * + * @note @c osqp_adjoint_derivative_compute must be called first. + * + * @param[in] solver Solver + * @param[out] dq Vector of dq values of length n + * @param[out] dl Matrix of dl values of length m + * @param[out] du Matrix of du values of length m + * @return Exitflag for errors (0 if no errors; dq, dl, du are filled in) + */ +OSQP_API OSQPInt osqp_adjoint_derivative_get_vec(OSQPSolver* solver, + OSQPFloat* dq, + OSQPFloat* dl, + OSQPFloat* du); + +/** @} */ + +/* ------------------ Code generation functions ----------------- */ + +/** + * @name Code generation + * @{ + */ + +/** + * Set default codegen define values. + * + * @note The @c defines structure must already be allocated in memory. + * + * @param defines Structure to set to default values. + */ +OSQP_API void osqp_set_default_codegen_defines(OSQPCodegenDefines* defines); + +/** + * Generate source files with a statically allocated OSQPSolver structure. + * + * @note @c osqp_setup must be called before a problem can be code generated. + * + * @param solver Solver + * @param output_dir Path to directory to output the files to. + * This string must include the trailing directory separator, and + * an empty string means output to the current directory. + * @param prefix String prefix for the variables and generated files. + * @param defines The defines to use in the generated code. + * @return Exitflag for errors (0 if no errors) + */ +OSQP_API OSQPInt osqp_codegen(OSQPSolver* solver, + const char* output_dir, + const char* prefix, + OSQPCodegenDefines* defines); + +/** @} */ + +# ifdef __cplusplus +} +# endif + +#endif /* ifndef OSQP_API_FUNCTIONS_H */ diff --git a/lib/controller/mpc/solver_code/inc/public/osqp_api_types.h b/lib/controller/mpc/solver_code/inc/public/osqp_api_types.h new file mode 100644 index 0000000..94d8755 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/public/osqp_api_types.h @@ -0,0 +1,203 @@ +#ifndef OSQP_API_TYPES_H +#define OSQP_API_TYPES_H + + +# include "osqp_api_constants.h" + +/***************************** +* OSQP API type definitions * +******************************/ + +/* OSQP custom float definitions */ +# ifdef OSQP_USE_LONG // long integers +typedef long long OSQPInt; /* for indices */ +# else // standard integers +typedef int OSQPInt; /* for indices */ +# endif /* ifdef OSQP_USE_LONG */ + + +# ifndef OSQP_USE_FLOAT // Doubles +typedef double OSQPFloat; /* for numerical values */ +# else // Floats +typedef float OSQPFloat; /* for numerical values */ +# endif /* ifndef OSQP_USE_FLOAT */ + +#ifdef OSQP_PACK_SETTINGS +#define OSQP_ATTR_PACK __attribute__((packed)) +#else +/* Don't put an attribute on when packing is disabled */ +#define OSQP_ATTR_PACK +#endif + +/** + * Matrix in compressed-column form. + * The structure is used internally to store matrices in the triplet form as well, + * but the API requires that the matrices are in the CSC format. + */ +typedef struct { + OSQPInt m; ///< number of rows + OSQPInt n; ///< number of columns + OSQPInt *p; ///< column pointers (size n+1); col indices (size nzmax) starting from 0 for triplet format + OSQPInt *i; ///< row indices, size nzmax starting from 0 + OSQPFloat *x; ///< numerical values, size nzmax + OSQPInt nzmax; ///< maximum number of entries + OSQPInt nz; ///< number of entries in triplet matrix, -1 for csc + OSQPInt owned; ///< 1 if the p, i and x pointers were allocated automatically, 0 if they are owned by the user +} OSQPCscMatrix; + +/** + * User settings + */ +typedef struct OSQP_ATTR_PACK { + /* Note: If this struct is updated, ensure update_settings and validate_settings are also updated */ + // Linear algebra settings + OSQPInt device; ///< device identifier; currently used for CUDA devices + enum osqp_linsys_solver_type linsys_solver; ///< linear system solver to use + + // Control settings + OSQPInt allocate_solution; ///< boolean; allocate solution in OSQPSolver during osqp_setup + OSQPInt verbose; ///< boolean; write out progress + OSQPInt profiler_level; ///< integer; level of detail for profiler annotations + OSQPInt warm_starting; ///< boolean; warm start + OSQPInt scaling; ///< data scaling iterations; if 0, then disabled + OSQPInt polishing; ///< boolean; polish ADMM solution + + // ADMM parameters + OSQPFloat rho; ///< ADMM penalty parameter + OSQPInt rho_is_vec; ///< boolean; is rho scalar or vector? + OSQPFloat sigma; ///< ADMM penalty parameter + OSQPFloat alpha; ///< ADMM relaxation parameter + + // CG settings + OSQPInt cg_max_iter; ///< maximum number of CG iterations per solve + OSQPInt cg_tol_reduction; ///< number of consecutive zero CG iterations before the tolerance gets halved + OSQPFloat cg_tol_fraction; ///< CG tolerance (fraction of ADMM residuals) + osqp_precond_type cg_precond; ///< Preconditioner to use in the CG method + + // adaptive rho logic + /** + * rho stepsize adaption method + */ + OSQPInt adaptive_rho; + + /** + * Interval between rho adaptations + * + * When adaptive_rho == OSQP_ADAPTIVE_RHO_UPDATE_ITERATIONS, this is the number of iterations + * between rho updates. + * + * Not used when adaptive_rho is any other value. + */ + OSQPInt adaptive_rho_interval; + + /** + * Adaptation parameter controlling when non-fixed rho adaptations occur. + * + * - When adaptive_rho == OSQP_ADAPTIVE_RHO_UPDATE_TIME, this is the fraction of the + * setup time to use as the rho adaptation interval. + * - When adaptive_rho == OSQP_ADAPTIVE_RHO_UPDATE_KKT_ERROR, this is the fraction of + * the previous KKT error to adapt rho at. + * - Not used for any other adaptive_rho value. + */ + OSQPFloat adaptive_rho_fraction; + + /** + * Tolerance applied when adapting rho. + * + * New rho must be X times larger or smaller than the current one to change it + */ + OSQPFloat adaptive_rho_tolerance; + + // termination parameters + OSQPInt max_iter; ///< maximum number of iterations + OSQPFloat eps_abs; ///< absolute solution tolerance + OSQPFloat eps_rel; ///< relative solution tolerance + OSQPFloat eps_prim_inf; ///< primal infeasibility tolerance + OSQPFloat eps_dual_inf; ///< dual infeasibility tolerance + OSQPInt scaled_termination; ///< boolean; use scaled termination criteria + OSQPInt check_termination; ///< integer, check termination interval; if 0, checking is disabled + OSQPInt check_dualgap; ///< Boolean; use duality gap termination criteria + OSQPFloat time_limit; ///< maximum time to solve the problem (seconds) + + // polishing parameters + OSQPFloat delta; ///< regularization parameter for polishing + OSQPInt polish_refine_iter; ///< number of iterative refinement steps in polishing +} OSQPSettings; + + +/** + * Information about the solution process. + */ +typedef struct { + // solver status + char status[32]; ///< Status string, e.g. 'solved' + OSQPInt status_val; ///< Status as OSQPInt, defined in osqp_api_constants.h + OSQPInt status_polish; ///< Polishing status: successful (1), unperformed (0), unsuccessful (-1) + + // solution quality + OSQPFloat obj_val; ///< Primal objective value + OSQPFloat dual_obj_val; ///< Dual objective value + OSQPFloat prim_res; ///< Norm of primal residual + OSQPFloat dual_res; ///< Norm of dual residual + OSQPFloat duality_gap; ///< Duality gap (Primal obj - Dual obj) + + // algorithm information + OSQPInt iter; ///< Number of iterations taken + OSQPInt rho_updates; ///< Number of rho updates performned + OSQPFloat rho_estimate; ///< Best rho estimate so far from residuals + + // timing information + OSQPFloat setup_time; ///< Setup phase time (seconds) + OSQPFloat solve_time; ///< Solve phase time (seconds) + OSQPFloat update_time; ///< Update phase time (seconds) + OSQPFloat polish_time; ///< Polish phase time (seconds) + OSQPFloat run_time; ///< Total solve time (seconds) + + // Convergence information + OSQPFloat primdual_int; ///< Integral of duality gap over time (Primal-dual integral), requires profiling + OSQPFloat rel_kkt_error; ///< Relative KKT error +} OSQPInfo; + + +/** + * Structure to hold the computed solution (if any), and any certificates of + * infeasibility (if any) found by the solver. + */ +typedef struct { + OSQPFloat* x; ///< Primal solution + OSQPFloat* y; ///< Lagrange multiplier associated with \f$l \le Ax \le u\f$ + OSQPFloat* prim_inf_cert; ///< Primal infeasibility certificate + OSQPFloat* dual_inf_cert; ///< Dual infeasibility certificate +} OSQPSolution; + + +/* Internal workspace */ +typedef struct OSQPWorkspace_ OSQPWorkspace; + + +/** + * Main OSQP solver structure that holds all information. + */ +typedef struct { + /** @} */ + OSQPSettings* settings; ///< Problem settings + OSQPSolution* solution; ///< Computed solution + OSQPInfo* info; ///< Solver information + OSQPWorkspace* work; ///< Internal solver workspace (contents not public) +} OSQPSolver; + + + +/** + * Structure to hold the settings for the generated code + */ +typedef struct { + OSQPInt embedded_mode; ///< Embedded mode (1 = vector update, 2 = vector + matrix update) + OSQPInt float_type; ///< Use floats if 1, doubles if 0 + OSQPInt printing_enable; ///< Enable printing if 1 + OSQPInt profiling_enable; ///< Enable timing of code sections if 1 + OSQPInt interrupt_enable; ///< Enable interrupt checking if 1 + OSQPInt derivatives_enable; ///< Enable deriatives if 1 +} OSQPCodegenDefines; + +#endif /* ifndef OSQP_API_TYPES_H */ diff --git a/lib/controller/mpc/solver_code/inc/public/osqp_export_define.h b/lib/controller/mpc/solver_code/inc/public/osqp_export_define.h new file mode 100644 index 0000000..7e81302 --- /dev/null +++ b/lib/controller/mpc/solver_code/inc/public/osqp_export_define.h @@ -0,0 +1,27 @@ +#ifndef OSQP_EXPORT_DEFINE_H +#define OSQP_EXPORT_DEFINE_H + +// Define the function attributes that are needed to mark functions as being +// visible for linking in the shared library version of OSQP +#if defined(_WIN32) +# if defined(BUILDING_OSQP) +# define OSQP_API_EXPORT __declspec(dllexport) +# else +# define OSQP_API_EXPORT __declspec(dllimport) +# endif +#else +# if defined(BUILDING_OSQP) +# define OSQP_API_EXPORT __attribute__((visibility("default"))) +# else +# define OSQP_API_EXPORT +# endif +#endif + +// Only define API export parts when using the shared library +#if defined(OSQP_SHARED_LIB) +# define OSQP_API OSQP_API_EXPORT +#else +# define OSQP_API +#endif + +#endif /* OSQP_EXPORT_DEFINE_H */ diff --git a/lib/controller/mpc/solver_code/osqp_configure.h b/lib/controller/mpc/solver_code/osqp_configure.h new file mode 100644 index 0000000..d85d095 --- /dev/null +++ b/lib/controller/mpc/solver_code/osqp_configure.h @@ -0,0 +1,13 @@ +/* + * This file was autogenerated by OSQP on Wed Apr 9 13:51:03 2025 + * + * This file contains the configuration options needed by OSQP. + */ + +#ifndef OSQP_CONFIGURE_H +#define OSQP_CONFIGURE_H + +#define OSQP_ALGEBRA_BUILTIN +#define OSQP_EMBEDDED_MODE 2 + +#endif /* ifndef OSQP_CONFIGURE_H */ diff --git a/lib/controller/mpc/solver_code/setup.py b/lib/controller/mpc/solver_code/setup.py new file mode 100644 index 0000000..6687c64 --- /dev/null +++ b/lib/controller/mpc/solver_code/setup.py @@ -0,0 +1,68 @@ +import os +import shutil +import sys +from platform import system +from subprocess import check_call + +from setuptools import setup, Extension +from setuptools.command.build_ext import build_ext + + +class CMakeExtension(Extension): + def __init__(self, name, cmake_args=None): + Extension.__init__(self, name, sources=[]) + self.cmake_args = cmake_args + + +class CmdCMakeBuild(build_ext): + def build_extension(self, ext): + extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name))) + this_dir = os.path.abspath(os.path.dirname(__file__)) + cmake_args = [ + f'-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={extdir}', + f'-DPYTHON_EXECUTABLE={sys.executable}', + ] + + build_args = [] + cfg = 'Debug' if self.debug else 'Release' + + if system() != "Darwin": + build_args += [f'--config={cfg}'] + + if system() == "Windows": + cmake_args += ['-G', 'Visual Studio 17 2022'] + cmake_args += ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{}={}'.format(cfg.upper(), extdir)] + if sys.maxsize > 2 ** 32: + cmake_args += ['-A', 'x64'] + build_args += ['--', '/m'] + else: + cmake_args += ['-DCMAKE_BUILD_TYPE=' + cfg] + build_args += ['--', '-j2'] + + if os.path.exists(self.build_temp): + shutil.rmtree(self.build_temp) + os.makedirs(self.build_temp) + + if ext.cmake_args is not None: + cmake_args.extend(ext.cmake_args) + + check_call(['cmake', this_dir] + cmake_args, cwd=self.build_temp) + check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp) + + +setup( + name='emosqp', + author='Bartolomeo Stellato, Goran Banjac', + author_email='bartolomeo.stellato@gmail.com', + description='OSQP: The Operator Splitting QP Solver', + license='Apache 2.0', + url="https://osqp.org/", + + python_requires='>=3.8', + setup_requires=["numpy >= 1.7"], + install_requires=['numpy >= 1.7'], + + ext_modules=[CMakeExtension('emosqp', cmake_args=['-DOSQP_EMBEDDED_MODE=2'])], + cmdclass={'build_ext': CmdCMakeBuild}, + zip_safe=False +) \ No newline at end of file diff --git a/lib/controller/mpc/solver_code/src/algebra_libs.c b/lib/controller/mpc/solver_code/src/algebra_libs.c new file mode 100644 index 0000000..ceb5a06 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/algebra_libs.c @@ -0,0 +1,94 @@ +#include "osqp_api_constants.h" +#include "osqp_api_types.h" +#include "qdldl_interface.h" +#include "profilers.h" +#include "util.h" + +OSQPInt osqp_algebra_linsys_supported(void) { + /* Only has QDLDL (direct solver) */ + return OSQP_CAPABILITY_DIRECT_SOLVER; +} + +enum osqp_linsys_solver_type osqp_algebra_default_linsys(void) { + /* Prefer QDLDL (it is also the only one available) */ + return OSQP_DIRECT_SOLVER; +} + +OSQPInt osqp_algebra_init_libs(OSQPInt device) +{ + OSQP_UnusedVar(device); + return 0; +} + +void osqp_algebra_free_libs(void) {return;} + +OSQPInt osqp_algebra_name(char* name, OSQPInt nameLen) { + OSQP_UnusedVar(nameLen); + + // Manually assign into the buffer to avoid using strcpy + name[0] = 'B'; + name[1] = 'u'; + name[2] = 'i'; + name[3] = 'l'; + name[4] = 't'; + name[5] = '-'; + name[6] = 'i'; + name[7] = 'n'; + name[8] = 0; + + return 9; +} + +OSQPInt osqp_algebra_device_name(char* name, OSQPInt nameLen) { + OSQP_UnusedVar(nameLen); + + /* No device name for built-in algebra */ + name[0] = 0; + return 0; +} + +#ifndef OSQP_EMBEDDED_MODE + +// Initialize linear system solver structure +// NB: Only the upper triangular part of P is filled +OSQPInt osqp_algebra_init_linsys_solver(LinSysSolver** s, + const OSQPMatrix* P, + const OSQPMatrix* A, + const OSQPVectorf* rho_vec, + const OSQPSettings* settings, + OSQPFloat* scaled_prim_res, + OSQPFloat* scaled_dual_res, + OSQPInt polishing) { + OSQPInt retval = 0; + + // Don't use the scaled residuals right now + OSQP_UnusedVar(scaled_prim_res); + OSQP_UnusedVar(scaled_dual_res); + + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_INIT); + + switch (settings->linsys_solver) { + default: + case OSQP_DIRECT_SOLVER: + retval = init_linsys_solver_qdldl((qdldl_solver **)s, P, A, rho_vec, settings, polishing); + } + + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_INIT); + return retval; +} + +OSQPInt adjoint_derivative_linsys_solver(LinSysSolver** s, + const OSQPSettings* settings, + const OSQPMatrix* P, + const OSQPMatrix* G, + const OSQPMatrix* A_eq, + OSQPMatrix* GDiagLambda, + OSQPVectorf* slacks, + OSQPVectorf* rhs) { + + OSQP_UnusedVar(settings); + + return adjoint_derivative_qdldl((qdldl_solver **)s, P, G, A_eq, GDiagLambda, slacks, rhs); +} + +#endif diff --git a/lib/controller/mpc/solver_code/src/auxil.c b/lib/controller/mpc/solver_code/src/auxil.c new file mode 100644 index 0000000..fbca9f4 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/auxil.c @@ -0,0 +1,1223 @@ +#include "osqp.h" +#include "auxil.h" +#include "lin_alg.h" +#include "scaling.h" +#include "util.h" +#include "printing.h" +#include "timing.h" + +/*********************************************************** +* Auxiliary functions needed to compute ADMM iterations * * +***********************************************************/ +#if OSQP_EMBEDDED_MODE != 1 + +OSQPFloat compute_rho_estimate(const OSQPSolver* solver) { + + OSQPFloat prim_res, dual_res; // Primal and dual residuals + OSQPFloat prim_res_norm, dual_res_norm; // Normalization for the residuals + OSQPFloat temp_res_norm; // Temporary residual norm + OSQPFloat rho_estimate; // Rho estimate value + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // Get primal and dual residuals + prim_res = work->scaled_prim_res; + dual_res = work->scaled_dual_res; + + // Normalize primal residual + prim_res_norm = OSQPVectorf_norm_inf(work->z); // ||z|| + temp_res_norm = OSQPVectorf_norm_inf(work->Ax); // ||Ax|| + prim_res_norm = c_max(prim_res_norm, temp_res_norm); // max (||z||,||Ax||) + prim_res /= (prim_res_norm + OSQP_DIVISION_TOL); + + // Normalize dual residual + dual_res_norm = OSQPVectorf_norm_inf(work->data->q); // ||q|| + temp_res_norm = OSQPVectorf_norm_inf(work->Aty); // ||A' y|| + dual_res_norm = c_max(dual_res_norm, temp_res_norm); + temp_res_norm = OSQPVectorf_norm_inf(work->Px); // ||P x|| + dual_res_norm = c_max(dual_res_norm, temp_res_norm); // max(||q||,||A' y||,||P x||) + dual_res /= (dual_res_norm + OSQP_DIVISION_TOL); + + // Return rho estimate + rho_estimate = settings->rho * c_sqrt(prim_res / dual_res); + rho_estimate = c_min(c_max(rho_estimate, OSQP_RHO_MIN), OSQP_RHO_MAX); + + return rho_estimate; +} + +OSQPInt adapt_rho(OSQPSolver* solver) { + + OSQPInt exitflag; // Exitflag + OSQPFloat rho_new; // New rho value + + OSQPInfo* info = solver->info; + OSQPSettings* settings = solver->settings; + + exitflag = 0; // Initialize exitflag to 0 + + // Compute new rho + rho_new = compute_rho_estimate(solver); + + // Set rho estimate in info + info->rho_estimate = rho_new; + + // Check if the new rho is large or small enough and update it in case + if ((rho_new > settings->rho * settings->adaptive_rho_tolerance) || + (rho_new < settings->rho / settings->adaptive_rho_tolerance)) { + exitflag = osqp_update_rho(solver, rho_new); + info->rho_updates += 1; + solver->work->rho_updated = 1; + } + + return exitflag; +} + +OSQPInt set_rho_vec(OSQPSolver* solver) { + + OSQPInt constr_types_changed = 0; + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + settings->rho = c_min(c_max(settings->rho, OSQP_RHO_MIN), OSQP_RHO_MAX); + + constr_types_changed = OSQPVectorf_ew_bounds_type(work->constr_type, + work->data->l, + work->data->u, + OSQP_RHO_TOL, + OSQP_INFTY * OSQP_MIN_SCALING); + + + //NB: Always refresh the complete rho vector, since the rho_vals + //might be garbage if they have not been initialised yet. This means + //that there is some wasted effort in the case that the constraint types + //haven't changed and the rho values are already correct, but such is life. + OSQPVectorf_set_scalar_conditional(work->rho_vec, + work->constr_type, + OSQP_RHO_MIN, //const == -1 + settings->rho, //constr == 0 + OSQP_RHO_EQ_OVER_RHO_INEQ*settings->rho); //constr == 1 + + OSQPVectorf_ew_reciprocal(work->rho_inv_vec, work->rho_vec); + + return constr_types_changed; +} + +OSQPInt update_rho_vec(OSQPSolver* solver) { + + OSQPInt constr_type_changed; + OSQPInt exitflag = 0; + OSQPWorkspace* work = solver->work; + + //update rho_vec and see if anything changed + constr_type_changed = set_rho_vec(solver); + + // Update rho_vec in KKT matrix if constraints type has changed + if (constr_type_changed == 1) { + exitflag = work->linsys_solver->update_rho_vec(work->linsys_solver, work->rho_vec, solver->settings->rho); + } + + return exitflag; +} + +#endif // OSQP_EMBEDDED_MODE != 1 + + +void swap_vectors(OSQPVectorf** a, + OSQPVectorf** b) { + OSQPVectorf* temp; + + temp = *b; + *b = *a; + *a = temp; +} + +static void compute_rhs(OSQPSolver* solver) { + + OSQPWorkspace* work = solver->work; + OSQPSettings* settings = solver->settings; + + //part related to x variables + OSQPVectorf_add_scaled(work->xtilde_view, + settings->sigma,work->x_prev, + -1., work->data->q); + + //part related to dual variable in the equality constrained QP (nu) + if (settings->rho_is_vec) { + OSQPVectorf_ew_prod(work->ztilde_view, work->rho_inv_vec, work->y); + OSQPVectorf_add_scaled(work->ztilde_view, + -1.0, work->ztilde_view, + 1.0, work->z_prev); + } + else { + OSQPVectorf_add_scaled(work->ztilde_view, + 1.0, work->z_prev, + -work->rho_inv, work->y); + } +} + +void update_xz_tilde(OSQPSolver* solver, + OSQPInt admm_iter) { + + OSQPWorkspace* work = solver->work; + + // Compute right-hand side + compute_rhs(solver); + + // Solve linear system + work->linsys_solver->solve(work->linsys_solver, work->xz_tilde, admm_iter); +} + +void update_x(OSQPSolver* solver) { + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // update x + OSQPVectorf_add_scaled(work->x, + settings->alpha,work->xtilde_view, + (1.0 - settings->alpha),work->x_prev); + + // update delta_x + OSQPVectorf_minus(work->delta_x,work->x,work->x_prev); +} + +void update_z(OSQPSolver* solver) { + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // update z + if (settings->rho_is_vec) { + OSQPVectorf_ew_prod(work->z, work->rho_inv_vec,work->y); + OSQPVectorf_add_scaled3(work->z, + 1., work->z, + settings->alpha, work->ztilde_view, + (1.0 - settings->alpha), work->z_prev); + } + else { + OSQPVectorf_add_scaled3(work->z, + settings->alpha, work->ztilde_view, + (1.0 - settings->alpha), work->z_prev, + work->rho_inv, work->y); + } + + // project z onto C = [l,u] + OSQPVectorf_ew_bound_vec(work->z, work->z, work->data->l, work->data->u); +} + +void update_y(OSQPSolver* solver) { + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + OSQPVectorf_add_scaled3(work->delta_y, + settings->alpha, work->ztilde_view, + (1.0 - settings->alpha), work->z_prev, + -1.0, work->z); + + if (settings->rho_is_vec) { + OSQPVectorf_ew_prod(work->delta_y, work->delta_y, work->rho_vec); + } + else { + OSQPVectorf_mult_scalar(work->delta_y, settings->rho); + } + + OSQPVectorf_plus(work->y, work->y, work->delta_y); + +} + +void compute_obj_val_dual_gap(const OSQPSolver* solver, + const OSQPVectorf* x, + const OSQPVectorf* y, + OSQPFloat* prim_obj_val, + OSQPFloat* dual_obj_val, + OSQPFloat* duality_gap) { + OSQPFloat quad_term = 0.0; + OSQPFloat lin_term = 0.0; + OSQPFloat sup_term = 0.0; + OSQPWorkspace* work = solver->work; + + /* NB: The function is always called after dual_res is computed */ + quad_term = OSQPVectorf_dot_prod(work->Px, x); + lin_term = OSQPVectorf_dot_prod(work->data->q, x); + + /* Compute the support function of the constraints, SC(y) = u'*max(y, 0) + l'*min(y, 0) + by projecting y onto the polar of the recession cone of C=[l,u], then doing the dot products */ + OSQPVectorf_copy(work->z_prev, y); + OSQPVectorf_project_polar_reccone(work->z_prev, + work->data->l, + work->data->u, + OSQP_INFTY * OSQP_MIN_SCALING); + + // Round anything in the range [-OSQP_ZERO_DEADZONE, OSQP_ZERO_DEADZONE] to 0 to + // prevent very small (i.e., 1e-20) values from blowing up the numerics. + OSQPVectorf_round_to_zero(work->z_prev, OSQP_ZERO_DEADZONE); + + sup_term = OSQPVectorf_dot_prod_signed(work->data->u, work->z_prev, +1); + sup_term += OSQPVectorf_dot_prod_signed(work->data->l, work->z_prev, -1); + + /* Primal objective value is 0.5*x^T P x + q^T x */ + *prim_obj_val = 0.5 * quad_term + lin_term; + + /* Dual objective value is -0.5*x^T P x - SC(y)*/ + *dual_obj_val = -0.5 * quad_term - sup_term; + + /* Duality gap is x^T P x + q^T x + SC(y) */ + work->scaled_dual_gap = quad_term + lin_term + sup_term; + + if (solver->settings->scaling) { + *prim_obj_val *= work->scaling->cinv; + *dual_obj_val *= work->scaling->cinv; + + // We always store the duality gap in the info as unscaled (since it is for the user), + // but we keep the scaled version to use as a termination check when requested. + *duality_gap = work->scaling->cinv * work->scaled_dual_gap; + } else { + *duality_gap = work->scaled_dual_gap; + } + + /* Save cost values for later use in termination tolerance computation */ + work->xtPx = quad_term; + work->qtx = lin_term; + work->SC = sup_term; +} + +static OSQPFloat compute_duality_gap_tol(const OSQPSolver* solver, + OSQPFloat eps_abs, + OSQPFloat eps_rel) { + OSQPFloat max_rel_eps = 0.0; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + /* Compute max{ |x'*P*x|, |q'*x|, |SC(y)|} */ + max_rel_eps = c_absval(work->xtPx); /* |x'P*x| */ + max_rel_eps = c_max(max_rel_eps, c_absval(work->qtx)); /* |q'*x| */ + max_rel_eps = c_max(max_rel_eps, c_absval(work->SC)); /* |SC(y)| */ + + /* Unscale the termination tolerance if required*/ + if (settings->scaling && !settings->scaled_termination) { + max_rel_eps = work->scaling->cinv * max_rel_eps; + } + + // eps_duality_gap + return eps_abs + eps_rel * max_rel_eps; +} + +static OSQPFloat compute_prim_res(OSQPSolver* solver, + const OSQPVectorf* x, + const OSQPVectorf* z) { + + // NB: Use z_prev as working vector + // pr = Ax - z + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + OSQPFloat prim_res; + + OSQPMatrix_Axpy(work->data->A,x,work->Ax, 1.0, 0.0); //Ax = A*x + OSQPVectorf_minus(work->z_prev, work->Ax, z); + + work->scaled_prim_res = OSQPVectorf_norm_inf(work->z_prev); + + // If scaling active -> rescale residual + if (settings->scaling && !settings->scaled_termination) { + prim_res = OSQPVectorf_scaled_norm_inf(work->scaling->Einv, work->z_prev); + } + else{ + prim_res = work->scaled_prim_res; + } + return prim_res; +} + +static OSQPFloat compute_prim_tol(const OSQPSolver* solver, + OSQPFloat eps_abs, + OSQPFloat eps_rel) { + + OSQPFloat max_rel_eps, temp_rel_eps; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // max_rel_eps = max(||z||, ||A x||) + if (settings->scaling && !settings->scaled_termination) { + // ||Einv * z|| + max_rel_eps = + OSQPVectorf_scaled_norm_inf(work->scaling->Einv, work->z); + + // ||Einv * A * x|| + temp_rel_eps = + OSQPVectorf_scaled_norm_inf(work->scaling->Einv, work->Ax); + + // Choose maximum + max_rel_eps = c_max(max_rel_eps, temp_rel_eps); + } + + else { // No unscaling required + // ||z|| + max_rel_eps = OSQPVectorf_norm_inf(work->z); + + // ||A * x|| + temp_rel_eps = OSQPVectorf_norm_inf(work->Ax); + + // Choose maximum + max_rel_eps = c_max(max_rel_eps, temp_rel_eps); + } + + // eps_prim + return eps_abs + eps_rel * max_rel_eps; +} + +static OSQPFloat compute_dual_res(OSQPSolver* solver, + const OSQPVectorf* x, + const OSQPVectorf* y) { + + // NB: Use x_prev as temporary vector + // NB: Only upper triangular part of P is stored. + // dr = q + A'*y + P*x + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + OSQPFloat dual_res; + + // dr = q + OSQPVectorf_copy(work->x_prev, work->data->q); + + // Px = P * x + OSQPMatrix_Axpy(work->data->P, x, work->Px, 1.0, 0.0); + + // dr += Px + OSQPVectorf_plus(work->x_prev, work->x_prev, work->Px); + + // dr += A' * y + if (work->data->m) { + OSQPMatrix_Atxpy(work->data->A, y, work->Aty, 1.0, 0.0); + OSQPVectorf_plus(work->x_prev, work->x_prev, work->Aty); + } + + work->scaled_dual_res = OSQPVectorf_norm_inf(work->x_prev); + + // If scaling active -> rescale residual + if (settings->scaling && !settings->scaled_termination) { + dual_res = work->scaling->cinv * OSQPVectorf_scaled_norm_inf(work->scaling->Dinv, + work->x_prev); + } + else { + dual_res = work->scaled_dual_res; + } + + return dual_res; +} + +static OSQPFloat compute_dual_tol(const OSQPSolver* solver, + OSQPFloat eps_abs, + OSQPFloat eps_rel) { + + OSQPFloat max_rel_eps, temp_rel_eps; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // max_rel_eps = max(||q||, ||A' y|, ||P x||) + if (settings->scaling && !settings->scaled_termination) { + // || Dinv q|| + max_rel_eps = + OSQPVectorf_scaled_norm_inf(work->scaling->Dinv, + work->data->q); + + // || Dinv A' y || + temp_rel_eps = + OSQPVectorf_scaled_norm_inf(work->scaling->Dinv, + work->Aty); + + max_rel_eps = c_max(max_rel_eps, temp_rel_eps); + + // || Dinv P x|| + temp_rel_eps = + OSQPVectorf_scaled_norm_inf(work->scaling->Dinv, + work->Px); + + max_rel_eps = c_max(max_rel_eps, temp_rel_eps); + + // Multiply by cinv + max_rel_eps *= work->scaling->cinv; + } else { // No scaling required + // ||q|| + max_rel_eps = OSQPVectorf_norm_inf(work->data->q); + + // ||A'*y|| + temp_rel_eps = OSQPVectorf_norm_inf(work->Aty); + max_rel_eps = c_max(max_rel_eps, temp_rel_eps); + + // ||P*x|| + temp_rel_eps = OSQPVectorf_norm_inf(work->Px); + max_rel_eps = c_max(max_rel_eps, temp_rel_eps); + } + + // eps_dual + return eps_abs + eps_rel * max_rel_eps; +} + +OSQPInt is_primal_infeasible(OSQPSolver* solver, + OSQPFloat eps_prim_inf) { + + /* This function checks the primal infeasibility criteria + 1) || A' * delta_y || < eps * ||delta_y|| + 2) u'*max(delta_y, 0) + l'*min(delta_y, 0) < 0 + */ + + OSQPFloat norm_delta_y; + OSQPFloat ineq_lhs = 0.0; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // Project delta_y onto the polar of the recession cone of C=[l,u] + OSQPVectorf_project_polar_reccone(work->delta_y, + work->data->l, + work->data->u, + OSQP_INFTY * OSQP_MIN_SCALING); + + // Compute infinity norm of delta_y (unscale if necessary) + if (settings->scaling && !settings->scaled_termination) { + // Use work->Adelta_x as temporary vector + OSQPVectorf_ew_prod(work->Adelta_x, + work->scaling->E, + work->delta_y); + norm_delta_y = OSQPVectorf_norm_inf(work->Adelta_x); + } + else + norm_delta_y = OSQPVectorf_norm_inf(work->delta_y); + + if (norm_delta_y > OSQP_DIVISION_TOL) { + + ineq_lhs = OSQPVectorf_dot_prod_signed(work->data->u, work->delta_y, +1); + ineq_lhs += OSQPVectorf_dot_prod_signed(work->data->l, work->delta_y, -1); + + /* Check if the condition is satisfied */ + if (ineq_lhs < 0.0) { + OSQPMatrix_Atxpy(work->data->A, work->delta_y, work->Atdelta_y, 1.0, 0.0); + + // Unscale if necessary + if (settings->scaling && !settings->scaled_termination) { + OSQPVectorf_ew_prod(work->Atdelta_y, + work->Atdelta_y, + work->scaling->Dinv); + } + + return OSQPVectorf_norm_inf(work->Atdelta_y) < eps_prim_inf * norm_delta_y; + } + } + + // Conditions not satisfied -> not primal infeasible + return 0; +} + +OSQPInt is_dual_infeasible(OSQPSolver* solver, + OSQPFloat eps_dual_inf) { + + /* This function checks the dual infeasibility criteria + 1) q * delta_x < 0 + 2) ||P * delta_x || < eps * || delta_x || + 3) (A * delta_x)_i > -eps * || delta_x ||, l_i != -inf + (A * delta_x)_i < eps * || delta_x ||, u_i != +inf + */ + + OSQPFloat norm_delta_x; + OSQPFloat cost_scaling; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // Compute norm of delta_x + if (settings->scaling && !settings->scaled_termination) { // Unscale if needed + + norm_delta_x = + OSQPVectorf_scaled_norm_inf(work->scaling->D, + work->delta_x); + cost_scaling = work->scaling->c; + } + else { + norm_delta_x = OSQPVectorf_norm_inf(work->delta_x); + cost_scaling = 1.0; + } + + // Prevent 0 division || delta_x || > 0 + if (norm_delta_x > OSQP_DIVISION_TOL) { + // Normalize delta_x by its norm + + /* vec_mult_scalar(work->delta_x, 1./norm_delta_x, work->data->n); */ + + // Check first if q'*delta_x < 0 + if (OSQPVectorf_dot_prod(work->data->q, work->delta_x) < 0.0) { + // Compute product P * delta_x + OSQPMatrix_Axpy(work->data->P, work->delta_x, work->Pdelta_x, 1.0, 0.0); + + // Scale if necessary + if (settings->scaling && !settings->scaled_termination) { + OSQPVectorf_ew_prod(work->Pdelta_x, + work->Pdelta_x, + work->scaling->Dinv); + } + + // Check if || P * delta_x || = 0 + if (OSQPVectorf_norm_inf(work->Pdelta_x) < + cost_scaling * eps_dual_inf * norm_delta_x) { + // Compute A * delta_x + OSQPMatrix_Axpy(work->data->A, work->delta_x, work->Adelta_x,1.0,0.0); + + // Scale if necessary + if (settings->scaling && !settings->scaled_termination) { + OSQPVectorf_ew_prod(work->Adelta_x, work->Adelta_x, work->scaling->Einv); + } + + // De Morgan Law Applied to dual infeasibility conditions for A * x + // NB: Note that MIN_SCALING is used to adjust the infinity value + // in case the problem is scaled. + + // If you get this far, then all tests passed, so return results from final test + // Test whether Adelta_x is in the recession cone of C = [l, u] + return OSQPVectorf_in_reccone(work->Adelta_x, + work->data->l, + work->data->u, + OSQP_INFTY * OSQP_MIN_SCALING, + eps_dual_inf * norm_delta_x); + } + } + } + + // Conditions not satisfied -> not dual infeasible + return 0; +} + +OSQPInt has_solution(const OSQPInfo* info) { + return ((info->status_val != OSQP_PRIMAL_INFEASIBLE) && + (info->status_val != OSQP_PRIMAL_INFEASIBLE_INACCURATE) && + (info->status_val != OSQP_DUAL_INFEASIBLE) && + (info->status_val != OSQP_DUAL_INFEASIBLE_INACCURATE) && + (info->status_val != OSQP_NON_CVX)); +} + +void store_solution(OSQPSolver *solver, OSQPSolution* solution) { + +#ifndef OSQP_EMBEDDED_MODE + OSQPFloat norm_vec; +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + OSQPInfo* info = solver->info; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + /* Bypass function if solution wasn't allocated */ + if (!solution) + return; + + + if (has_solution(info)) { + // Unscale solution if scaling has been performed + if (settings->scaling){ + //use x_prev and z_prev as scratch space + unscale_solution(work->x_prev,work->z_prev, //unscaled solution + work->x,work->y, //scaled solution + work); + OSQPVectorf_to_raw(solution->x, work->x_prev); // primal + OSQPVectorf_to_raw(solution->y, work->z_prev); // dual + } + else{ + OSQPVectorf_to_raw(solution->x, work->x); // primal + OSQPVectorf_to_raw(solution->y, work->y); // dual + } + /* Set infeasibility certificates to NaN */ + OSQPVectorf_set_scalar(work->delta_y, OSQP_NAN); + OSQPVectorf_set_scalar(work->delta_x, OSQP_NAN); + OSQPVectorf_to_raw(solution->prim_inf_cert, work->delta_y); + OSQPVectorf_to_raw(solution->dual_inf_cert, work->delta_x); + } + + else { + + // No solution present. Solution is NaN + OSQPVectorf_set_scalar(work->x, OSQP_NAN); + OSQPVectorf_set_scalar(work->y, OSQP_NAN); + OSQPVectorf_to_raw(solution->x, work->x); // primal + OSQPVectorf_to_raw(solution->y, work->y); // dual + + // reset iterates to 0 for next run (they cannot start from NaN) + osqp_cold_start(solver); + + +#ifndef OSQP_EMBEDDED_MODE + + // Normalize infeasibility certificates if embedded is off + // NB: It requires a division + if ((info->status_val == OSQP_PRIMAL_INFEASIBLE) || + ((info->status_val == OSQP_PRIMAL_INFEASIBLE_INACCURATE))) { + norm_vec = OSQPVectorf_norm_inf(work->delta_y); + OSQPVectorf_mult_scalar(work->delta_y, 1. / norm_vec); + OSQPVectorf_to_raw(solution->prim_inf_cert, work->delta_y); + + /* Set dual infeasibility certificate to NaN */ + OSQPVectorf_set_scalar(work->delta_x, OSQP_NAN); + OSQPVectorf_to_raw(solution->dual_inf_cert, work->delta_x); + } + + if ((info->status_val == OSQP_DUAL_INFEASIBLE) || + ((info->status_val == OSQP_DUAL_INFEASIBLE_INACCURATE))) { + norm_vec = OSQPVectorf_norm_inf(work->delta_x); + OSQPVectorf_mult_scalar(work->delta_x, 1. / norm_vec); + OSQPVectorf_to_raw(solution->dual_inf_cert, work->delta_x); + + /* Set primal infeasibility certificate to NaN */ + OSQPVectorf_set_scalar(work->delta_y, OSQP_NAN); + OSQPVectorf_to_raw(solution->prim_inf_cert, work->delta_y); + } + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + } +} + +void update_info(OSQPSolver* solver, + OSQPInt iter, + OSQPInt polishing) { + + OSQPVectorf* x; + OSQPVectorf* z; + OSQPVectorf* y; // Allocate pointers to vectors + + // objective value, residuals + OSQPFloat* prim_obj_val; + OSQPFloat* dual_obj_val; + OSQPFloat* dual_gap; + OSQPFloat* prim_res; + OSQPFloat* dual_res; + + OSQPInfo* info = solver->info; + OSQPWorkspace* work = solver->work; + +#ifdef OSQP_ENABLE_PROFILING + OSQPFloat* run_time; // Execution time +#endif /* ifdef OSQP_ENABLE_PROFILING */ + +#ifndef OSQP_EMBEDDED_MODE + + if (polishing) { + x = work->pol->x; + y = work->pol->y; + z = work->pol->z; + prim_obj_val = &work->pol->obj_val; + dual_obj_val = &work->pol->dual_obj_val; + dual_gap = &work->pol->duality_gap; + prim_res = &work->pol->prim_res; + dual_res = &work->pol->dual_res; +# ifdef OSQP_ENABLE_PROFILING + run_time = &info->polish_time; +# endif /* ifdef OSQP_ENABLE_PROFILING */ + } + else { +#endif // OSQP_EMBEDDED_MODE + x = work->x; + y = work->y; + z = work->z; + prim_obj_val = &info->obj_val; + dual_obj_val = &info->dual_obj_val; + dual_gap = &info->duality_gap; + prim_res = &info->prim_res; + dual_res = &info->dual_res; + info->iter = iter; +#ifdef OSQP_ENABLE_PROFILING + run_time = &info->solve_time; +#endif /* ifdef OSQP_ENABLE_PROFILING */ +#ifndef OSQP_EMBEDDED_MODE +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + // Compute primal residual + if (work->data->m == 0) { + // No constraints -> Always primal feasible + *prim_res = 0.; + } else { + *prim_res = compute_prim_res(solver, x, z); + } + + // Compute dual residual; store P*x in work->Px + *dual_res = compute_dual_res(solver, x, y); + + // Compute the objective and duality gap, store various temp values in work + compute_obj_val_dual_gap(solver, x, y, prim_obj_val, dual_obj_val, dual_gap); + + // Compute the duality gap integral + if (!polishing) { + info->primdual_int += c_absval(*dual_gap); + } + + // Update timing +#ifdef OSQP_ENABLE_PROFILING + *run_time = osqp_toc(work->timer); +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + // Compute the relative KKT error + info->rel_kkt_error = c_max( c_max(*dual_res, *prim_res), *dual_gap); + +#ifdef OSQP_ENABLE_PRINTING + work->summary_printed = 0; // The just updated info have not been printed +#endif /* ifdef OSQP_ENABLE_PRINTING */ +} + + +void reset_info(OSQPInfo *info) { +#ifdef OSQP_ENABLE_PROFILING + + // Initialize info values. + info->solve_time = 0.0; // Solve time to zero +# ifndef OSQP_EMBEDDED_MODE + info->polish_time = 0.0; // Polish time to zero +# endif /* ifndef OSQP_EMBEDDED_MODE */ + + // NB: We do not reset the setup_time because it is performed only once +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + update_status(info, OSQP_UNSOLVED); // Problem is unsolved + +#if OSQP_EMBEDDED_MODE != 1 + info->rho_updates = 0; // Rho updates are now 0 +#endif /* if OSQP_EMBEDDED_MODE != 1 */ +} + +const char *OSQP_STATUS_MESSAGE[] = { + "", // Status messages start from 1, so add a buffer + "solved", + "solved inaccurate", + "primal infeasible", + "primal infeasible inaccurate", + "dual infeasible", + "dual infeasible inaccurate", + "maximum iterations reached", + "run time limit reached", + "problem non convex", + "interrupted", + "unsolved" +}; + +void update_status(OSQPInfo* info, + OSQPInt status_val) { + // Update status value + info->status_val = status_val; + + // Update status string depending on status val + c_strcpy(info->status, OSQP_STATUS_MESSAGE[status_val]); +} + +OSQPInt check_termination(OSQPSolver* solver, + OSQPInt approximate) { + + OSQPFloat eps_prim, eps_dual, eps_duality_gap, eps_prim_inf, eps_dual_inf; + OSQPInt exitflag; + OSQPInt prim_res_check, dual_res_check, duality_gap_check, prim_inf_check, dual_inf_check; + OSQPFloat eps_abs, eps_rel; + + OSQPInfo* info = solver->info; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + // Initialize variables to 0 + exitflag = 0; + prim_res_check = 0; dual_res_check = 0; + prim_inf_check = 0; dual_inf_check = 0; + duality_gap_check = 0; + + // Initialize tolerances + eps_abs = settings->eps_abs; + eps_rel = settings->eps_rel; + eps_prim_inf = settings->eps_prim_inf; + eps_dual_inf = settings->eps_dual_inf; + + // If residuals are too large, the problem is probably non convex + if ((info->prim_res > OSQP_INFTY) || + (info->dual_res > OSQP_INFTY)){ + // Looks like residuals are diverging. Probably the problem is non convex! + // Terminate and report it + update_status(info, OSQP_NON_CVX); + info->obj_val = OSQP_NAN; + return 1; + } + + // If approximate solution required, increase tolerances by 10 + if (approximate) { + eps_abs *= 10; + eps_rel *= 10; + eps_prim_inf *= 10; + eps_dual_inf *= 10; + } + + // Check residuals + if (work->data->m == 0) { + prim_res_check = 1; // No constraints -> Primal feasibility always satisfied + } + else { + // Compute primal tolerance + eps_prim = compute_prim_tol(solver, eps_abs, eps_rel); + + // Primal feasibility check + if (info->prim_res < eps_prim) { + prim_res_check = 1; + } else { + // Primal infeasibility check + prim_inf_check = is_primal_infeasible(solver, eps_prim_inf); + } + } // End check if m == 0 + + // Compute dual tolerance + eps_dual = compute_dual_tol(solver, eps_abs, eps_rel); + + // Dual feasibility check + if (info->dual_res < eps_dual) { + dual_res_check = 1; + } else { + // Check dual infeasibility + dual_inf_check = is_dual_infeasible(solver, eps_dual_inf); + } + + if (settings->check_dualgap ) { + // Compute duality gap tolerance + eps_duality_gap = compute_duality_gap_tol(solver, eps_abs, eps_rel); + + // Duality gap check + if (settings->scaling && !settings->scaled_termination) { + // Use the unscaled duality gap value + if (c_absval(info->duality_gap) < eps_duality_gap) { + duality_gap_check = 1; + } + } else { + // Use the scaled duality gap value + if (c_absval(work->scaled_dual_gap) < eps_duality_gap) { + duality_gap_check = 1; + } + } + } else { + // Force to 1 to bypass the check + duality_gap_check = 1; + } + + // Compare checks to determine solver status + if (prim_res_check && dual_res_check && duality_gap_check) { + // Update final information + if (approximate) { + update_status(info, OSQP_SOLVED_INACCURATE); + } else { + update_status(info, OSQP_SOLVED); + } + exitflag = 1; + } + else if (prim_inf_check) { + // Update final information + if (approximate) { + update_status(info, OSQP_PRIMAL_INFEASIBLE_INACCURATE); + } else { + update_status(info, OSQP_PRIMAL_INFEASIBLE); + } + + if (settings->scaling && !settings->scaled_termination) { + // Update infeasibility certificate + OSQPVectorf_ew_prod(work->delta_y, + work->delta_y, + work->scaling->E); + } + info->obj_val = OSQP_INFTY; + exitflag = 1; + } + else if (dual_inf_check) { + // Update final information + if (approximate) { + update_status(info, OSQP_DUAL_INFEASIBLE_INACCURATE); + } else { + update_status(info, OSQP_DUAL_INFEASIBLE); + } + + if (settings->scaling && !settings->scaled_termination) { + // Update infeasibility certificate + OSQPVectorf_ew_prod(work->delta_x, + work->delta_x, + work->scaling->D); + } + info->obj_val = -OSQP_INFTY; + exitflag = 1; + } + + return exitflag; +} + + +#ifndef OSQP_EMBEDDED_MODE + +OSQPInt validate_data(const OSQPCscMatrix* P, + const OSQPFloat* q, + const OSQPCscMatrix* A, + const OSQPFloat* l, + const OSQPFloat* u, + OSQPInt m, + OSQPInt n) { + OSQPInt j, ptr; + + if (!P) { + c_eprint("Missing quadratic cost matrix P"); + return 1; + } + + if (!A) { + c_eprint("Missing constraint matrix A"); + return 1; + } + + if (!q) { + c_eprint("Missing linear cost vector q"); + return 1; + } + + // General dimensions Tests + if ((n <= 0) || (m < 0)) { + c_eprint("n must be positive and m nonnegative; n = %i, m = %i", + (int)n, (int)m); + return 1; + } + + // Matrix P + if (P->m != n) { + c_eprint("P does not have dimension n x n with n = %i", (int)n); + return 1; + } + + if (P->m != P->n) { + c_eprint("P is not square"); + return 1; + } + + for (j = 0; j < n; j++) { // COLUMN + for (ptr = P->p[j]; ptr < P->p[j + 1]; ptr++) { + if (P->i[ptr] > j) { // if ROW > COLUMN + c_eprint("P is not upper triangular"); + return 1; + } + } + } + + // Matrix A + if ((A->m != m) || (A->n != n)) { + c_eprint("A does not have dimension %i x %i", (int)m, (int)n); + return 1; + } + + // Lower and upper bounds + for (j = 0; j < m; j++) { + if (l[j] > u[j]) { + c_eprint("Lower bound at index %d is greater than upper bound: %.4e > %.4e", + (int)j, l[j], u[j]); + return 1; + } + } + + return 0; +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + +OSQPInt validate_linsys_solver(OSQPInt linsys_solver) { + /* Verify the algebra backend supports the requested indirect solver */ + if ( (linsys_solver == OSQP_INDIRECT_SOLVER) && + (osqp_algebra_linsys_supported() & OSQP_CAPABILITY_INDIRECT_SOLVER) ) { + return 0; + } + + /* Verify the algebra backend supports the requested direct solver */ + if ( (linsys_solver == OSQP_DIRECT_SOLVER) && + (osqp_algebra_linsys_supported() & OSQP_CAPABILITY_DIRECT_SOLVER) ) { + return 0; + } + + // Invalid solver + return 1; +} + + +OSQPInt validate_settings(const OSQPSettings* settings, + OSQPInt from_setup) { + + if (!settings) { + c_eprint("Missing settings!"); + return 1; + } + + if (from_setup && + validate_linsys_solver(settings->linsys_solver)) { + c_eprint("linsys_solver not recognized"); + return 1; + } + + if (from_setup && + settings->allocate_solution != 0 && + settings->allocate_solution != 1) { + c_eprint("allocate_solution must be either 0 or 1"); + return 1; + } + + if (settings->verbose != 0 && + settings->verbose != 1) { + c_eprint("verbose must be either 0 or 1"); + return 1; + } + + if (settings->profiler_level != 0 && + settings->profiler_level != 1 && + settings->profiler_level != 2) { + c_eprint("profiler_level must be either 0, 1 or 2"); + return 1; + } + + if (settings->warm_starting != 0 && + settings->warm_starting != 1) { + c_eprint("warm_start must be either 0 or 1"); + return 1; + } + + if (from_setup && settings->scaling < 0) { + c_eprint("scaling must be nonnegative"); + return 1; + } + + if (settings->polishing != 0 && + settings->polishing != 1) { + c_eprint("polishing must be either 0 or 1"); + return 1; + } + + if (from_setup && settings->rho <= 0.0) { + c_eprint("rho must be positive"); + return 1; + } + + if (from_setup && + (settings->rho_is_vec != 0) && + (settings->rho_is_vec != 1)) { + c_eprint("rho_is_vec must be either 0 or 1"); + return 1; + } + + if (from_setup && settings->sigma <= 0.0) { + c_eprint("sigma must be positive"); + return 1; + } + + if (settings->alpha <= 0.0 || + settings->alpha >= 2.0) { + c_eprint("alpha must be strictly between 0 and 2"); + return 1; + } + + if (settings->cg_max_iter <= 0) { + c_eprint("cg_max_iter must be positive"); + return 1; + } + + if (settings->cg_tol_reduction <= 0) { + c_eprint("cg_tol_reduction must be positive"); + return 1; + } + + if (settings->cg_tol_fraction <= 0.0 || + settings->cg_tol_fraction >= 1.0) { + c_eprint("cg_tol_fraction must be strictly between 0 and 1"); + return 1; + } + + if (from_setup && + settings->adaptive_rho < 0 || + settings->adaptive_rho >= _OSQP_ADAPTIVE_RHO_UPDATE_LAST_VALUE) { + c_eprint("adaptive_rho not a valid choice"); + return 1; + } + +#if !defined(OSQP_ENABLE_PROFILING) + if (from_setup && settings->adaptive_rho == OSQP_ADAPTIVE_RHO_UPDATE_TIME) { + c_eprint("adaptive_rho time-based adaptation requires profiling to be enabled"); + return 1; + } +#endif /* !defined(OSQP_ENABLE_PROFILING) */ + + if (from_setup && settings->adaptive_rho_interval < 0) { + c_eprint("adaptive_rho_interval must be nonnegative"); + return 1; + } + + if (from_setup && settings->adaptive_rho_fraction <= 0) { + c_eprint("adaptive_rho_fraction must be positive"); + return 1; + } + + if (from_setup && settings->adaptive_rho_tolerance < 1.0) { + c_eprint("adaptive_rho_tolerance must be >= 1"); + return 1; + } + + if (settings->max_iter <= 0) { + c_eprint("max_iter must be positive"); + return 1; + } + + if (settings->eps_abs < 0.0) { + c_eprint("eps_abs must be nonnegative"); + return 1; + } + + if (settings->eps_rel < 0.0) { + c_eprint("eps_rel must be nonnegative"); + return 1; + } + + if (settings->eps_rel == 0.0 && + settings->eps_abs == 0.0) { + c_eprint("at least one of eps_abs and eps_rel must be positive"); + return 1; + } + + if (settings->eps_prim_inf <= 0.0) { + c_eprint("eps_prim_inf must be positive"); + return 1; + } + + if (settings->eps_dual_inf <= 0.0) { + c_eprint("eps_dual_inf must be positive"); + return 1; + } + + if (settings->scaled_termination != 0 && + settings->scaled_termination != 1) { + c_eprint("scaled_termination must be either 0 or 1"); + return 1; + } + + if (settings->check_termination < 0) { + c_eprint("check_termination must be nonnegative"); + return 1; + } + + if (settings->check_dualgap != 0 && + settings->check_dualgap != 1) { + c_eprint("check_dualgap must be either 0 or 1"); + return 1; + } + + if (settings->time_limit <= 0.0) { + c_eprint("time_limit must be positive\n"); + return 1; + } + + if (settings->delta <= 0.0) { + c_eprint("delta must be positive"); + return 1; + } + + if (settings->polish_refine_iter < 0) { + c_eprint("polish_refine_iter must be nonnegative"); + return 1; + } + + return 0; +} diff --git a/lib/controller/mpc/solver_code/src/csc_math.c b/lib/controller/mpc/solver_code/src/csc_math.c new file mode 100644 index 0000000..32a5478 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/csc_math.c @@ -0,0 +1,363 @@ + +#include "glob_opts.h" +#include "osqp.h" + +/* internal utilities for zero-ing, setting and scaling without libraries */ + +void vec_set_scalar(OSQPFloat* v, OSQPFloat val, OSQPInt n){ + OSQPInt i; + for(i = 0; i< n; i++) v[i] = val; +} + +void vec_mult_scalar(OSQPFloat* v, OSQPFloat val, OSQPInt n){ + OSQPInt i; + for(i = 0; i< n; i++) v[i] *= val; +} + +void vec_negate(OSQPFloat* v, OSQPInt n){ + OSQPInt i; + for(i = 0; i< n; i++) v[i] = -v[i]; +} + + +/* CSC matrix operations implementation ------*/ + +/* update some or all matrix values */ + +void csc_update_values(OSQPCscMatrix* M, + const OSQPFloat* Mx_new, + const OSQPInt* Mx_new_idx, + OSQPInt M_new_n) { + + OSQPInt i; + + // Update subset of elements + if (Mx_new_idx) { // Change only Mx_new_idx + for (i = 0; i < M_new_n; i++) { + M->x[Mx_new_idx[i]] = Mx_new[i]; + } + } + else{ // Change whole M. Assumes M_new_n == nnz(M) + for (i = 0; i < M_new_n; i++) { + M->x[i] = Mx_new[i]; + } + } +} + + +/* matrix times scalar */ + +void csc_scale(OSQPCscMatrix* A, OSQPFloat sc){ + OSQPInt i, nnzA; + nnzA = A->p[A->n]; + for (i = 0; i < nnzA; i++) { + A->x[i] *= sc; + } +} + +/* A = L*A */ + +void csc_lmult_diag(OSQPCscMatrix* A, const OSQPFloat* d){ + + OSQPInt j, i; + OSQPInt n = A->n; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPFloat* Ax = A->x; + + for (j = 0; j < n; j++) { // Cycle over columns + for (i = Ap[j]; i < Ap[j + 1]; i++) { // Cycle every row in the column + Ax[i] *= d[Ai[i]]; // Scale by corresponding element + // of d for row i + } + } +} + +/* A = A*R */ + +void csc_rmult_diag(OSQPCscMatrix* A, const OSQPFloat* d){ + + OSQPInt j, i; + OSQPInt n = A->n; + OSQPInt* Ap = A->p; + OSQPFloat* Ax = A->x; + + for (j = 0; j < n; j++) { // Cycle over columns j + for (i = Ap[j]; i < Ap[j + 1]; i++) { // Cycle every row i in column j + Ax[i] *= d[j]; // Scale by corresponding element + // of d for column j + } + } +} + +// d = diag(At*diag(D)*A) +void csc_AtDA_extract_diag(const OSQPCscMatrix* A, + const OSQPFloat* D, + OSQPFloat* d) { + OSQPInt j, i; + OSQPInt n = A->n; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPFloat* Ax = A->x; + + // Each entry of output vector is for a column, so cycle over columns + for (j = 0; j < n; j++) { + d[j] = 0; + // Iterate over each entry in the column + for (i = Ap[j]; i < Ap[j + 1]; i++) { + d[j] += Ax[i]*Ax[i]*D[Ai[i]]; + } + } +} + +//y = alpha*A*x + beta*y, where A is symmetric and only triu is stored +void csc_Axpy_sym_triu(const OSQPCscMatrix* A, + const OSQPFloat* x, + OSQPFloat* y, + OSQPFloat alpha, + OSQPFloat beta) { + + OSQPInt i, j; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPInt An = A->n; + OSQPInt Am = A->m; + OSQPFloat* Ax = A->x; + + // first do the b*y part + if (beta == 0) vec_set_scalar(y, 0.0, Am); + else if (beta == 1) ; //do nothing + else if (beta == -1) vec_negate(y, Am); + else vec_mult_scalar(y,beta, Am); + + + // if A is empty or zero + if (Ap[An] == 0 || alpha == 0.0) return; + + if (alpha == -1) { + // y -= A*x + for (j = 0; j < An; j++) { + for (i = Ap[j]; i < Ap[j + 1]; i++) { + y[Ai[i]] -= Ax[i] * x[j]; + if(Ai[i] != j){ + y[j] -= Ax[i] * x[Ai[i]]; + } + }}} + + else if(alpha == 1){ + // y += A*x + for (j = 0; j < An; j++) { + for (i = Ap[j]; i < Ap[j + 1]; i++) { + y[Ai[i]] += Ax[i] * x[j]; + if(Ai[i] != j){ + y[j] += Ax[i] * x[Ai[i]]; + } + }}} + + else{ + // y += alpha*A*x + for (j = 0; j < An; j++) { + for (i = Ap[j]; i < Ap[j + 1]; i++) { + y[Ai[i]] += alpha*Ax[i] * x[j]; + if(Ai[i] != j){ + y[j] += alpha*Ax[i] * x[Ai[i]]; + } + }}} +} + +//y = alpha*A*x + beta*y +void csc_Axpy(const OSQPCscMatrix* A, + const OSQPFloat* x, + OSQPFloat* y, + OSQPFloat alpha, + OSQPFloat beta) { + + OSQPInt i, j; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPInt An = A->n; + OSQPInt Am = A->m; + OSQPFloat* Ax = A->x; + + // first do the b*y part + if (beta == 0) vec_set_scalar(y, 0.0, Am); + else if (beta == 1) ; //do nothing + else if (beta == -1) vec_negate(y, Am); + else vec_mult_scalar(y,beta, Am); + + + // if A is empty or zero + if (Ap[An] == 0 || alpha == 0.0) return; + + if (alpha == -1) { + // y -= A*x + for (j = 0; j < An; j++) { + for (i = Ap[j]; i < Ap[j + 1]; i++) { + y[Ai[i]] -= Ax[i] * x[j]; + }}} + + else if(alpha == +1){ + // y += A*x + for (j = 0; j < An; j++) { + for (i = Ap[j]; i < Ap[j + 1]; i++) { + y[Ai[i]] += Ax[i] * x[j]; + }}} + + else{ + // y += alpha*A*x + for (j = 0; j < An; j++) { + for (i = Ap[j]; i < Ap[j + 1]; i++) { + y[Ai[i]] += alpha*Ax[i] * x[j]; + }}} +} + +//y = alpha*A'*x + beta*y + +void csc_Atxpy(const OSQPCscMatrix* A, + const OSQPFloat* x, + OSQPFloat* y, + OSQPFloat alpha, + OSQPFloat beta) { + OSQPInt j, k; + OSQPInt An = A->n; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPFloat* Ax = A->x; + + // first do the b*y part + if (beta == 0) vec_set_scalar(y, 0.0, An); + else if (beta == 1) ; //do nothing + else if (beta == -1) vec_negate(y, An); + else vec_mult_scalar(y,beta, An); + + // if A is empty or alpha = 0 + if (Ap[An] == 0 || alpha == 0.0) { + return; + } + + if(alpha == -1){ + for (j = 0; j < A->n; j++) { + for (k = Ap[j]; k < Ap[j + 1]; k++) { + y[j] -= Ax[k] * x[Ai[k]]; + }}} + + else if(alpha == +1){ + for (j = 0; j < A->n; j++) { + for (k = Ap[j]; k < Ap[j + 1]; k++) { + y[j] += Ax[k] * x[Ai[k]]; + }}} + + else{ + for (j = 0; j < A->n; j++) { + for (k = Ap[j]; k < Ap[j + 1]; k++) { + y[j] += alpha*Ax[k] * x[Ai[k]]; + }}} +} + +// 1/2 x'*P*x + +// OSQPFloat csc_quad_form(const csc *P, const OSQPFloat *x) { + +// //NB:implementation assumes upper triangular part only + +// OSQPFloat quad_form = 0.; +// OSQPInt i, j, ptr; +// OSQPInt* Pp = P->p; +// OSQPInt* Pi = P->i; +// OSQPFloat* Px = P->x; +// OSQPInt Pn = P->n; + + +// for (j = 0; j < Pn; j++) { // Iterate over columns +// for (ptr = Pp[j]; ptr < Pp[j + 1]; ptr++) { // Iterate over rows +// i = Pi[ptr]; // Row index + +// if (i == j) { // Diagonal element +// quad_form += (OSQPFloat).5 * Px[ptr] * x[i] * x[i]; +// } +// else if (i < j) { // Off-diagonal element +// quad_form += Px[ptr] * x[i] * x[j]; +// } +// else { // Element in lower triangle +// c_eprint("quad_form matrix is not upper triangular"); +// return -1.; +// } +// } +// } +// return quad_form; +// } + +/* columnwise infinity norm */ + +void csc_col_norm_inf(const OSQPCscMatrix* M, OSQPFloat* E) { + + OSQPInt j, ptr; + OSQPInt* Mp = M->p; + OSQPInt Mn = M->n; + OSQPFloat* Mx = M->x; + + // Initialize zero max elements + vec_set_scalar(E, 0.0, Mn); + + // Compute maximum across columns + for (j = 0; j < Mn; j++) { + for (ptr = Mp[j]; ptr < Mp[j + 1]; ptr++) { + E[j] = c_max(c_absval(Mx[ptr]), E[j]); + } + } +} + +/* rowwise infinity norm */ + +void csc_row_norm_inf(const OSQPCscMatrix* M, OSQPFloat* E) { + + OSQPInt i, j, ptr; + OSQPInt* Mp = M->p; + OSQPInt* Mi = M->i; + OSQPInt Mn = M->n; + OSQPInt Mm = M->m; + OSQPFloat* Mx = M->x; + + // Initialize zero max elements + vec_set_scalar(E, 0.0, Mm); + + // Compute maximum across rows + for (j = 0; j < Mn; j++) { + for (ptr = Mp[j]; ptr < Mp[j + 1]; ptr++) { + i = Mi[ptr]; + E[i] = c_max(c_absval(Mx[ptr]), E[i]); + } + } +} + +/* rowwise infinity norm, only upper triangle specified */ + +void csc_row_norm_inf_sym_triu(const OSQPCscMatrix* M, OSQPFloat* E) { + + OSQPInt i, j, ptr; + OSQPInt* Mp = M->p; + OSQPInt* Mi = M->i; + OSQPInt Mn = M->n; + OSQPInt Mm = M->m; + OSQPFloat* Mx = M->x; + OSQPFloat abs_x; + + // Initialize zero max elements + vec_set_scalar(E, 0.0, Mm); + + // Compute maximum across columns + // Note that element (i, j) contributes to + // -> Column j (as expected in any matrices) + // -> Column i (which is equal to row i for symmetric matrices) + for (j = 0; j < Mn; j++) { + for (ptr = Mp[j]; ptr < Mp[j + 1]; ptr++) { + i = Mi[ptr]; + abs_x = c_absval(Mx[ptr]); + E[j] = c_max(abs_x, E[j]); + + if (i != j) { + E[i] = c_max(abs_x, E[i]); + } + } + } +} diff --git a/lib/controller/mpc/solver_code/src/csc_utils.c b/lib/controller/mpc/solver_code/src/csc_utils.c new file mode 100644 index 0000000..478ce92 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/csc_utils.c @@ -0,0 +1,631 @@ +#include "printing.h" +#include "csc_utils.h" + +//========== Logical, testing and debug =========== + +OSQPInt csc_is_eq(OSQPCscMatrix* A, + OSQPCscMatrix* B, + OSQPFloat tol) { + OSQPInt j, i; + + // If number of columns does not coincide, they are not equal. + if (A->n != B->n) { + return 0; + } + + for (j = 0; j < A->n; j++) { // Cycle over columns j + // if column pointer of next colimn does not coincide, they are not equal + // NB: first column always has A->p[0] = B->p[0] = 0 by construction. + if (A->p[j+1] != B->p[j+1]) { + return 0; + } + + for (i = A->p[j]; i < A->p[j + 1]; i++) { // Cycle rows i in column j + if ((A->i[i] != B->i[i]) || // Different row indices + (c_absval(A->x[i] - B->x[i]) > tol)) { + return 0; + } + } + } + return 1; +} + + +//========= Internal utility functions =========== + +#ifndef OSQP_EMBEDDED_MODE + +static void* csc_malloc(OSQPInt n, OSQPInt size) { + return c_malloc(n * size); +} + +static void* csc_calloc(OSQPInt n, OSQPInt size) { + return c_calloc(n, size); +} + +#endif /* OSQP_EMBEDDED_MODE */ + +static void prea_int_vec_copy(const OSQPInt* a, OSQPInt* b, OSQPInt n) { + OSQPInt i; + for (i = 0; i < n; i++) b[i] = a[i]; +} + +static void prea_vec_copy(const OSQPFloat* a, OSQPFloat* b, OSQPInt n) { + OSQPInt i; + for (i = 0; i < n; i++) b[i] = a[i]; +} + +static void float_vec_set_scalar(OSQPFloat* a, OSQPFloat sc, OSQPInt n) { + OSQPInt i; + for (i = 0; i < n; i++) a[i] = sc; +} + +static void int_vec_set_scalar(OSQPInt* a, OSQPInt sc, OSQPInt n) { + OSQPInt i; + for (i = 0; i < n; i++) a[i] = sc; +} + +OSQPInt csc_cumsum(OSQPInt* p, OSQPInt* c, OSQPInt n) { + OSQPInt i, nz = 0; + + if (!p || !c) return -1; /* check inputs */ + + for (i = 0; i < n; i++) + { + p[i] = nz; + nz += c[i]; + c[i] = p[i]; + } + p[n] = nz; + return nz; /* return sum (c [0..n-1]) */ +} + +//================================================== + +// OSQPCscMatrix* csc_matrix(OSQPInt m, OSQPInt n, OSQPInt nzmax, OSQPFloat *x, OSQPInt *i, OSQPInt *p) +// { +// OSQPCscMatrix *M = (OSQPCscMatrix *)c_malloc(sizeof(OSQPCscMatrix)); + +// if (!M) return OSQP_NULL; + +// M->m = m; +// M->n = n; +// M->nz = -1; +// M->nzmax = nzmax; +// M->x = x; +// M->i = i; +// M->p = p; +// return M; +// } + +#ifndef OSQP_EMBEDDED_MODE + +OSQPCscMatrix* csc_spalloc(OSQPInt m, + OSQPInt n, + OSQPInt nzmax, + OSQPInt values, + OSQPInt triplet) { + OSQPCscMatrix* A = c_calloc(1, sizeof(OSQPCscMatrix)); /* allocate the OSQPCscMatrix struct */ + + if (!A) return OSQP_NULL; /* out of memory */ + + A->m = m; /* define dimensions and nzmax */ + A->n = n; + A->nzmax = nzmax = c_max(nzmax, 0); + A->nz = triplet ? 0 : -1; /* allocate triplet or comp.col */ + A->p = csc_malloc(triplet ? nzmax : n + 1, sizeof(OSQPInt)); + A->i = values ? csc_malloc(nzmax, sizeof(OSQPInt)) : OSQP_NULL; + A->x = values ? csc_malloc(nzmax, sizeof(OSQPFloat)) : OSQP_NULL; + if (!A->p || (values && !A->i ) || (values && !A->x)){ + csc_spfree(A); + return OSQP_NULL; + } else return A; +} + +void csc_spfree(OSQPCscMatrix* A) { + if (A){ + if (A->p) c_free(A->p); + if (A->i) c_free(A->i); + if (A->x) c_free(A->x); + c_free(A); + } +} + +OSQPCscMatrix* csc_submatrix_byrows(const OSQPCscMatrix* A, + OSQPInt* rows){ + + OSQPInt j; + OSQPCscMatrix* R; + OSQPInt nzR = 0; + OSQPInt An = A->n; + OSQPInt Am = A->m; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPFloat* Ax = A->x; + OSQPInt* Rp; + OSQPInt* Ri; + OSQPFloat* Rx; + OSQPInt Rm = 0; + OSQPInt ptr; + OSQPInt* rridx; //mapping from row indices to reduced row indices + + rridx = (OSQPInt*)c_malloc(Am * sizeof(OSQPInt)); + if(!rridx) return OSQP_NULL; + + //count the number of rows in the reduced + //matrix, and build an index from the input + //matrix rows to the reduced rows + Rm = 0; + for(j = 0; j < Am; j++){ + if(rows[j]) rridx[j] = Rm++; + } + + // Count number of nonzeros in Ared + for (j = 0; j < Ap[An]; j++) { + if(rows[A->i[j]]) nzR++; + } + + // Form R = A(rows,:), where nrows = sum(rows != 0) + R = csc_spalloc(Rm, An, nzR, 1, 0); + if (!R) { + // Free work index and return on error + c_free(rridx); + return OSQP_NULL; + } + + // no active constraints + if (Rm == 0) { + int_vec_set_scalar(R->p, 0, An + 1); + } + + else{ + nzR = 0; // reset counter + Rp = R->p; + Ri = R->i; + Rx = R->x; + + for (j = 0; j < An; j++) { // Cycle over columns of A + Rp[j] = nzR; + for (ptr = Ap[j]; ptr < Ap[j + 1]; ptr++) { + // Cycle over elements in j-th column + if (rows[A->i[ptr]]) { + Ri[nzR] = rridx[Ai[ptr]]; + Rx[nzR] = Ax[ptr]; + nzR++; + }}} + // Update the last element in R->p + Rp[An] = nzR; + } + + c_free(rridx); //free internal work index + + return R; +} + +OSQPCscMatrix* triplet_to_csc(const OSQPCscMatrix* T, OSQPInt* TtoC) { + + OSQPInt m, n, nz, p, k; + OSQPInt* Cp; + OSQPInt* Ci; + OSQPInt* w; + OSQPInt* Ti; + OSQPInt* Tj; + OSQPFloat* Cx; + OSQPFloat* Tx; + OSQPCscMatrix* C; + + m = T->m; + n = T->n; + Ti = T->i; + Tj = T->p; + Tx = T->x; + nz = T->nz; + C = csc_spalloc(m, n, nz, Tx != OSQP_NULL, 0); /* allocate result */ + w = csc_calloc(n, sizeof(OSQPInt)); /* get workspace */ + + if (!C || !w) return csc_done(C, w, OSQP_NULL, 0); /* out of memory */ + + Cp = C->p; + Ci = C->i; + Cx = C->x; + + for (k = 0; k < nz; k++) w[Tj[k]]++; /* column counts */ + csc_cumsum(Cp, w, n); /* column pointers */ + + for (k = 0; k < nz; k++) { + Ci[p = w[Tj[k]]++] = Ti[k]; /* A(i,j) is the pth entry in C */ + + if (Cx) { + Cx[p] = Tx[k]; + + if (TtoC != OSQP_NULL) TtoC[k] = p; // Assign vector of indices + } + } + return csc_done(C, w, OSQP_NULL, 1); /* success; free w and return C */ +} + +OSQPCscMatrix* triplet_to_csr(const OSQPCscMatrix* T, OSQPInt* TtoC) { + OSQPInt m, n, nz, p, k; + OSQPInt* Cp; + OSQPInt* Cj; + OSQPInt* w; + OSQPInt* Ti; + OSQPInt* Tj; + OSQPFloat* Cx; + OSQPFloat* Tx; + OSQPCscMatrix* C; + + m = T->m; + n = T->n; + Ti = T->i; + Tj = T->p; + Tx = T->x; + nz = T->nz; + C = csc_spalloc(m, n, nz, Tx != OSQP_NULL, 0); /* allocate result */ + w = csc_calloc(m, sizeof(OSQPInt)); /* get workspace */ + + if (!C || !w) return csc_done(C, w, OSQP_NULL, 0); /* out of memory */ + + Cp = C->p; + Cj = C->i; + Cx = C->x; + + for (k = 0; k < nz; k++) w[Ti[k]]++; /* row counts */ + csc_cumsum(Cp, w, m); /* row pointers */ + + for (k = 0; k < nz; k++) { + Cj[p = w[Ti[k]]++] = Tj[k]; /* A(i,j) is the pth entry in C */ + + if (Cx) { + Cx[p] = Tx[k]; + + if (TtoC != OSQP_NULL) TtoC[k] = p; // Assign vector of indices + } + } + return csc_done(C, w, OSQP_NULL, 1); /* success; free w and return C */ +} + +#endif /* OSQP_EMBEDDED_MODE */ + +void csc_extract_diag(const OSQPCscMatrix* A, + OSQPFloat* d) { + OSQPInt i, ptr; + OSQPInt n = A->n; + OSQPInt* Ap = A->p; + OSQPInt* Ai = A->i; + OSQPFloat* Ax = A->x; + + /* Initialize output vector to 0 */ + float_vec_set_scalar(d, 0.0, n); + + /* Loop over columns to find when the row index equals column index */ + for(i = 0; i < n; i++) { + for (ptr = Ap[i]; ptr < Ap[i + 1]; ptr++) { + if (Ai[ptr] == i) + d[i] = Ax[ptr]; + } + } +} + +#ifndef OSQP_EMBEDDED_MODE + +OSQPInt* csc_pinv(const OSQPInt* p, OSQPInt n) { + OSQPInt k; + OSQPInt* pinv; + + if (!p) return OSQP_NULL; /* p = OSQP_NULL denotes identity */ + + pinv = csc_malloc(n, sizeof(OSQPInt)); /* allocate result */ + + if (!pinv) return OSQP_NULL; /* out of memory */ + + for (k = 0; k < n; k++) pinv[p[k]] = k; /* invert the permutation */ + return pinv; /* return result */ +} + +OSQPCscMatrix* csc_symperm(const OSQPCscMatrix* A, + const OSQPInt* pinv, + OSQPInt* AtoC, + OSQPInt values) { + OSQPInt i, j, p, q, i2, j2, n; + OSQPInt* Ap; + OSQPInt* Ai; + OSQPInt* Cp; + OSQPInt* Ci; + OSQPInt* w; + OSQPFloat* Cx; + OSQPFloat* Ax; + OSQPCscMatrix* C; + + n = A->n; + Ap = A->p; + Ai = A->i; + Ax = A->x; + C = csc_spalloc(n, n, Ap[n], values && (Ax != OSQP_NULL), + 0); /* alloc result*/ + w = csc_calloc(n, sizeof(OSQPInt)); /* get workspace */ + + if (!C || !w) return csc_done(C, w, OSQP_NULL, 0); /* out of memory */ + + Cp = C->p; + Ci = C->i; + Cx = C->x; + + for (j = 0; j < n; j++) /* count entries in each column of C */ + { + j2 = pinv ? pinv[j] : j; /* column j of A is column j2 of C */ + + for (p = Ap[j]; p < Ap[j + 1]; p++) { + i = Ai[p]; + + if (i > j) continue; /* skip lower triangular part of A */ + i2 = pinv ? pinv[i] : i; /* row i of A is row i2 of C */ + w[c_max(i2, j2)]++; /* column count of C */ + } + } + csc_cumsum(Cp, w, n); /* compute column pointers of C */ + + for (j = 0; j < n; j++) { + j2 = pinv ? pinv[j] : j; /* column j of A is column j2 of C */ + + for (p = Ap[j]; p < Ap[j + 1]; p++) { + i = Ai[p]; + + if (i > j) continue; /* skip lower triangular + part of A*/ + i2 = pinv ? pinv[i] : i; /* row i of A is row i2 + of C */ + Ci[q = w[c_max(i2, j2)]++] = c_min(i2, j2); + + if (Cx) Cx[q] = Ax[p]; + + if (AtoC) { // If vector AtoC passed, store values of the mappings + AtoC[p] = q; + } + } + } + return csc_done(C, w, OSQP_NULL, 1); /* success; free workspace, return C */ +} + +OSQPCscMatrix* csc_copy(const OSQPCscMatrix* A) { + OSQPCscMatrix* B = csc_spalloc(A->m, A->n, A->p[A->n], (A->x != OSQP_NULL), 0); + + if (!B) return OSQP_NULL; + + prea_int_vec_copy(A->p, B->p, A->n + 1); + prea_int_vec_copy(A->i, B->i, A->p[A->n]); + prea_vec_copy(A->x, B->x, A->p[A->n]); + + return B; +} + +// void csc_copy_prea(const OSQPCscMatrix *A, OSQPCscMatrix *B) { + +// prea_int_vec_copy(A->p, B->p, A->n + 1); +// prea_int_vec_copy(A->i, B->i, A->p[A->n]); +// prea_vec_copy(A->x, B->x, A->p[A->n]); + +// B->nzmax = A->nzmax; +// } + +OSQPFloat* csc_to_dns(OSQPCscMatrix* M) +{ + OSQPInt i, j = 0; // Predefine row index and column index + OSQPInt idx; + + // Initialize matrix of zeros + OSQPFloat* A = (OSQPFloat *)c_calloc(M->m * M->n, sizeof(OSQPFloat)); + if (!A) return OSQP_NULL; + + // Allocate elements + for (idx = 0; idx < M->p[M->n]; idx++) + { + // Get row index i (starting from 1) + i = M->i[idx]; + + // Get column index j (increase if necessary) (starting from 1) + while (M->p[j + 1] <= idx) { + j++; + } + + // Assign values to A + A[j * (M->m) + i] = M->x[idx]; + } + return A; +} + +OSQPCscMatrix* csc_done(OSQPCscMatrix* C, + void* w, + void* x, + OSQPInt ok) { + c_free(w); /* free workspace */ + c_free(x); + if (ok) return C; + else { + csc_spfree(C); + return OSQP_NULL; + } +} + +#endif /* OSQP_EMBEDDED_MODE */ + +// OSQPCscMatrix* csc_to_triu(OSQPCscMatrix *M) { +// OSQPCscMatrix *M_trip; // Matrix in triplet format +// OSQPCscMatrix *M_triu; // Resulting upper triangular matrix +// OSQPInt nnzorigM; // Number of nonzeros from original matrix M +// OSQPInt nnzmaxM; // Estimated maximum number of elements of upper triangular M +// OSQPInt n; // Dimension of M +// OSQPInt ptr, i, j; // Counters for (i,j) and index in M +// OSQPInt z_M = 0; // Counter for elements in M_trip + + +// // Check if matrix is square +// if (M->m != M->n) { +// c_eprint("Matrix M not square"); +// return OSQP_NULL; +// } +// n = M->n; + +// // Get number of nonzeros full M +// nnzorigM = M->p[n]; + +// // Estimate nnzmaxM +// // Number of nonzero elements in original M + diagonal part. +// // -> Full matrix M as input: estimate is half the number of total elements + +// // diagonal = .5 * (nnzorigM + n) +// // -> Upper triangular matrix M as input: estimate is the number of total +// // elements + diagonal = nnzorigM + n +// // The maximum between the two is nnzorigM + n +// nnzmaxM = nnzorigM + n; + +// // OLD +// // nnzmaxM = n*(n+1)/2; // Full upper triangular matrix (This version +// // allocates too much memory!) +// // nnzmaxM = .5 * (nnzorigM + n); // half of the total elements + diagonal + +// // Allocate M_trip +// M_trip = csc_spalloc(n, n, nnzmaxM, 1, 1); // Triplet format + +// if (!M_trip) { +// c_eprint("Upper triangular matrix extraction failed (out of memory)"); +// return OSQP_NULL; +// } + +// // Fill M_trip with only elements in M which are in the upper triangular +// for (j = 0; j < n; j++) { // Cycle over columns +// for (ptr = M->p[j]; ptr < M->p[j + 1]; ptr++) { +// // Get row index +// i = M->i[ptr]; + +// // Assign element only if in the upper triangular +// if (i <= j) { +// // c_print("\nM(%i, %i) = %.4f", M->i[ptr], j, M->x[ptr]); + +// M_trip->i[z_M] = i; +// M_trip->p[z_M] = j; +// M_trip->x[z_M] = M->x[ptr]; + +// // Increase counter for the number of elements +// z_M++; +// } +// } +// } + +// // Set number of nonzeros +// M_trip->nz = z_M; + +// // Convert triplet matrix to csc format +// M_triu = triplet_to_csc(M_trip, OSQP_NULL); + +// // Assign number of nonzeros of full matrix to triu M +// M_triu->nzmax = nnzmaxM; + +// // Cleanup and return result +// csc_spfree(M_trip); + +// // Return matrix in triplet form +// return M_triu; +// } + +#ifndef OSQP_EMBEDDED_MODE + +OSQPCscMatrix* triu_to_csc(OSQPCscMatrix* M) { + OSQPCscMatrix* M_trip; // Matrix in triplet format + OSQPCscMatrix* M_symm; // Resulting symmetric sparse matrix + OSQPInt n; // Dimension of M + OSQPInt ptr, i, j; // Counters for (i,j) and index in M + OSQPInt z_M = 0; // Counter for elements in M_trip + + if (M->m != M->n) { + c_eprint("Matrix M not square"); + return OSQP_NULL; + } + n = M->n; + + // Estimate nzmax = twice the original (ignoring the double counted diagonal) + M_trip = csc_spalloc(n, n, 2 * M->p[n], 1, 1); // Triplet format + if (!M_trip) { + c_eprint("Matrix extraction failed (out of memory)"); + return OSQP_NULL; + } + + for (j = 0; j < n; j++) { // Cycle over columns + for (ptr = M->p[j]; ptr < M->p[j+1]; ptr++) { // Index into i/x + i = M->i[ptr]; // Row index + M_trip->i[z_M] = i; + M_trip->p[z_M] = j; + M_trip->x[z_M] = M->x[ptr]; + z_M++; + + // If we're above the diagonal, create another triplet entry with i,j reversed, + // taking advantage of the fact that triplet entries can be in arbitrary order. + if (i < j) { + M_trip->i[z_M] = j; + M_trip->p[z_M] = i; + M_trip->x[z_M] = M->x[ptr]; + z_M++; + } + } + } + M_trip->nz = z_M; + + // Convert triplet matrix to csc format + M_symm = triplet_to_csc(M_trip, OSQP_NULL); + M_symm->nzmax = z_M; + + csc_spfree(M_trip); + return M_symm; +} + +OSQPCscMatrix* vstack(OSQPCscMatrix* A, OSQPCscMatrix* B) { + OSQPCscMatrix* M_trip; // Matrix in triplet format + OSQPCscMatrix* M; // Resulting csc matrix + OSQPInt m1, m2; // No. of rows in A, B respectively + OSQPInt n; // No. of columns in A/B + OSQPInt ptr, i, j; // Counters for (i,j) and index in M + OSQPInt z_M = 0; // Counter for elements in M_trip + + if (A->n != B->n) { + c_eprint("Matrix A and B do not have the same number of columns"); + return OSQP_NULL; + } + m1 = A->m; + m2 = B->m; + n = A->n; + + // Estimate nzmax = twice the original (ignoring the double counted diagonal) + M_trip = csc_spalloc(m1 + m2, n, A->nzmax + B->nzmax, 1, 1); // Triplet format + if (!M_trip) { + c_eprint("Matrix allocation failed (out of memory)"); + return OSQP_NULL; + } + + for (j = 0; j < n; j++) { // Cycle over columns + for (ptr = A->p[j]; ptr < A->p[j+1]; ptr++) { // Index into i/x + i = A->i[ptr]; // Row index + M_trip->i[z_M] = i; + M_trip->p[z_M] = j; + M_trip->x[z_M] = A->x[ptr]; + z_M++; + } + } + for (j = 0; j < n; j++) { // Cycle over columns + for (ptr = B->p[j]; ptr < B->p[j+1]; ptr++) { // Index into i/x + i = B->i[ptr] + m1; // Row index + M_trip->i[z_M] = i; + M_trip->p[z_M] = j; + M_trip->x[z_M] = B->x[ptr]; + z_M++; + } + } + M_trip->nz = z_M; + + // Convert triplet matrix to csc format + M = triplet_to_csc(M_trip, OSQP_NULL); + M->nzmax = z_M; + + csc_spfree(M_trip); + return M; +} + +#endif /* OSQP_EMBEDDED_MODE */ diff --git a/lib/controller/mpc/solver_code/src/error.c b/lib/controller/mpc/solver_code/src/error.c new file mode 100644 index 0000000..4cc252e --- /dev/null +++ b/lib/controller/mpc/solver_code/src/error.c @@ -0,0 +1,45 @@ +#include "glob_opts.h" +#include "error.h" +#include "printing.h" +#include "osqp_api_constants.h" + +const char *OSQP_ERROR_MESSAGE[] = { + "Problem data validation.", + "Solver settings validation.", + /* "Linear system solver not available.\nTried to obtain it from shared library.", */ + "Linear system solver initialization.", + "KKT matrix factorization.\nThe problem seems to be non-convex.", + "Memory allocation.", + "Solver workspace not initialized.", + "Algebra libraries not loaded.", + "Unable to open file for writing.", + "Invalid defines for codegen", + "Vector/matrix not initialized.", + "Function not implemented.", + + /* This must always be the last item in the list */ + "Unknown error code." +}; + + +OSQPInt _osqp_error(enum osqp_error_type error_code, + const char* function_name) { + + /* Don't print anything if there was no error */ + if (error_code != OSQP_NO_ERROR) + c_print("ERROR in %s: %s\n", function_name, OSQP_ERROR_MESSAGE[error_code-1]); + + return (OSQPInt)error_code; +} + +OSQPInt _osqp_error_line(enum osqp_error_type error_code, + const char* function_name, + const char* filename, + OSQPInt line_number) { + + /* Don't print anything if there was no error */ + if (error_code != OSQP_NO_ERROR) + c_print("ERROR in %s (%s:%" OSQP_INT_FMT "): %s\n", function_name, filename, line_number, OSQP_ERROR_MESSAGE[error_code-1]); + + return (OSQPInt)error_code; +} diff --git a/lib/controller/mpc/solver_code/src/kkt.c b/lib/controller/mpc/solver_code/src/kkt.c new file mode 100644 index 0000000..c4f33a1 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/kkt.c @@ -0,0 +1,424 @@ +#include "kkt.h" + + +//add an offset to every term in the upper nxn block. +//assumes triu CSC or CSR format, with fully populated diagonal. +//format = 0 / CSC: diagonal terms are last in every column. +//format = 1 / CSR: diagonal terms are first in every row. +static void _kkt_shifts_param1(OSQPCscMatrix* KKT, + OSQPFloat param1, + OSQPInt n, + OSQPInt format) { + OSQPInt i; + OSQPInt offset = format == 0 ? 1 : 0; + for(i = 0; i < n; i++){ KKT->x[KKT->p[i+offset]-offset] += param1;} + return; +} + +//*subtract* an offset to every term in the lower mxm block. +//assumes triu CSC P/A formats, with fully populated diagonal. +//KKT format = 0 / CSC: diagonal terms are last in every column. +//KKT format = 1 / CSR: diagonal terms are first in every row. +static void _kkt_shifts_param2(OSQPCscMatrix* KKT, + OSQPFloat* param2, + OSQPFloat param2_sc, + OSQPInt startcol, + OSQPInt blockwidth, + OSQPInt format) { + + OSQPInt i; + OSQPInt offset = format == 0 ? 1 : 0; + + if(param2){ + for(i = 0; i < blockwidth; i++){ KKT->x[KKT->p[i + startcol + offset]-offset] -= param2[i];} + }else{ + for(i = 0; i < blockwidth; i++){ KKT->x[KKT->p[i + startcol + offset]-offset] -= param2_sc;} + } +} + +#ifndef OSQP_EMBEDDED_MODE + +//the remainder of the private functions here are for KKT +//assembly ONLY, so don't included them when OSQP_EMBEDDED_MODE + +//increment the K colptr by the number of nonzeros +//in a square diagonal matrix placed on the diagonal. +//Used to increment, e.g. the lower RHS block diagonal +static void _kkt_colcount_diag(OSQPCscMatrix* K, + OSQPInt initcol, + OSQPInt blockcols) { + + OSQPInt j; + for(j = initcol; j < (initcol + blockcols); j++){ + K->p[j]++; + } + return; +} + +//same as _kkt_colcount_diag, but counts places +//where the input matrix M has a missing +//diagonal entry. M must be square and TRIU +static void _kkt_colcount_missing_diag(OSQPCscMatrix* K, + OSQPCscMatrix* M, + OSQPInt initcol) { + + OSQPInt j; + for (j = 0; j < M->n; j++){ + //if empty column or last entry not on diagonal.. + if((M->p[j] == M->p[j+1]) || (M->i[M->p[j+1]-1] != j)) { + K->p[j + initcol]++; + } + } + return; +} + +//increment K colptr by the number of nonzeros in M +static void _kkt_colcount_block(OSQPCscMatrix* K, + OSQPCscMatrix* M, + OSQPInt initcol, + OSQPInt istranspose) { + + OSQPInt nnzM, j; + + if(istranspose){ + nnzM = M->p[M->n]; + for (j = 0; j < nnzM; j++){ + K->p[M->i[j] + initcol]++; + } + } + else { + //just add the column count + for (j = 0; j < M->n; j++){ + K->p[j + initcol] += M->p[j+1] - M->p[j]; + } + } + return; +} + + +//populate values from M using the K colptr as indicator of +//next fill location in each row +static void _kkt_fill_block(OSQPCscMatrix* K, + OSQPCscMatrix* M, + OSQPInt* MtoKKT, + OSQPInt initrow, + OSQPInt initcol, + OSQPInt istranspose) { + OSQPInt ii, jj, row, col, dest; + + for(ii=0; ii < M->n; ii++){ + for(jj = M->p[ii]; jj < M->p[ii+1]; jj++){ + if(istranspose){ + col = M->i[jj] + initcol; + row = ii + initrow; + } + else { + col = ii + initcol; + row = M->i[jj] + initrow; + } + + dest = K->p[col]++; + K->i[dest] = row; + K->x[dest] = M->x[jj]; + if(MtoKKT != OSQP_NULL){MtoKKT[jj] = dest;} + } + } + return; +} + +//increment the K colptr by the number of elements +//in a square diagonal matrix placed on the diagonal. +//Used to increment, e.g. the lower RHS block diagonal. +//values are filled with structural zero +static void _kkt_fill_diag_zeros(OSQPCscMatrix* K, + OSQPInt* rhotoKKT, + OSQPInt offset, + OSQPInt blockdim) { + + OSQPInt j, dest, col; + for(j = 0; j < blockdim; j++){ + col = j + offset; + dest = K->p[col]; + K->i[dest] = col; + K->x[dest] = 0.0; //structural zero + K->p[col]++; + if(rhotoKKT != OSQP_NULL){rhotoKKT[j] = dest;} + } + return; +} + +//same as _kkt_fill_diag_zeros, but only places +//entries where the input matrix M has a missing +//diagonal entry. M must be square and TRIU +static void _kkt_fill_missing_diag_zeros(OSQPCscMatrix* K, + OSQPCscMatrix* M, + OSQPInt offset) { + + OSQPInt j, dest; + for(j = 0; j < M->n; j++){ + //fill out missing diagonal terms only: + //if completely empty column last element is not on diagonal.. + if((M->p[j] == M->p[j+1]) || + (M->i[M->p[j+1]-1] != j)) + { + dest = K->p[j + offset]; + K->i[dest] = j + offset; + K->x[dest] = 0.0; //structural zero + K->p[j]++;; + } + } + return; +} + +static void _kkt_colcount_to_colptr(OSQPCscMatrix* K) { + + OSQPInt j, count; + OSQPInt currentptr = 0; + + for(j = 0; j <= K->n; j++){ + count = K->p[j]; + K->p[j] = currentptr; + currentptr += count; + } + return; +} + +static void _kkt_backshift_colptrs(OSQPCscMatrix* K) { + + int j; + for(j = K->n; j > 0; j--){ + K->p[j] = K->p[j-1]; + } + K->p[0] = 0; + + return; +} + +static OSQPInt _count_diagonal_entries(OSQPCscMatrix* P) { + + OSQPInt j; + OSQPInt count = 0; + + for(j = 0; j < P->n; j++){ + //look for nonempty columns with final element + //on the diagonal. Assumes triu format. + if((P->p[j+1] != P->p[j]) && (P->i[P->p[j+1]-1] == j) ){ + count++; + } + } + return count; + +} + + +static void _kkt_assemble_csr(OSQPCscMatrix* K, + OSQPInt* PtoKKT, + OSQPInt* AtoKKT, + OSQPInt* rhotoKKT, + OSQPCscMatrix* P, + OSQPCscMatrix* A) { + + //NB: assembling a TRIU KKT in CSR format, + //which is the same as TRIL KKT in CSC. + OSQPInt j; + OSQPInt m = A->m; + OSQPInt n = P->n; + + //use K.p to hold nnz entries in each + //column of the KKT matrix + for(j=0; j <= (m+n); j++){K->p[j] = 0;} + _kkt_colcount_missing_diag(K,P,0); + _kkt_colcount_block(K,P,0,1); + _kkt_colcount_block(K,A,0,0); + _kkt_colcount_diag(K,n,m); + + //cumsum total entries to convert to K.p + _kkt_colcount_to_colptr(K); + + //fill in value for P, top left (transposed/rowwise) + _kkt_fill_missing_diag_zeros(K,P,0); //before adding P, since tril form + _kkt_fill_block(K,P,PtoKKT,0,0,1); + + //fill in value for A, lower left (columnwise) + _kkt_fill_block(K,A,AtoKKT,n,0,0); + + //fill in lower right with diagonal of structural zeros + _kkt_fill_diag_zeros(K,rhotoKKT,n,m); + + //backshift the colptrs to recover K.p again + _kkt_backshift_colptrs(K); + + return; +} + +static void _kkt_assemble_csc(OSQPCscMatrix* K, + OSQPInt* PtoKKT, + OSQPInt* AtoKKT, + OSQPInt* rhotoKKT, + OSQPCscMatrix* P, + OSQPCscMatrix* A) { + + OSQPInt j; + OSQPInt m = A->m; + OSQPInt n = P->n; + + //use K.p to hold nnz entries in each + //column of the KKT matrix + for(j=0; j <= (m+n); j++){K->p[j] = 0;} + _kkt_colcount_block(K,P,0,0); + _kkt_colcount_missing_diag(K,P,0); + _kkt_colcount_block(K,A,n,1); + _kkt_colcount_diag(K,n,m); + + //cumsum total entries to convert to K.p + _kkt_colcount_to_colptr(K); + + //fill in value for P, top left (columnwise) + _kkt_fill_block(K,P,PtoKKT,0,0,0); + _kkt_fill_missing_diag_zeros(K,P,0); //after adding P, since triu form + + //fill in value for A, lower left (transposed/rowwise) + _kkt_fill_block(K,A,AtoKKT,0,n,1); + + //fill in lower right with diagonal of structural zeros + _kkt_fill_diag_zeros(K,rhotoKKT,n,m); + + //backshift the colptrs to recover K.p again + _kkt_backshift_colptrs(K); + + return; +} + + +OSQPCscMatrix* form_KKT(OSQPCscMatrix* P, + OSQPCscMatrix* A, + OSQPInt format, + OSQPFloat param1, + OSQPFloat* param2, + OSQPFloat param2_sc, + OSQPInt* PtoKKT, + OSQPInt* AtoKKT, + OSQPInt* rhotoKKT) { + + OSQPInt m,n; //number of variables, constraints + OSQPInt nKKT, nnzKKT; // Size, number of nonzeros in KKT + OSQPInt ndiagP; // entries on diagonal of P + + OSQPCscMatrix* KKT; // KKT matrix in CSC (or CSR) format + + // Get matrix dimensions + m = A->m; + n = P->n; + nKKT = m + n; + + //count elements on diag(P) + ndiagP = _count_diagonal_entries(P); + + // Get maximum number of nonzero elements (only upper triangular part) + nnzKKT = P->p[n] + // Number of elements in P + n - // Number of elements in param1 * I + ndiagP + //remove double count on the diagonal + A->p[n] + // Number of nonzeros in A + m; // Number of elements in - diag(param2) + + // Preallocate KKT matrix in csc format + KKT = csc_spalloc(nKKT, nKKT, nnzKKT, 1, 0); + if (!KKT) return OSQP_NULL; // Failed to preallocate matrix + + if(format == 0){ //KKT should be built in CSC format + _kkt_assemble_csc(KKT,PtoKKT,AtoKKT,rhotoKKT,P,A); + } + else { //KKT should be built in CSR format + _kkt_assemble_csr(KKT,PtoKKT,AtoKKT,rhotoKKT,P,A); + } + //apply positive shifts to upper LH diagonal + _kkt_shifts_param1(KKT,param1,n,format); + + //apply negative shifts to lower RH diagonal + //NB: rhtoKKT is not needed to do this + _kkt_shifts_param2(KKT,param2,param2_sc,n,m,format); + + return KKT; +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + +#if OSQP_EMBEDDED_MODE != 1 + +void update_KKT_P(OSQPCscMatrix* KKT, + OSQPCscMatrix* P, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + OSQPInt* PtoKKT, + OSQPFloat param1, + OSQPInt format) { + OSQPInt j, Pidx, Kidx, row, offset, doall; + + if(P_new_n <= 0){return;} + + //if Px_new_idx is null, we assume that all + //elements are to be replaced (and that P_new_n = nnz(P)) + doall = Px_new_idx == OSQP_NULL ? 1 : 0; + offset = format == 0 ? 1 : 0; + + for (j = 0; j < P_new_n; j++) { + Pidx = doall ? j : Px_new_idx[j]; + Kidx = PtoKKT[Pidx]; + KKT->x[Kidx] = P->x[Pidx]; + + //is the corresonding column nonempty with + //the current element on the diagonal (i.e. row==col)? + row = P->i[Pidx]; + if((P->p[row] < P->p[row+1]) && ((P->p[row+offset] - offset) == Pidx)){ + KKT->x[Kidx] += param1; + } + } + return; +} + +void update_KKT_A(OSQPCscMatrix* KKT, + OSQPCscMatrix* A, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n, + OSQPInt* AtoKKT) { + + OSQPInt j, Aidx, Kidx, doall; + + if(A_new_n <= 0){return;} + + //if Ax_new_idx is null, we assume that all + //elements are to be replaced (and that A_new_n = nnz(A)) + doall = Ax_new_idx == OSQP_NULL ? 1 : 0; + + // Update elements of KKT using A + for (j = 0; j < A_new_n; j++) { + Aidx = doall ? j : Ax_new_idx[j]; + Kidx = AtoKKT[Aidx]; + KKT->x[Kidx] = A->x[Aidx]; + } + return; +} + + +void update_KKT_param2(OSQPCscMatrix* KKT, + OSQPFloat* param2, + OSQPFloat param2_sc, + OSQPInt* param2toKKT, + OSQPInt m) { + OSQPInt i; // Iterations + + // Update elements of KKT using param2 + if (param2) { + for (i = 0; i < m; i++) { + KKT->x[param2toKKT[i]] = -param2[i]; + } + } + else { + for (i = 0; i < m; i++) { + KKT->x[param2toKKT[i]] = -param2_sc; + } + } +} + +#endif // OSQP_EMBEDDED_MODE != 1 diff --git a/lib/controller/mpc/solver_code/src/matrix.c b/lib/controller/mpc/solver_code/src/matrix.c new file mode 100644 index 0000000..b3dafc6 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/matrix.c @@ -0,0 +1,245 @@ +#include "osqp.h" +#include "lin_alg.h" +#include "algebra_impl.h" +#include "csc_math.h" +#include "csc_utils.h" +#include "printing.h" + + +#ifndef OSQP_EMBEDDED_MODE + +/* logical test functions ----------------------------------------------------*/ + +OSQPInt OSQPMatrix_is_eq(const OSQPMatrix* A, + const OSQPMatrix* B, + OSQPFloat tol) { + + return (A->symmetry == B->symmetry && + csc_is_eq(A->csc, B->csc, tol) ); +} + + +/* Non-embeddable functions (using malloc) ----------------------------------*/ + +//Make a copy from a csc matrix. Returns OSQP_NULL on failure +OSQPMatrix* OSQPMatrix_new_from_csc(const OSQPCscMatrix* A, + OSQPInt is_triu) { + + OSQPMatrix* out = c_malloc(sizeof(OSQPMatrix)); + if(!out) return OSQP_NULL; + + if(is_triu) out->symmetry = TRIU; + else out->symmetry = NONE; + + out->csc = csc_copy(A); + + if(!out->csc){ + c_free(out); + return OSQP_NULL; + } + else{ + return out; + } +} + +OSQPCscMatrix* OSQPMatrix_get_csc(const OSQPMatrix* M) {return csc_copy(M->csc);} + +// Make of a copy of a matrix +OSQPMatrix* OSQPMatrix_copy_new(const OSQPMatrix* A) { + OSQPMatrix* out = c_malloc(sizeof(OSQPMatrix)); + if(!out) return OSQP_NULL; + + out->symmetry = A->symmetry; + out->csc = csc_copy(A->csc); + + if(!out->csc){ + c_free(out); + return OSQP_NULL; + } + else{ + return out; + } +} + +// Convert an upper triangular matrix into a fully populated matrix +OSQPMatrix* OSQPMatrix_triu_to_symm(const OSQPMatrix* A) { + + if (A->symmetry == TRIU) { + OSQPMatrix* out = c_malloc(sizeof(OSQPMatrix)); + if(!out) return OSQP_NULL; + + out->symmetry = NONE; + out->csc = triu_to_csc(A->csc); + + if (!out->csc) { + c_free(out); + return OSQP_NULL; + } else{ + return out; + } + } else { + c_eprint("input matrix not upper triangular"); + return OSQP_NULL; + } +} + +OSQPMatrix* OSQPMatrix_vstack(const OSQPMatrix* A, + const OSQPMatrix* B) { + if ((A->symmetry == NONE) && (B->symmetry == NONE)) { + OSQPMatrix* out = c_malloc(sizeof(OSQPMatrix)); + if(!out) return OSQP_NULL; + + out->symmetry = NONE; + out->csc = vstack(A->csc, B->csc); + + if (!out->csc) { + c_free(out); + return OSQP_NULL; + } else{ + return out; + } + } else { + c_eprint("Can only vstack full matrices"); + return OSQP_NULL; + } +} + +#endif //OSQP_EMBEDDED_MODE + +/* direct data access functions ---------------------------------------------*/ + +void OSQPMatrix_update_values(OSQPMatrix* M, + const OSQPFloat* Mx_new, + const OSQPInt* Mx_new_idx, + OSQPInt M_new_n) { + csc_update_values(M->csc, Mx_new, Mx_new_idx, M_new_n); +} + +/* Matrix dimensions and data access */ +OSQPInt OSQPMatrix_get_m(const OSQPMatrix* M) {return M->csc->m;} +OSQPInt OSQPMatrix_get_n(const OSQPMatrix* M) {return M->csc->n;} +OSQPFloat* OSQPMatrix_get_x(const OSQPMatrix* M) {return M->csc->x;} +OSQPInt* OSQPMatrix_get_i(const OSQPMatrix* M) {return M->csc->i;} +OSQPInt* OSQPMatrix_get_p(const OSQPMatrix* M) {return M->csc->p;} +OSQPInt OSQPMatrix_get_nz(const OSQPMatrix* M) {return M->csc->p[M->csc->n];} + +/* math functions ----------------------------------------------------------*/ + +//A = sc*A +void OSQPMatrix_mult_scalar(OSQPMatrix *A, + OSQPFloat sc){ + csc_scale(A->csc,sc); +} + +void OSQPMatrix_lmult_diag(OSQPMatrix* A, + const OSQPVectorf* L) { + csc_lmult_diag(A->csc, OSQPVectorf_data(L)); +} + +void OSQPMatrix_rmult_diag(OSQPMatrix* A, + const OSQPVectorf* R) { + csc_rmult_diag(A->csc, R->values); +} + +void OSQPMatrix_AtDA_extract_diag(const OSQPMatrix* A, + const OSQPVectorf* D, + OSQPVectorf* d) { + csc_AtDA_extract_diag(A->csc, OSQPVectorf_data(D), OSQPVectorf_data(d)); +} + +void OSQPMatrix_extract_diag(const OSQPMatrix* A, + OSQPVectorf* d) { + csc_extract_diag(A->csc, OSQPVectorf_data(d)); +} + +//y = alpha*A*x + beta*y +void OSQPMatrix_Axpy(const OSQPMatrix* A, + const OSQPVectorf* x, + OSQPVectorf* y, + OSQPFloat alpha, + OSQPFloat beta) { + + if(A->symmetry == NONE){ + //full matrix + csc_Axpy(A->csc, x->values, y->values, alpha, beta); + } + else{ + //should be TRIU here, but not directly checked + csc_Axpy_sym_triu(A->csc, x->values, y->values, alpha, beta); + } +} + +void OSQPMatrix_Atxpy(const OSQPMatrix* A, + const OSQPVectorf* x, + OSQPVectorf* y, + OSQPFloat alpha, + OSQPFloat beta) { + + if(A->symmetry == NONE) csc_Atxpy(A->csc, x->values, y->values, alpha, beta); + else csc_Axpy_sym_triu(A->csc, x->values, y->values, alpha, beta); +} + +// OSQPFloat OSQPMatrix_quad_form(const OSQPMatrix *P, +// const OSQPVectorf *x) { + +// if (P->symmetry == TRIU) return csc_quad_form(P->csc, OSQPVectorf_data(x)); +// else { +// c_eprint("quad_form matrix is not upper triangular"); +// return -1.0; +// } +// } + +#if OSQP_EMBEDDED_MODE != 1 + +void OSQPMatrix_col_norm_inf(const OSQPMatrix* M, + OSQPVectorf* E) { + csc_col_norm_inf(M->csc, OSQPVectorf_data(E)); +} + +void OSQPMatrix_row_norm_inf(const OSQPMatrix* M, + OSQPVectorf* E) { + if(M->symmetry == NONE) csc_row_norm_inf(M->csc, OSQPVectorf_data(E)); + else csc_row_norm_inf_sym_triu(M->csc, OSQPVectorf_data(E)); +} + +#endif // endef OSQP_EMBEDDED_MODE + +#ifndef OSQP_EMBEDDED_MODE + +void OSQPMatrix_free(OSQPMatrix* M){ + if (M) csc_spfree(M->csc); + c_free(M); +} + +OSQPMatrix* OSQPMatrix_submatrix_byrows(const OSQPMatrix* A, + const OSQPVectori* rows) { + + OSQPCscMatrix* M; + OSQPMatrix* out; + + + if(A->symmetry == TRIU){ + c_eprint("row selection not implemented for partially filled matrices"); + return OSQP_NULL; + } + + + M = csc_submatrix_byrows(A->csc, rows->values); + + if(!M) return OSQP_NULL; + + out = c_malloc(sizeof(OSQPMatrix)); + + if(!out){ + csc_spfree(M); + return OSQP_NULL; + } + + out->symmetry = NONE; + out->csc = M; + + return out; + +} + +#endif /* if OSQP_EMBEDDED_MODE != 1 */ diff --git a/lib/controller/mpc/solver_code/src/osqp_api.c b/lib/controller/mpc/solver_code/src/osqp_api.c new file mode 100644 index 0000000..57b5924 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/osqp_api.c @@ -0,0 +1,1634 @@ +#include "glob_opts.h" +#include "osqp.h" +#include "auxil.h" +#include "osqp_api_constants.h" +#include "osqp_api_functions.h" +#include "osqp_api_types.h" +#include "util.h" +#include "scaling.h" +#include "error.h" +#include "version.h" +#include "lin_alg.h" +#include "printing.h" +#include "timing.h" +#include "profilers.h" + + +#ifdef OSQP_CODEGEN + #include "codegen.h" +#endif + +#ifndef OSQP_EMBEDDED_MODE +# include "polish.h" +#endif + +#ifdef OSQP_ENABLE_DERIVATIVES +# include "derivative.h" +#endif + +#ifdef OSQP_ENABLE_INTERRUPT +# include "interrupt.h" +#endif + +/********************** + * OSQP type helpers * + **********************/ +#ifndef OSQP_EMBEDDED_MODE +OSQPCscMatrix* OSQPCscMatrix_new(OSQPInt m, + OSQPInt n, + OSQPInt nzmax, + OSQPFloat* x, + OSQPInt* i, + OSQPInt* p) { + OSQPCscMatrix* mat = c_calloc(1, sizeof(OSQPCscMatrix)); + + if (!mat) return OSQP_NULL; + + OSQPCscMatrix_set_data(mat, m, n, nzmax, x, i, p); + + return mat; +} + +OSQPCscMatrix* OSQPCscMatrix_identity(OSQPInt m) { + return OSQPCscMatrix_diag_scalar(m, m, 1.0); +} + +OSQPCscMatrix* OSQPCscMatrix_diag_scalar(OSQPInt m, + OSQPInt n, + OSQPFloat scalar) { + OSQPInt i; + OSQPInt min_elem = c_min(m, n); + OSQPCscMatrix* mat = c_calloc(1, sizeof(OSQPCscMatrix)); + + if (!mat) return OSQP_NULL; + + mat->m = m; + mat->n = n; + mat->nz = -1; + mat->p = (OSQPInt*) c_calloc(n + 1, sizeof(OSQPInt)); + + if( m < n) { + // Fewer rows than columns + for(i=0; i < n; i++) { + if(i < m) { + mat->p[i] = i; + } else { + mat->p[i] = m; + } + } + } else { + // Square matrix or fewer columns than rows + for(i=0; i < n; i++) { + mat->p[i] = i; + } + } + + mat->nzmax = min_elem; + mat->i = (OSQPInt*) c_malloc(min_elem * sizeof(OSQPInt)); + mat->x = (OSQPFloat*) c_malloc(min_elem * sizeof(OSQPFloat)); + + for(i=0; i < min_elem; i++) { + mat->i[i] = i; + mat->x[i] = scalar; + } + + // Last element of column vector is always the number of entries + mat->p[n] = min_elem; + + // We own the arrays + mat->owned = 1; + + return mat; +} + +OSQPCscMatrix* OSQPCscMatrix_diag_vec(OSQPInt m, + OSQPInt n, + OSQPFloat* vec) { + OSQPInt i; + OSQPInt min_elem = c_min(m,n); + + // Let the scalar method allocate the data, then we just overwrite the values + OSQPCscMatrix* mat = OSQPCscMatrix_diag_scalar(m, n, 1.0); + + if (!mat) return OSQP_NULL; + + for(i=0; i < min_elem; i++) { + mat->x[i] = vec[i]; + } + + return mat; +} + +OSQPCscMatrix* OSQPCscMatrix_zeros(OSQPInt m, + OSQPInt n) { + OSQPCscMatrix* mat = c_calloc(1, sizeof(OSQPCscMatrix)); + + if (!mat) return OSQP_NULL; + + mat->m = m; + mat->n = n; + mat->nz = -1; + mat->nzmax = 0; + + // The row and value arrays are empty + mat->x = OSQP_NULL; + mat->i = OSQP_NULL; + + // The column pointer array is just all 0s + mat->p = (OSQPInt*) c_calloc(n + 1, sizeof(OSQPInt)); + + // We own the arrays + mat->owned = 1; + + return mat; +} + +void OSQPCscMatrix_free(OSQPCscMatrix* mat) { + if (mat) { + // Only free the matrix components if we own them + if(mat->owned) { + if(mat->p) c_free(mat->p); + if(mat->i) c_free(mat->i); + if(mat->x) c_free(mat->x); + } + + c_free(mat); + } +} +#endif + +void OSQPCscMatrix_set_data(OSQPCscMatrix* M, + OSQPInt m, + OSQPInt n, + OSQPInt nzmax, + OSQPFloat* x, + OSQPInt* i, + OSQPInt* p) { + M->m = m; + M->n = n; + M->nz = -1; + M->nzmax = nzmax; + M->x = x; + M->i = i; + M->p = p; + + // User is responsible for the arrays + M->owned = 0; +} + +#ifndef OSQP_EMBEDDED_MODE +OSQPSettings* OSQPSettings_new() { + OSQPSettings* settings = (OSQPSettings*) c_calloc(1, sizeof(OSQPSettings)); + + if (!settings) + return OSQP_NULL; + + osqp_set_default_settings(settings); + + return settings; +} + +void OSQPSettings_free(OSQPSettings* settings) { + if (settings) + c_free(settings); +} + +OSQPCodegenDefines* OSQPCodegenDefines_new() { + OSQPCodegenDefines* defs = (OSQPCodegenDefines*) c_calloc(1, sizeof(OSQPCodegenDefines)); + + if (!defs) + return OSQP_NULL; + + osqp_set_default_codegen_defines(defs); + + return defs; +} + +void OSQPCodegenDefines_free(OSQPCodegenDefines* defs) { + if (defs) + c_free(defs); +} +#endif + + +/********************** +* Main API Functions * +**********************/ +OSQPInt osqp_capabilities(void) { + OSQPInt capabilities = 0; + + capabilities |= osqp_algebra_linsys_supported(); + +#if OSQP_EMBEDDED_MODE != 1 + capabilities |= OSQP_CAPABILITY_UPDATE_MATRICES; +#endif + +#ifdef OSQP_CODEGEN + capabilities |= OSQP_CAPABILITY_CODEGEN; +#endif + +#ifdef OSQP_ENABLE_DERIVATIVES + capabilities |= OSQP_CAPABILITY_DERIVATIVES; +#endif + + return capabilities; +} + +const char* osqp_version(void) { + return OSQP_VERSION; +} + + +const char* osqp_error_message(OSQPInt error_flag) { + if( error_flag >= OSQP_LAST_ERROR_PLACE ) { + return OSQP_ERROR_MESSAGE[OSQP_LAST_ERROR_PLACE-1]; + } + + + return OSQP_ERROR_MESSAGE[error_flag-1]; +} + + +void osqp_get_dimensions(OSQPSolver* solver, + OSQPInt* m, + OSQPInt* n) { + + /* Check if the solver has been initialized */ + if (!solver || !solver->work || !solver->work->data) { + *m = -1; + *n = -1; + } + else { + *m = solver->work->data->m; + *n = solver->work->data->n; + } +} + + +void osqp_set_default_codegen_defines(OSQPCodegenDefines* defines) { + + /* Avoid working with a null pointer */ + if (!defines) + return; + + defines->embedded_mode = 1; /* Default to vector updates only */ + defines->float_type = 0; /* Default to double */ + defines->printing_enable = 0; /* Default to no printing */ + defines->profiling_enable = 0; /* Default to no timing */ + defines->interrupt_enable = 0; /* Default to no interrupts */ + defines->derivatives_enable = 0; /* Default to no derivatives */ +} + + +void osqp_set_default_settings(OSQPSettings* settings) { + + /* Avoid working with a null pointer */ + if (!settings) + return; + + settings->device = 0; /* device identifier */ + settings->linsys_solver = osqp_algebra_default_linsys(); /* linear system solver */ + + settings->allocate_solution = 1; /* allocate solution */ + settings->profiler_level = 0; /* Profiler annotation level */ + + settings->verbose = OSQP_VERBOSE; /* print output */ + settings->warm_starting = OSQP_WARM_STARTING; /* warm starting */ + settings->scaling = OSQP_SCALING; /* heuristic problem scaling */ + settings->polishing = OSQP_POLISHING; /* ADMM solution polish: 1 */ + + settings->rho = (OSQPFloat)OSQP_RHO; /* ADMM step */ + settings->rho_is_vec = OSQP_RHO_IS_VEC; /* defines whether rho is scalar or vector*/ + settings->sigma = (OSQPFloat)OSQP_SIGMA; /* ADMM step */ + settings->alpha = (OSQPFloat)OSQP_ALPHA; /* relaxation parameter */ + + settings->cg_max_iter = OSQP_CG_MAX_ITER; /* maximum number of CG iterations */ + settings->cg_tol_reduction = OSQP_CG_TOL_REDUCTION; /* CG tolerance parameter */ + settings->cg_tol_fraction = OSQP_CG_TOL_FRACTION; /* CG tolerance parameter */ + settings->cg_precond = OSQP_DIAGONAL_PRECONDITIONER; /* Preconditioner to use in CG */ + + settings->adaptive_rho = OSQP_ADAPTIVE_RHO_UPDATE_DEFAULT; + settings->adaptive_rho_interval = OSQP_ADAPTIVE_RHO_INTERVAL; + settings->adaptive_rho_fraction = (OSQPFloat)OSQP_ADAPTIVE_RHO_FRACTION; + settings->adaptive_rho_tolerance = (OSQPFloat)OSQP_ADAPTIVE_RHO_TOLERANCE; + + settings->max_iter = OSQP_MAX_ITER; /* maximum number of ADMM iterations */ + settings->eps_abs = (OSQPFloat)OSQP_EPS_ABS; /* absolute convergence tolerance */ + settings->eps_rel = (OSQPFloat)OSQP_EPS_REL; /* relative convergence tolerance */ + settings->eps_prim_inf = (OSQPFloat)OSQP_EPS_PRIM_INF; /* primal infeasibility tolerance */ + settings->eps_dual_inf = (OSQPFloat)OSQP_EPS_DUAL_INF; /* dual infeasibility tolerance */ + settings->scaled_termination = OSQP_SCALED_TERMINATION; /* evaluate scaled termination criteria */ + settings->check_termination = OSQP_CHECK_TERMINATION; /* interval for evaluating termination criteria */ + settings->check_dualgap = OSQP_CHECK_DUALGAP; /* Check duality gap termination criteria */ + settings->time_limit = OSQP_TIME_LIMIT; /* stop the algorithm when time limit is reached */ + + settings->delta = OSQP_DELTA; /* regularization parameter for polishing */ + settings->polish_refine_iter = OSQP_POLISH_REFINE_ITER; /* iterative refinement steps in polish */ +} + +#ifndef OSQP_EMBEDDED_MODE + + +OSQPInt osqp_setup(OSQPSolver** solverp, + const OSQPCscMatrix* P, + const OSQPFloat* q, + const OSQPCscMatrix* A, + const OSQPFloat* l, + const OSQPFloat* u, + OSQPInt m, + OSQPInt n, + const OSQPSettings* settings) { + + OSQPInt exitflag; + + OSQPSolver* solver; + OSQPWorkspace* work; + + // Validate data + if (validate_data(P,q,A,l,u,m,n)) return osqp_error(OSQP_DATA_VALIDATION_ERROR); + + // Validate settings + if (validate_settings(settings, 1)) return osqp_error(OSQP_SETTINGS_VALIDATION_ERROR); + + osqp_profiler_init(settings->profiler_level); + osqp_profiler_sec_push(OSQP_PROFILER_SEC_SETUP); + + // Allocate empty solver + solver = c_calloc(1, sizeof(OSQPSolver)); + if (!(solver)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + *solverp = solver; + + // Allocate empty workspace + work = c_calloc(1, sizeof(OSQPWorkspace)); + if (!(work)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + solver->work = work; + + // Allocate empty info struct + solver->info = c_calloc(1, sizeof(OSQPInfo)); + if (!(solver->info)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Start and allocate directly timer +# ifdef OSQP_ENABLE_PROFILING + work->timer = OSQPTimer_new(); + if (!(work->timer)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + osqp_tic(work->timer); +# endif /* ifdef OSQP_ENABLE_PROFILING */ + + // Initialize algebra libraries + exitflag = osqp_algebra_init_libs(settings->device); + if (exitflag) return osqp_error(OSQP_ALGEBRA_LOAD_ERROR); + + // Copy problem data into workspace + work->data = c_calloc(1, sizeof(OSQPData)); + if (!(work->data)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + work->data->m = m; + work->data->n = n; + + // objective function + work->data->P = OSQPMatrix_new_from_csc(P,1); //copy assuming triu form + work->data->q = OSQPVectorf_new(q,n); + if (!(work->data->P) || !(work->data->q)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Constraints + work->data->A = OSQPMatrix_new_from_csc(A,0); //assumes non-triu form (i.e. full) + if (!(work->data->A)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + work->data->l = OSQPVectorf_new(l,m); + work->data->u = OSQPVectorf_new(u,m); + if (!(work->data->l) || !(work->data->u)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + if (settings->rho_is_vec) { + // Vectorized rho parameter + work->rho_vec = OSQPVectorf_malloc(m); + work->rho_inv_vec = OSQPVectorf_malloc(m); + if (!(work->rho_vec) || !(work->rho_inv_vec)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Type of constraints + work->constr_type = OSQPVectori_calloc(m); + if (!(work->constr_type)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + } + else { + work->rho_vec = OSQP_NULL; + work->rho_inv_vec = OSQP_NULL; + } + + // Allocate internal solver variables (ADMM steps) + work->x = OSQPVectorf_calloc(n); + work->z = OSQPVectorf_calloc(m); + work->xz_tilde = OSQPVectorf_calloc(n + m); + work->xtilde_view = OSQPVectorf_view(work->xz_tilde,0,n); + work->ztilde_view = OSQPVectorf_view(work->xz_tilde,n,m); + work->x_prev = OSQPVectorf_calloc(n); + work->z_prev = OSQPVectorf_calloc(m); + work->y = OSQPVectorf_calloc(m); + if (!(work->x) || !(work->z) || !(work->xz_tilde)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + if (!(work->xtilde_view) || !(work->ztilde_view)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + if (!(work->x_prev) || !(work->z_prev) || !(work->y)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Primal and dual residuals variables + work->Ax = OSQPVectorf_calloc(m); + work->Px = OSQPVectorf_calloc(n); + work->Aty = OSQPVectorf_calloc(n); + + // Primal infeasibility variables + work->delta_y = OSQPVectorf_calloc(m); + work->Atdelta_y = OSQPVectorf_calloc(n); + + // Dual infeasibility variables + work->delta_x = OSQPVectorf_calloc(n); + work->Pdelta_x = OSQPVectorf_calloc(n); + work->Adelta_x = OSQPVectorf_calloc(m); + + if (!(work->Ax) || !(work->Px) || !(work->Aty)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + if (!(work->delta_y) || !(work->Atdelta_y)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + if (!(work->delta_x) || !(work->Pdelta_x) || !(work->Adelta_x)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Copy settings + solver->settings = copy_settings(settings); + if (!(solver->settings)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Perform scaling + if (settings->scaling) { + // Allocate scaling structure + work->scaling = c_malloc(sizeof(OSQPScaling)); + if (!(work->scaling)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + work->scaling->D = OSQPVectorf_calloc(n); + work->scaling->Dinv = OSQPVectorf_calloc(n); + work->scaling->E = OSQPVectorf_calloc(m); + work->scaling->Einv = OSQPVectorf_calloc(m); + if (!(work->scaling->D) || !(work->scaling->Dinv) || + !(work->scaling->E) || !(work->scaling->Einv)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + + // Allocate workspace variables used in scaling + work->D_temp = OSQPVectorf_calloc(n); + work->D_temp_A = OSQPVectorf_calloc(n); + work->E_temp = OSQPVectorf_calloc(m); + if (!(work->D_temp) || !(work->D_temp_A) || !(work->E_temp)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Scale data + osqp_profiler_sec_push(OSQP_PROFILER_SEC_SCALE); + scale_data(solver); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_SCALE); + } else { + work->scaling = OSQP_NULL; + work->D_temp = OSQP_NULL; + work->D_temp_A = OSQP_NULL; + work->E_temp = OSQP_NULL; + } + + if (settings->rho_is_vec) { + // Set type of constraints. Ignore return value + // because we will definitely factor KKT. + set_rho_vec(solver); + } + else { + solver->settings->rho = c_min(c_max(settings->rho, OSQP_RHO_MIN), OSQP_RHO_MAX); + work->rho_inv = 1. / settings->rho; + } + + // Initialize linear system solver structure + exitflag = osqp_algebra_init_linsys_solver(&(work->linsys_solver), work->data->P, work->data->A, + work->rho_vec, solver->settings, + &work->scaled_prim_res, &work->scaled_dual_res, 0); + + if (exitflag == OSQP_NONCVX_ERROR) { + update_status(solver->info, OSQP_NON_CVX); + return osqp_error(exitflag); + } + else if (exitflag) { + return osqp_error(exitflag); + } + + // Initialize variables x, y, z to 0 + osqp_cold_start(solver); + + // Initialize active constraints structure + work->pol = c_malloc(sizeof(OSQPPolish)); + if (!(work->pol)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + work->pol->active_flags = OSQPVectori_malloc(m); + work->pol->x = OSQPVectorf_malloc(n); + work->pol->z = OSQPVectorf_malloc(m); + work->pol->y = OSQPVectorf_malloc(m); + if (!(work->pol->x)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + if (!(work->pol->active_flags) || + !(work->pol->z) || !(work->pol->y)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + // Allocate solution + if (settings->allocate_solution) { + solver->solution = c_calloc(1, sizeof(OSQPSolution)); + + if (!(solver->solution)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + + solver->solution->x = c_calloc(1, n * sizeof(OSQPFloat)); + solver->solution->y = c_calloc(1, m * sizeof(OSQPFloat)); + solver->solution->prim_inf_cert = c_calloc(1, m * sizeof(OSQPFloat)); + solver->solution->dual_inf_cert = c_calloc(1, n * sizeof(OSQPFloat)); + + if ( !(solver->solution->x) || !(solver->solution->dual_inf_cert) ) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + + if ( m && (!(solver->solution->y) || !(solver->solution->prim_inf_cert)) ) + return osqp_error(OSQP_MEM_ALLOC_ERROR); + } + else { + solver->solution = OSQP_NULL; + } + + // Initialize information + solver->info->status_polish = OSQP_POLISH_NOT_PERFORMED; // Polishing not performed + update_status(solver->info, OSQP_UNSOLVED); +# ifdef OSQP_ENABLE_PROFILING + solver->info->solve_time = 0.0; // Solve time to zero + solver->info->update_time = 0.0; // Update time to zero + solver->info->polish_time = 0.0; // Polish time to zero + solver->info->run_time = 0.0; // Total run time to zero + solver->info->setup_time = osqp_toc(work->timer); // Update timer information + + work->first_run = 1; + work->clear_update_time = 0; + work->rho_update_from_solve = 0; +# endif /* ifdef OSQP_ENABLE_PROFILING */ + solver->info->rho_updates = 0; // Rho updates set to 0 + solver->info->rho_estimate = solver->settings->rho; // Best rho estimate + solver->info->obj_val = OSQP_INFTY; + solver->info->prim_res = OSQP_INFTY; + solver->info->dual_res = OSQP_INFTY; + solver->info->rel_kkt_error = OSQP_INFTY; + + work->last_rel_kkt = OSQP_INFTY; + + /* Setup adaptive rho things */ + work->rho_updated = 0; + + switch(solver->settings->adaptive_rho) + { + case OSQP_ADAPTIVE_RHO_UPDATE_DISABLED: + /* No setup needed */ + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_ITERATIONS: + // 0 is a special flag meaning automatically set it to a value we decide + if(solver->settings->adaptive_rho_interval == 0) { + if (solver->settings->check_termination) { + // If check_termination is enabled, we set it to a multiple of the check + // termination interval + solver->settings->adaptive_rho_interval = OSQP_ADAPTIVE_RHO_MULTIPLE_TERMINATION * + solver->settings->check_termination; + } else { + // If check_termination is disabled we set it to a predefined fix number + solver->settings->adaptive_rho_interval = OSQP_ADAPTIVE_RHO_FIXED; + } + } + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_TIME: + /* No setup needed, computation of fixed interval is done at first update iteration */ + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_KKT_ERROR: + // 0 is a special flag meaning automatically set it to a value we decide + if(solver->settings->adaptive_rho_interval == 0) { + // Which is every iteration + solver->settings->adaptive_rho_interval = 1; + } + break; + } + +# ifdef OSQP_ENABLE_DERIVATIVES + work->derivative_data = c_calloc(1, sizeof(OSQPDerivativeData)); + if (!(work->derivative_data)) return osqp_error(OSQP_MEM_ALLOC_ERROR); + work->derivative_data->y_u = OSQPVectorf_malloc(m); + work->derivative_data->y_l = OSQPVectorf_malloc(m); + work->derivative_data->ryl = OSQPVectorf_malloc(m); + work->derivative_data->ryu = OSQPVectorf_malloc(m); + work->derivative_data->rhs = OSQPVectorf_malloc(2 * (n + 2*m)); + if (!(work->derivative_data->y_u) || !(work->derivative_data->y_l) || + !(work->derivative_data->ryl) || !(work->derivative_data->ryu)) + return osqp_error(OSQP_MEM_ALLOC_ERROR); +# endif /* ifdef OSQP_ENABLE_DERIVATIVES */ + + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_SETUP); + + // Print header +# ifdef OSQP_ENABLE_PRINTING + if (solver->settings->verbose) print_setup_header(solver); + work->summary_printed = 0; // Initialize last summary to not printed +# endif /* ifdef OSQP_ENABLE_PRINTING */ + + // Return exit flag + return 0; +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + +OSQPInt osqp_solve(OSQPSolver *solver) { + + OSQPInt exitflag; + OSQPInt iter, max_iter; + + OSQPInt can_print = 0; // boolean, whether to print or not + OSQPInt can_adapt_rho = 0; // boolean, adapt rho or not + OSQPInt can_check_termination = 0; // boolean, check termination or not + + OSQPWorkspace* work; + OSQPSettings* settings; + +#ifdef OSQP_ENABLE_PROFILING + OSQPFloat temp_run_time; // Temporary variable to store current run time +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + // Check if solver has been initialized + if (!solver || !solver->work) return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + + work = solver->work; + settings = solver->settings; + +#ifdef OSQP_ENABLE_PROFILING + if (work->clear_update_time == 1) + solver->info->update_time = 0.0; + work->rho_update_from_solve = 1; +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + // Initialize variables + exitflag = 0; + can_check_termination = 0; +#ifdef OSQP_ENABLE_PRINTING + can_print = settings->verbose; +#endif /* ifdef OSQP_ENABLE_PRINTING */ + +#ifdef OSQP_ENABLE_PROFILING + osqp_tic(work->timer); // Start timer +#endif /* ifdef OSQP_ENABLE_PROFILING */ + +osqp_profiler_sec_push(OSQP_PROFILER_SEC_OPT_SOLVE); + + +#ifdef OSQP_ENABLE_PRINTING + if (settings->verbose) { + // Print Header for every column + print_header(); + } +#endif /* ifdef OSQP_ENABLE_PRINTING */ + +#ifdef OSQP_ENABLE_INTERRUPT + + // initialize Ctrl-C support + osqp_start_interrupt_listener(); +#endif /* ifdef OSQP_ENABLE_INTERRUPT */ + + // Initialize variables (cold start or warm start depending on settings) + // If not warm start -> set x, z, y to zero + if (!settings->warm_starting) osqp_cold_start(solver); + + // Main ADMM algorithm + + max_iter = settings->max_iter; + for (iter = 1; iter <= max_iter; iter++) { + osqp_profiler_sec_push(OSQP_PROFILER_SEC_ADMM_ITER); + + // Update x_prev, z_prev (preallocated, no malloc) + swap_vectors(&(work->x), &(work->x_prev)); + swap_vectors(&(work->z), &(work->z_prev)); + + /* ADMM STEPS */ + /* Compute \tilde{x}^{k+1}, \tilde{z}^{k+1} */ + osqp_profiler_sec_push(OSQP_PROFILER_SEC_ADMM_KKT_SOLVE); + update_xz_tilde(solver, iter); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_ADMM_KKT_SOLVE); + + osqp_profiler_sec_push(OSQP_PROFILER_SEC_ADMM_UPDATE); + + /* Compute x^{k+1} */ + update_x(solver); + + /* Compute z^{k+1} */ + osqp_profiler_sec_push(OSQP_PROFILER_SEC_ADMM_PROJ); + update_z(solver); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_ADMM_PROJ); + + /* Compute y^{k+1} */ + update_y(solver); + + /* End of ADMM Steps */ + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_ADMM_UPDATE); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_ADMM_ITER); + +#ifdef OSQP_ENABLE_INTERRUPT + + // Check the interrupt signal + if (osqp_is_interrupted()) { + update_status(solver->info, OSQP_SIGINT); + c_print("Solver interrupted\n"); + exitflag = 1; + goto exit; + } +#endif /* ifdef OSQP_ENABLE_INTERRUPT */ + +#ifdef OSQP_ENABLE_PROFILING + + // Check if solver time_limit is enabled. In case, check if the current + // run time is more than the time_limit option. + if (work->first_run) { + temp_run_time = solver->info->setup_time + osqp_toc(work->timer); + } + else { + temp_run_time = solver->info->update_time + osqp_toc(work->timer); + } + + if (settings->time_limit && + (temp_run_time >= settings->time_limit)) { + update_status(solver->info, OSQP_TIME_LIMIT_REACHED); +# ifdef OSQP_ENABLE_PRINTING + + if (settings->verbose) c_print("run time limit reached\n"); + can_print = 0; // Not printing at this iteration +# endif /* ifdef OSQP_ENABLE_PRINTING */ + break; + } +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + + // Can we check for termination ? + can_check_termination = settings->check_termination && + (iter % settings->check_termination == 0); + + // Can we print ? +#ifdef OSQP_ENABLE_PRINTING + can_print = settings->verbose && + ((iter % OSQP_PRINT_INTERVAL == 0) || (iter == 1)); +#else + can_print = 0; +#endif /* ifdef OSQP_ENABLE_PRINTING */ + +#if OSQP_EMBEDDED_MODE != 1 + switch(settings->adaptive_rho) + { + case OSQP_ADAPTIVE_RHO_UPDATE_DISABLED: + /* Don't do anything, it is disabled*/ + can_adapt_rho = 0; + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_TIME: +#ifdef OSQP_ENABLE_PROFILING + // Time-based adaptive rho updates rho at an interval based on a fraction of the setup time. + // This is done by estimating how many iterations are done in that timeframe, then building a + // fixed iteration interval for all future updates. + if(settings->adaptive_rho_interval == 0) { + // Check time + if(osqp_toc(work->timer) > + settings->adaptive_rho_fraction * solver->info->setup_time) + { + // Enough time has passed. We now get the number of iterations between the updates. + if (settings->check_termination) + { + // If check_termination is enabled, we round the number of iterations between + // rho updates to the closest multiple of check_termination + settings->adaptive_rho_interval = (OSQPInt)c_roundmultiple(iter, + settings->check_termination); + } + else + { + // If check_termination is disabled, we round the number of iterations + // between + // updates to the closest multiple of the default check_termination + // interval. + settings->adaptive_rho_interval = (OSQPInt)c_roundmultiple(iter, OSQP_CHECK_TERMINATION); + } + + // Make sure the interval is not 0 and at least check_termination times + settings->adaptive_rho_interval = c_min(1, c_max(settings->adaptive_rho_interval, + settings->check_termination)); + } + else + { + /* Break out of the switch statement because we don't have an iteration value yet */ + can_adapt_rho = 0; + break; + } + } + /* Fall through to the interval-based update in this case */ +#else + /* Time-based adaptation doesn't work without the timers */ + can_adapt_rho = 0; + break; +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + case OSQP_ADAPTIVE_RHO_UPDATE_KKT_ERROR: + /* + * Fall through on purpose: + * We support limiting the KKT error checks to a periodic number of iterations, + * so we set the can_adapt_rho flag to show the iterations we can check the KKT error. + * The actual KKT error computation/checks is done later after update_info. + */ + case OSQP_ADAPTIVE_RHO_UPDATE_ITERATIONS: + /* Update rho when the appropriate number of iterations have passed */ + if(settings->adaptive_rho_interval && (iter % settings->adaptive_rho_interval == 0)) { + can_adapt_rho = 1; + } else { + can_adapt_rho = 0; + } + break; + } +#else + can_adapt_rho = 0; +#endif /* OSQP_EMBEDDED_MODE != 1 */ + + if(can_check_termination || can_print || can_adapt_rho || iter == 1) { + // We must update the info in these cases: + // * We will be checking termination + // * We will be printing status + // * We will be adapting rho + // * It is the first iteration + // (We always update info in the first iteration because indirect solvers + // use residual values to compute required accuracy of their solution.) + update_info(solver, iter, 0); + } + + // Check algorithm termination if desired + if (can_check_termination) { + if (check_termination(solver, 0)) { + // Terminate algorithm + break; + } + } + + work->rho_updated = 0; +#if OSQP_EMBEDDED_MODE != 1 + // Further processing to determine if the KKT error has decresed + // This requires values computed in update_info, so must be done here. + if(can_adapt_rho && (settings->adaptive_rho == OSQP_ADAPTIVE_RHO_UPDATE_KKT_ERROR)) { + if(solver->info->rel_kkt_error <= ( settings->adaptive_rho_fraction * work->last_rel_kkt) ) { + can_adapt_rho = 1; + } + else { + can_adapt_rho = 0; + } + } + + // Actually update rho if requested + if(can_adapt_rho) { + osqp_profiler_event_mark(OSQP_PROFILER_EVENT_RHO_UPDATE); + + if (adapt_rho(solver)) { + c_eprint("Failed rho update"); + exitflag = 1; + goto exit; + } + } +#endif // OSQP_EMBEDDED_MODE != 1 + + // Store the relative KKT error for the last update + if(work->rho_updated) { + work->last_rel_kkt = solver->info->rel_kkt_error; + } + +#ifdef OSQP_ENABLE_PRINTING + // Print summary if requested or if rho was updated + if (can_print || (settings->verbose && work->rho_updated)) { + print_summary(solver); + } +#endif /* ifdef OSQP_ENABLE_PRINTING */ + } // End of ADMM for loop + + + // Update information and check termination condition if it hasn't been done + // during last iteration (max_iter reached or check_termination disabled) + if (!can_check_termination) { + /* Update information */ +#ifdef OSQP_ENABLE_PRINTING + + if (!can_print) { + // Update info only if it hasn't been updated before for printing + // reasons + update_info(solver, iter - 1, 0); + } +#else /* ifdef OSQP_ENABLE_PRINTING */ + + // If no printing is enabled, update info directly + update_info(solver, iter - 1, 0); +#endif /* ifdef OSQP_ENABLE_PRINTING */ + +#ifdef OSQP_ENABLE_PRINTING + + /* Print summary */ + if (settings->verbose && !work->summary_printed) print_summary(solver); +#endif /* ifdef OSQP_ENABLE_PRINTING */ + + /* Check whether a termination criterion is triggered */ + check_termination(solver, 0); + + } + + // Compute objective value in case it was not + // computed during the iterations + if (has_solution(solver->info)){ + compute_obj_val_dual_gap(solver, work->x, work->y, + &(solver->info->obj_val), + &(solver->info->dual_obj_val), + &(solver->info->duality_gap)); + } + + +#ifdef OSQP_ENABLE_PRINTING + /* Print summary for last iteration */ + if (settings->verbose && !work->summary_printed) { + print_summary(solver); + } +#endif /* ifdef OSQP_ENABLE_PRINTING */ + + /* if max iterations reached, change status accordingly */ + if (solver->info->status_val == OSQP_UNSOLVED) { + if (!check_termination(solver, 1)) { // Try to check for approximate + update_status(solver->info, OSQP_MAX_ITER_REACHED); + } + } + +#ifdef OSQP_ENABLE_PROFILING + /* if time-limit reached check termination and update status accordingly */ + if (solver->info->status_val == OSQP_TIME_LIMIT_REACHED) { + if (!check_termination(solver, 1)) { // Try for approximate solutions + update_status(solver->info, OSQP_TIME_LIMIT_REACHED); /* Change update status back to OSQP_TIME_LIMIT_REACHED */ + } + } +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + +#if OSQP_EMBEDDED_MODE != 1 + /* Update rho estimate */ + solver->info->rho_estimate = compute_rho_estimate(solver); +#endif /* if OSQP_EMBEDDED_MODE != 1 */ + + /* Update solve time */ +#ifdef OSQP_ENABLE_PROFILING + solver->info->solve_time = osqp_toc(work->timer); +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + +#ifndef OSQP_EMBEDDED_MODE + // Polish the obtained solution + if (settings->polishing && (solver->info->status_val == OSQP_SOLVED)) { + osqp_profiler_sec_push(OSQP_PROFILER_SEC_POLISH); + exitflag = polish(solver); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_POLISH); + + if (exitflag > 0) { + c_eprint("Failed polishing"); + goto exit; + } + } +#endif /* ifndef OSQP_EMBEDDED_MODE */ + +#ifdef OSQP_ENABLE_PROFILING + /* Update total time */ + if (work->first_run) { + // total time: setup + solve + polish + solver->info->run_time = solver->info->setup_time + + solver->info->solve_time + + solver->info->polish_time; + } else { + // total time: update + solve + polish + solver->info->run_time = solver->info->update_time + + solver->info->solve_time + + solver->info->polish_time; + } + + // Indicate that the solve function has already been executed + if (work->first_run) work->first_run = 0; + + // Indicate that the update_time should be set to zero + work->clear_update_time = 1; + + // Indicate that osqp_update_rho is not called from osqp_solve + work->rho_update_from_solve = 0; +#endif /* ifdef OSQP_ENABLE_PROFILING */ + +#ifdef OSQP_ENABLE_PRINTING + /* Print final footer */ + if (settings->verbose) print_footer(solver->info, settings->polishing); +#endif /* ifdef OSQP_ENABLE_PRINTING */ + + // Store solution + store_solution(solver, solver->solution); + +// Define exit flag for quitting function +#if defined(OSQP_ENABLE_PROFILING) || defined(OSQP_ENABLE_INTERRUPT) || OSQP_EMBEDDED_MODE != 1 +exit: +#endif /* if defined(OSQP_ENABLE_PROFILING) || defined(OSQP_ENABLE_INTERRUPT) || OSQP_EMBEDDED_MODE != 1 */ + +#ifdef OSQP_ENABLE_INTERRUPT + // Restore previous signal handler + osqp_end_interrupt_listener(); +#endif /* ifdef OSQP_ENABLE_INTERRUPT */ + + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_OPT_SOLVE); + + return exitflag; +} + + +OSQPInt osqp_get_solution(OSQPSolver* solver, OSQPSolution* solution) { + if (!solver || !solver->work || !solver->settings || !solver->info) { + return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + } + + if (!solution) + return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + + store_solution(solver, solution); + + return OSQP_NO_ERROR; +} + + +#ifndef OSQP_EMBEDDED_MODE + +OSQPInt osqp_cleanup(OSQPSolver* solver) { + + OSQPInt exitflag = 0; + OSQPWorkspace* work; + + if(!solver) return 0; //exit on null + + work = solver->work; + + if (work) { // If workspace has been allocated + // Free algebra library handlers + osqp_algebra_free_libs(); + + // Free Data + if (work->data) { + OSQPMatrix_free(work->data->P); + OSQPMatrix_free(work->data->A); + OSQPVectorf_free(work->data->q); + OSQPVectorf_free(work->data->l); + OSQPVectorf_free(work->data->u); + c_free(work->data); + } + + // Free scaling variables + if (work->scaling){ + OSQPVectorf_free(work->scaling->D); + OSQPVectorf_free(work->scaling->Dinv); + OSQPVectorf_free(work->scaling->E); + OSQPVectorf_free(work->scaling->Einv); + } + c_free(work->scaling); + + // Free workspace variables + OSQPVectorf_free(work->D_temp); + OSQPVectorf_free(work->D_temp_A); + OSQPVectorf_free(work->E_temp); + + // Free linear system solver structure + if (work->linsys_solver) { + if (work->linsys_solver->free) { + work->linsys_solver->free(work->linsys_solver); + } + } + +#ifndef OSQP_EMBEDDED_MODE + // Free active constraints structure + if (work->pol) { + OSQPVectori_free(work->pol->active_flags); + OSQPVectorf_free(work->pol->x); + OSQPVectorf_free(work->pol->z); + OSQPVectorf_free(work->pol->y); + c_free(work->pol); + } +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + // Free other Variables + OSQPVectorf_free(work->rho_vec); + OSQPVectorf_free(work->rho_inv_vec); +#if OSQP_EMBEDDED_MODE != 1 + OSQPVectori_free(work->constr_type); +#endif + OSQPVectorf_free(work->x); + OSQPVectorf_free(work->z); + OSQPVectorf_free(work->xz_tilde); + OSQPVectorf_view_free(work->xtilde_view); + OSQPVectorf_view_free(work->ztilde_view); + OSQPVectorf_free(work->x_prev); + OSQPVectorf_free(work->z_prev); + OSQPVectorf_free(work->y); + OSQPVectorf_free(work->Ax); + OSQPVectorf_free(work->Px); + OSQPVectorf_free(work->Aty); + OSQPVectorf_free(work->delta_y); + OSQPVectorf_free(work->Atdelta_y); + OSQPVectorf_free(work->delta_x); + OSQPVectorf_free(work->Pdelta_x); + OSQPVectorf_free(work->Adelta_x); + + // Free Settings + if (solver->settings) c_free(solver->settings); + + // Free solution + if (solver->solution) { + c_free(solver->solution->x); + c_free(solver->solution->y); + c_free(solver->solution->prim_inf_cert); + c_free(solver->solution->dual_inf_cert); + c_free(solver->solution); + } + + // Free information + if (solver->info) c_free(solver->info); + +# ifdef OSQP_ENABLE_PROFILING + // Free timer + if (work->timer) OSQPTimer_free(work->timer); +# endif /* ifdef OSQP_ENABLE_PROFILING */ + +# ifdef OSQP_ENABLE_DERIVATIVES + if (work->derivative_data){ + if (work->derivative_data->y_l) OSQPVectorf_free(work->derivative_data->y_l); + if (work->derivative_data->y_u) OSQPVectorf_free(work->derivative_data->y_u); + if (work->derivative_data->ryl) OSQPVectorf_free(work->derivative_data->ryl); + if (work->derivative_data->ryu) OSQPVectorf_free(work->derivative_data->ryu); + if (work->derivative_data->rhs) OSQPVectorf_free(work->derivative_data->rhs); + c_free(work->derivative_data); + } +#endif /* ifdef OSQP_ENABLE_SCALING */ + + // Free work + c_free(work); + } + + // Free solver + c_free(solver); + + return exitflag; +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + + +/************************ +* Update problem data * +************************/ + +OSQPInt osqp_update_data_vec(OSQPSolver* solver, + const OSQPFloat* q_new, + const OSQPFloat* l_new, + const OSQPFloat* u_new) { + + OSQPInt exitflag = 0; + + OSQPVectorf* l_tmp; + OSQPVectorf* u_tmp; + OSQPWorkspace* work; + + /* Check if workspace has been initialized */ + if (!solver || !solver->work) return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + work = solver->work; + +#ifdef OSQP_ENABLE_PROFILING + if (work->clear_update_time == 1) { + work->clear_update_time = 0; + solver->info->update_time = 0.0; + } + /* Start timer */ + osqp_tic(work->timer); +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + /* Update constraint bounds */ + if (l_new || u_new) { + /* Use z_prev and delta_y to store l_new and u_new */ + l_tmp = work->z_prev; + u_tmp = work->delta_y; + + /* Copy l_new and u_new to l_tmp and u_tmp */ + if (l_new) OSQPVectorf_from_raw(l_tmp, l_new); + if (u_new) OSQPVectorf_from_raw(u_tmp, u_new); + + if (solver->settings->scaling) { + if (l_new) OSQPVectorf_ew_prod(l_tmp, l_tmp, work->scaling->E); + if (u_new) OSQPVectorf_ew_prod(u_tmp, u_tmp, work->scaling->E); + } + + /* Check if upper bound is greater than lower bound */ + if (l_new && u_new) exitflag = !OSQPVectorf_all_leq(l_tmp, u_tmp); + else if (l_new) exitflag = !OSQPVectorf_all_leq(l_tmp, work->data->u); + else exitflag = !OSQPVectorf_all_leq(work->data->l, u_tmp); + if (exitflag) return osqp_error(OSQP_DATA_VALIDATION_ERROR); + + /* Swap vectors. + * NB: Use work->z_prev & delta_y rather than l_tmp & u_tmp */ + if (l_new) swap_vectors(&work->z_prev, &work->data->l); + if (u_new) swap_vectors(&work->delta_y, &work->data->u); + +#if OSQP_EMBEDDED_MODE != 1 + /* Update rho_vec and refactor if constraints type changes */ + if (solver->settings->rho_is_vec) exitflag = update_rho_vec(solver); +#endif /* #if OSQP_EMBEDDED_MODE != 1 */ + } + + /* Update linear cost vector */ + if (q_new) { + OSQPVectorf_from_raw(work->data->q, q_new); + if (solver->settings->scaling) { + OSQPVectorf_ew_prod(work->data->q, work->data->q, work->scaling->D); + OSQPVectorf_mult_scalar(work->data->q, work->scaling->c); + } + } + + /* Reset solver information */ + reset_info(solver->info); + +#ifdef OSQP_ENABLE_PROFILING + solver->info->update_time += osqp_toc(work->timer); +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + return exitflag; +} + + +OSQPInt osqp_warm_start(OSQPSolver* solver, + const OSQPFloat* x, + const OSQPFloat* y) { + + OSQPWorkspace* work; + + /* Check if workspace has been initialized */ + if (!solver || !solver->work) return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + work = solver->work; + + /* Update warm_start setting to true */ + if (!solver->settings->warm_starting) solver->settings->warm_starting = 1; + + /* Copy primal and dual variables into the iterates */ + if (x) OSQPVectorf_from_raw(work->x, x); + if (y) OSQPVectorf_from_raw(work->y, y); + + /* Scale iterates */ + if (solver->settings->scaling) { + if (x) OSQPVectorf_ew_prod(work->x, work->x, work->scaling->Dinv); + if (y) { + OSQPVectorf_ew_prod(work->y, work->y, work->scaling->Einv); + OSQPVectorf_mult_scalar(work->y, work->scaling->c); + } + } + + /* Compute Ax = z and store it in z */ + if (x) OSQPMatrix_Axpy(work->data->A, work->x, work->z, 1.0, 0.0); + + /* Warm start the linear system solver */ + work->linsys_solver->warm_start(work->linsys_solver, work->x); + + return 0; +} + + +void osqp_cold_start(OSQPSolver *solver) { + OSQPWorkspace *work = solver->work; + OSQPVectorf_set_scalar(work->x, 0.); + OSQPVectorf_set_scalar(work->z, 0.); + OSQPVectorf_set_scalar(work->y, 0.); + + /* Cold start the linear system solver */ + work->linsys_solver->warm_start(work->linsys_solver, work->x); +} + + +#if OSQP_EMBEDDED_MODE != 1 + +OSQPInt osqp_update_data_mat(OSQPSolver* solver, + const OSQPFloat* Px_new, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + const OSQPFloat* Ax_new, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n) { + + OSQPInt exitflag; // Exit flag + OSQPInt nnzP, nnzA; // Number of nonzeros in P and A + OSQPWorkspace *work; + + // Check if workspace has been initialized + if (!solver || !solver->work) return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + work = solver->work; + +#ifdef OSQP_ENABLE_PROFILING + if (work->clear_update_time == 1) { + work->clear_update_time = 0; + solver->info->update_time = 0.0; + } + osqp_tic(work->timer); // Start timer +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + nnzP = OSQPMatrix_get_nz(work->data->P); + nnzA = OSQPMatrix_get_nz(work->data->A); + + + // Check if the number of elements to update is valid + if (P_new_n > nnzP || P_new_n < 0) { + c_eprint("new number of elements (%i) out of bounds for P (%i max)", + (int)P_new_n, (int)nnzP); + return 1; + } + //indexing is required if the whole P is not updated + if(Px_new_idx == OSQP_NULL && P_new_n != 0 && P_new_n != nnzP){ + c_eprint("index vector is required for partial updates of P"); + return 1; + } + + // Handle legacy behavior that allowed passing 0 as the length when updating all values + if(P_new_n == 0) { + P_new_n = nnzP; + } + + // Check if the number of elements to update is valid + if (A_new_n > nnzA || A_new_n < 0) { + c_eprint("new number of elements (%i) out of bounds for A (%i max)", + (int)A_new_n, + (int)nnzA); + return 2; + } + //indexing is required if the whole A is not updated + if(Ax_new_idx == OSQP_NULL && A_new_n != 0 && A_new_n != nnzA){ + c_eprint("index vector is required for partial updates of A"); + return 2; + } + + // Handle legacy behavior that allowed passing 0 as the length when updating all values + if(A_new_n == 0) { + A_new_n = nnzA; + } + + if (solver->settings->scaling) unscale_data(solver); + + if (Px_new){ + OSQPMatrix_update_values(work->data->P, Px_new, Px_new_idx, P_new_n); + } + if (Ax_new){ + OSQPMatrix_update_values(work->data->A, Ax_new, Ax_new_idx, A_new_n); + } + + if (solver->settings->scaling) scale_data(solver); + + // Update linear system structure with new data. + // If there is scaling, then a full update is needed. + if(solver->settings->scaling){ + exitflag = work->linsys_solver->update_matrices( + work->linsys_solver, + work->data->P, OSQP_NULL, nnzP, + work->data->A, OSQP_NULL, nnzA); + } + else{ + exitflag = work->linsys_solver->update_matrices( + work->linsys_solver, + work->data->P, Px_new_idx, P_new_n, + work->data->A, Ax_new_idx, A_new_n); + } + + + // Reset solver information + reset_info(solver->info); + + if (exitflag != 0){c_eprint("new KKT matrix is not quasidefinite");} + +#ifdef OSQP_ENABLE_PROFILING + solver->info->update_time += osqp_toc(work->timer); +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + return exitflag; +} + + +OSQPInt osqp_update_rho(OSQPSolver* solver, + OSQPFloat rho_new) { + + OSQPInt exitflag; + OSQPWorkspace *work; + + // Check if workspace has been initialized + if (!solver || !solver->work) return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + work = solver->work; + + // Check value of rho + if (rho_new <= 0) { + c_eprint("rho must be positive"); + return 1; + } + +#ifdef OSQP_ENABLE_PROFILING + if (work->rho_update_from_solve == 0) { + if (work->clear_update_time == 1) { + work->clear_update_time = 0; + solver->info->update_time = 0.0; + } + osqp_tic(work->timer); // Start timer + } +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + // Update rho in settings + solver->settings->rho = c_min(c_max(rho_new, OSQP_RHO_MIN), OSQP_RHO_MAX); + + if (solver->settings->rho_is_vec) { + // Update rho_vec and rho_inv_vec + OSQPVectorf_set_scalar_conditional(work->rho_vec, + work->constr_type, + OSQP_RHO_MIN, //constr == -1 + solver->settings->rho, //constr == 0 + OSQP_RHO_EQ_OVER_RHO_INEQ*solver->settings->rho); //constr == 1 + + OSQPVectorf_ew_reciprocal(work->rho_inv_vec, work->rho_vec); + } + else { + work->rho_inv = 1. / solver->settings->rho; + } + + // Update rho_vec in KKT matrix + exitflag = work->linsys_solver->update_rho_vec(work->linsys_solver, work->rho_vec, solver->settings->rho); + +#ifdef OSQP_ENABLE_PROFILING + if (work->rho_update_from_solve == 0) + solver->info->update_time += osqp_toc(work->timer); +#endif /* ifdef OSQP_ENABLE_PROFILING */ + + return exitflag; +} + +#endif // OSQP_EMBEDDED_MODE != 1 + + + +/**************************** +* Update problem settings * +****************************/ + +OSQPInt osqp_update_settings(OSQPSolver* solver, + const OSQPSettings* new_settings) { + + OSQPSettings* settings = solver->settings; + + /* Check if workspace has been initialized */ + if (!solver || !solver->work) return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + + /* Validate settings */ + if (validate_settings(new_settings, 0)) return osqp_error(OSQP_SETTINGS_VALIDATION_ERROR); + + /* Update settings */ + // linsys_solver ignored + /* allocate_solver ignored */ + + /* Must call into profiler to update level in addition to storing the value */ + settings->profiler_level = new_settings->profiler_level; + osqp_profiler_update_level(settings->profiler_level); + + settings->verbose = new_settings->verbose; + settings->warm_starting = new_settings->warm_starting; + // scaling ignored + settings->polishing = new_settings->polishing; + + // rho ignored + // rho_is_vec ignored + // sigma ignored + settings->alpha = new_settings->alpha; + + settings->cg_max_iter = new_settings->cg_max_iter; + settings->cg_tol_reduction = new_settings->cg_tol_reduction; + settings->cg_tol_fraction = new_settings->cg_tol_fraction; + settings->cg_precond = new_settings->cg_precond; + + // adaptive_rho ignored + // adaptive_rho_interval ignored + // adaptive_rho_fraction ignored + // adaptive_rho_tolerance ignored + + settings->max_iter = new_settings->max_iter; + settings->eps_abs = new_settings->eps_abs; + settings->eps_rel = new_settings->eps_rel; + settings->eps_prim_inf = new_settings->eps_prim_inf; + settings->eps_dual_inf = new_settings->eps_dual_inf; + settings->scaled_termination = new_settings->scaled_termination; + settings->check_termination = new_settings->check_termination; + settings->check_dualgap = new_settings->check_dualgap; + settings->time_limit = new_settings->time_limit; + + settings->delta = new_settings->delta; + settings->polish_refine_iter = new_settings->polish_refine_iter; + + /* Update settings in the linear system solver */ + solver->work->linsys_solver->update_settings(solver->work->linsys_solver, settings); + + return 0; +} + + +/********** +* Codegen +**********/ + +OSQPInt osqp_codegen(OSQPSolver* solver, + const char* output_dir, + const char* file_prefix, + OSQPCodegenDefines* defines){ + + OSQPInt exitflag = 0; + +#ifdef OSQP_CODEGEN + if (!solver || !solver->work || !solver->settings || !solver->info) { + return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + } + /* Don't allow codegen for a non-convex problem. */ + else if (solver->info->status_val == OSQP_NON_CVX) { + return osqp_error(OSQP_NONCVX_ERROR); + } + /* Test after non-convex error to ensure we throw a useful error code*/ + else if (!solver->work->data || !solver->work->linsys_solver) { + return osqp_error(OSQP_WORKSPACE_NOT_INIT_ERROR); + } + else if (!defines || (defines->embedded_mode != 1 && defines->embedded_mode != 2) + || (defines->float_type != 0 && defines->float_type != 1) + || (defines->printing_enable != 0 && defines->printing_enable != 1) + || (defines->profiling_enable != 0 && defines->profiling_enable != 1) + || (defines->interrupt_enable != 0 && defines->interrupt_enable != 1) + || (defines->derivatives_enable != 0 && defines->derivatives_enable != 1)) { + return osqp_error(OSQP_CODEGEN_DEFINES_ERROR); + } + + exitflag = codegen_inc(output_dir, file_prefix); + if (!exitflag) exitflag = codegen_src(output_dir, file_prefix, solver, defines->embedded_mode); + if (!exitflag) exitflag = codegen_example(output_dir, file_prefix); + if (!exitflag) exitflag = codegen_defines(output_dir, defines); +#else + OSQP_UnusedVar(solver); + OSQP_UnusedVar(output_dir); + OSQP_UnusedVar(file_prefix); + OSQP_UnusedVar(defines); + exitflag = OSQP_FUNC_NOT_IMPLEMENTED; +#endif /* ifdef OSQP_CODEGEN */ + + return exitflag; +} + +/**************************** +* Derivative functions +****************************/ +OSQPInt osqp_adjoint_derivative_compute(OSQPSolver* solver, + OSQPFloat* dx, + OSQPFloat* dy) { + OSQPInt status = 0; + +#ifdef OSQP_ENABLE_DERIVATIVES + status = adjoint_derivative_compute(solver, dx, dy, dy); +#else + OSQP_UnusedVar(solver); + OSQP_UnusedVar(dx); + OSQP_UnusedVar(dy); + status = OSQP_FUNC_NOT_IMPLEMENTED; +#endif + + return status; +} + +OSQPInt osqp_adjoint_derivative_get_mat(OSQPSolver* solver, + OSQPCscMatrix* dP, + OSQPCscMatrix* dA) { + OSQPInt status = 0; + +#ifdef OSQP_ENABLE_DERIVATIVES + status = adjoint_derivative_get_mat(solver, dP, dA); +#else + OSQP_UnusedVar(solver); + OSQP_UnusedVar(dP); + OSQP_UnusedVar(dA); + status = OSQP_FUNC_NOT_IMPLEMENTED; +#endif + + return status; +} + +OSQPInt osqp_adjoint_derivative_get_vec(OSQPSolver* solver, + OSQPFloat* dq, + OSQPFloat* dl, + OSQPFloat* du) { + OSQPInt status = 0; + +#ifdef OSQP_ENABLE_DERIVATIVES + status = adjoint_derivative_get_vec(solver, dq, dl, du); +#else + OSQP_UnusedVar(solver); + OSQP_UnusedVar(dq); + OSQP_UnusedVar(dl); + OSQP_UnusedVar(du); + status = OSQP_FUNC_NOT_IMPLEMENTED; +#endif + + return status; +} diff --git a/lib/controller/mpc/solver_code/src/qdldl.c b/lib/controller/mpc/solver_code/src/qdldl.c new file mode 100644 index 0000000..59bc4eb --- /dev/null +++ b/lib/controller/mpc/solver_code/src/qdldl.c @@ -0,0 +1,307 @@ +/* + * This file is part of QDLDL, a library for performing the LDL^T factorization + * of a symmetric indefinite matrix. + * + * QDLDL is part of the OSQP project, and is available at https://github.com/osqp/qdldl. + * + * Copyright 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac, The OSQP developers + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * SPDX-License-Identifier: Apache-2.0 + * SPDX-ExternalRef: PACKAGE_MANAGER purl pkg:github/osqp/qdldl + */ +#include "qdldl.h" + +#define QDLDL_UNKNOWN (-1) +#define QDLDL_USED (1) +#define QDLDL_UNUSED (0) + +/* Compute the elimination tree for a quasidefinite matrix + * in compressed sparse column form. + */ +QDLDL_int QDLDL_etree(const QDLDL_int n, const QDLDL_int* Ap, const QDLDL_int* Ai, QDLDL_int* work, + QDLDL_int* Lnz, QDLDL_int* etree) { + QDLDL_int i = 0; + QDLDL_int j = 0; + QDLDL_int p = 0; + QDLDL_int sumLnz = 0; + + for(i = 0; i < n; i++) { + // Zero out Lnz and work. Set all etree values to unknown + work[i] = 0; + Lnz[i] = 0; + etree[i] = QDLDL_UNKNOWN; + + // Abort if A doesn't have at least one entry + // one entry in every column + if(Ap[i] == Ap[i + 1]) { + return -1; + } + } + + for(j = 0; j < n; j++) { + work[j] = j; + + for(p = Ap[j]; p < Ap[j + 1]; p++) { + i = Ai[p]; + + // Abort if entries on lower triangle + if(i > j) { + return -1; + }; + + while(work[i] != j) { + if(etree[i] == QDLDL_UNKNOWN) { + etree[i] = j; + } + Lnz[i]++; // Nonzeros in this column + work[i] = j; + i = etree[i]; + } + } + } + + // Compute the total nonzeros in L. This much + // space is required to store Li and Lx. Return + // error code -2 if the nonzero count will overflow + // its unteger type. + sumLnz = 0; + + for(i = 0; i < n; i++) { + if(sumLnz > QDLDL_INT_MAX - Lnz[i]) { + sumLnz = -2; + break; + } else { + sumLnz += Lnz[i]; + } + } + + return sumLnz; +} + + +QDLDL_int QDLDL_factor(const QDLDL_int n, const QDLDL_int* Ap, const QDLDL_int* Ai, + const QDLDL_float* Ax, QDLDL_int* Lp, QDLDL_int* Li, QDLDL_float* Lx, + QDLDL_float* D, QDLDL_float* Dinv, const QDLDL_int* Lnz, + const QDLDL_int* etree, QDLDL_bool* bwork, QDLDL_int* iwork, + QDLDL_float* fwork) { + QDLDL_int i = 0; + QDLDL_int j = 0; + QDLDL_int k = 0; + QDLDL_int nnzY = 0; + QDLDL_int bidx = 0; + QDLDL_int cidx = 0; + QDLDL_int nextIdx = 0; + QDLDL_int nnzE = 0; + QDLDL_int tmpIdx = 0; + QDLDL_int* yIdx; + QDLDL_int* elimBuffer; + QDLDL_int* LNextSpaceInCol; + QDLDL_float* yVals; + QDLDL_float yVals_cidx = 0.0; + QDLDL_bool* yMarkers; + QDLDL_int positiveValuesInD = 0; + + // Partition working memory into pieces + yMarkers = bwork; + yIdx = iwork; + elimBuffer = iwork + n; + LNextSpaceInCol = iwork + n * 2; + yVals = fwork; + + + Lp[0] = 0; // First column starts at index zero + + for(i = 0; i < n; i++) { + // Compute L column indices + Lp[i + 1] = Lp[i] + Lnz[i]; // cumsum, total at the end + + // Set all Yidx to be 'unused' initially + // in each column of L, the next available space + // to start is just the first space in the column + yMarkers[i] = QDLDL_UNUSED; + yVals[i] = 0.0; + D[i] = 0.0; + LNextSpaceInCol[i] = Lp[i]; + } + + // First element of the diagonal D. + D[0] = Ax[0]; + + if(D[0] == 0.0) { + return -1; + } + + if(D[0] > 0.0) { + positiveValuesInD++; + } + Dinv[0] = 1 / D[0]; + + // Start from 1 here. The upper LH corner is trivially 0 + // in L b/c we are only computing the subdiagonal elements + for(k = 1; k < n; k++) { + // NB : For each k, we compute a solution to + // y = L(0:(k-1),0:k-1))\b, where b is the kth + // column of A that sits above the diagonal. + // The solution y is then the kth row of L, + // with an implied '1' at the diagonal entry. + + // Number of nonzeros in this row of L + nnzY = 0; // Number of elements in this row + + // This loop determines where nonzeros + // will go in the kth row of L, but doesn't + // compute the actual values + tmpIdx = Ap[k + 1]; + + for(i = Ap[k]; i < tmpIdx; i++) { + bidx = Ai[i]; // We are working on this element of b + + // Initialize D[k] as the element of this column + // corresponding to the diagonal place. Don't use + // this element as part of the elimination step + // that computes the k^th row of L + if(bidx == k) { + D[k] = Ax[i]; + continue; + } + + yVals[bidx] = Ax[i]; // Initialise y(bidx) = b(bidx) + + // Use the forward elimination tree to figure + // out which elements must be eliminated after + // this element of b + nextIdx = bidx; + + if(yMarkers[nextIdx] == QDLDL_UNUSED) { // This y term not already visited + + yMarkers[nextIdx] = QDLDL_USED; // I touched this one + elimBuffer[0] = nextIdx; // It goes at the start of the current list + nnzE = 1; // Length of unvisited elimination path from here + + nextIdx = etree[bidx]; + + while(nextIdx != QDLDL_UNKNOWN && nextIdx < k) { + if(yMarkers[nextIdx] == QDLDL_USED) + break; + + yMarkers[nextIdx] = QDLDL_USED; // I touched this one + elimBuffer[nnzE] = nextIdx; // It goes in the current list + nnzE++; // The list is one longer than before + nextIdx = etree[nextIdx]; // One step further along tree + + } + + // Now I put the buffered elimination list into + // my current ordering in reverse order + while(nnzE) { + yIdx[nnzY++] = elimBuffer[--nnzE]; + } + } + } + + // This for loop places nonzeros values in the k^th row + for(i = (nnzY - 1); i >= 0; i--) { + //Which column are we working on? + cidx = yIdx[i]; + + // Loop along the elements in this + // column of L and subtract to solve to y + tmpIdx = LNextSpaceInCol[cidx]; + yVals_cidx = yVals[cidx]; + + for(j = Lp[cidx]; j < tmpIdx; j++) { + yVals[Li[j]] -= Lx[j] * yVals_cidx; + } + + // Now I have the cidx^th element of y = L\b. + // so compute the corresponding element of + // this row of L and put it into the right place + Li[tmpIdx] = k; + Lx[tmpIdx] = yVals_cidx * Dinv[cidx]; + + // D[k] -= yVals[cidx]*yVals[cidx]*Dinv[cidx]; + D[k] -= yVals_cidx * Lx[tmpIdx]; + LNextSpaceInCol[cidx]++; + + // Reset the yvalues and indices back to zero and QDLDL_UNUSED + // once I'm done with them + yVals[cidx] = 0.0; + yMarkers[cidx] = QDLDL_UNUSED; + + } + + // Maintain a count of the positive entries + // in D. If we hit a zero, we can't factor + // this matrix, so abort + if(D[k] == 0.0) { + return -1; + } + + if(D[k] > 0.0) { + positiveValuesInD++; + } + + // Compute the inverse of the diagonal + Dinv[k] = 1 / D[k]; + + } + + return positiveValuesInD; +} + +// Solves (L+I)x = b +void QDLDL_Lsolve(const QDLDL_int n, const QDLDL_int* Lp, const QDLDL_int* Li, + const QDLDL_float* Lx, QDLDL_float* x) { + QDLDL_int i = 0; + QDLDL_int j = 0; + + for(i = 0; i < n; i++) { + QDLDL_float val = x[i]; + + for(j = Lp[i]; j < Lp[i + 1]; j++) { + x[Li[j]] -= Lx[j] * val; + } + } +} + +// Solves (L+I)'x = b +void QDLDL_Ltsolve(const QDLDL_int n, const QDLDL_int* Lp, const QDLDL_int* Li, + const QDLDL_float* Lx, QDLDL_float* x) { + QDLDL_int i = 0; + QDLDL_int j = 0; + + for(i = n - 1; i >= 0; i--) { + QDLDL_float val = x[i]; + + for(j = Lp[i]; j < Lp[i + 1]; j++) { + val -= Lx[j] * x[Li[j]]; + } + x[i] = val; + } +} + +// Solves Ax = b where A has given LDL factors +void QDLDL_solve(const QDLDL_int n, const QDLDL_int* Lp, const QDLDL_int* Li, const QDLDL_float* Lx, + const QDLDL_float* Dinv, QDLDL_float* x) { + QDLDL_int i = 0; + + QDLDL_Lsolve(n, Lp, Li, Lx, x); + + for(i = 0; i < n; i++) { + x[i] *= Dinv[i]; + } + + QDLDL_Ltsolve(n, Lp, Li, Lx, x); +} diff --git a/lib/controller/mpc/solver_code/src/qdldl_interface.c b/lib/controller/mpc/solver_code/src/qdldl_interface.c new file mode 100644 index 0000000..6af6385 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/qdldl_interface.c @@ -0,0 +1,893 @@ +#include "glob_opts.h" +#include "algebra_impl.h" +#include "printing.h" +#include "profilers.h" + +#include "error.h" +#include "qdldl.h" +#include "qdldl_interface.h" +#include "util.h" + +#ifndef OSQP_EMBEDDED_MODE +#include "amd.h" +#endif + +#if OSQP_EMBEDDED_MODE != 1 +#include "kkt.h" +#endif + +#define STRINGIZE_(x) #x +#define STRINGIZE(x) STRINGIZE_(x) + + +void update_settings_linsys_solver_qdldl(qdldl_solver* s, + const OSQPSettings* settings) { + /* No settings to update */ + OSQP_UnusedVar(s); + OSQP_UnusedVar(settings); + return; +} + +void warm_start_linsys_solver_qdldl(qdldl_solver* s, + const OSQPVectorf* x) { + /* Warm starting not used by direct solvers */ + OSQP_UnusedVar(s); + OSQP_UnusedVar(x); + return; +} + +#ifndef OSQP_EMBEDDED_MODE + +// Free LDL Factorization structure +void free_linsys_solver_qdldl(qdldl_solver* s) { + if (s) { + if (s->L) { + if (s->L->p) c_free(s->L->p); + if (s->L->i) c_free(s->L->i); + if (s->L->x) c_free(s->L->x); + c_free(s->L); + } + + if (s->P) c_free(s->P); + if (s->Dinv) c_free(s->Dinv); + if (s->bp) c_free(s->bp); + if (s->sol) c_free(s->sol); + if (s->rho_inv_vec) c_free(s->rho_inv_vec); + + // These are required for matrix updates + if (s->KKT) csc_spfree(s->KKT); + if (s->PtoKKT) c_free(s->PtoKKT); + if (s->AtoKKT) c_free(s->AtoKKT); + if (s->rhotoKKT) c_free(s->rhotoKKT); + + if (s->adj) c_free(s->adj); + + // QDLDL workspace + if (s->D) c_free(s->D); + if (s->etree) c_free(s->etree); + if (s->Lnz) c_free(s->Lnz); + if (s->iwork) c_free(s->iwork); + if (s->bwork) c_free(s->bwork); + if (s->fwork) c_free(s->fwork); + c_free(s); + + } +} + + +/** + * Compute LDL factorization of matrix A + * @param A Matrix to be factorized + * @param p Private workspace + * @param nvar Number of QP variables + * @return exitstatus (0 is good) + */ +static OSQPInt LDL_factor(OSQPCscMatrix* A, + qdldl_solver* p, + OSQPInt nvar) { + + OSQPInt sum_Lnz; + OSQPInt factor_status; + + // Compute elimination tree + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_SYM_FAC); + sum_Lnz = QDLDL_etree(A->n, A->p, A->i, p->iwork, p->Lnz, p->etree); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_SYM_FAC); + + if (sum_Lnz < 0){ + // Error + c_eprint("Error in KKT matrix LDL factorization when computing the elimination tree."); + if(sum_Lnz == -1){ + c_eprint("Matrix is not perfectly upper triangular."); + } + else if(sum_Lnz == -2){ + c_eprint("Integer overflow in L nonzero count."); + } + return sum_Lnz; + } + + // Allocate memory for Li and Lx + p->L->i = (OSQPInt *)c_malloc(sizeof(OSQPInt)*sum_Lnz); + p->L->x = (OSQPFloat *)c_malloc(sizeof(OSQPFloat)*sum_Lnz); + p->L->nzmax = sum_Lnz; + + // Factor matrix + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_NUM_FAC); + factor_status = QDLDL_factor(A->n, A->p, A->i, A->x, + p->L->p, p->L->i, p->L->x, + p->D, p->Dinv, p->Lnz, + p->etree, p->bwork, p->iwork, p->fwork); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_NUM_FAC); + + if (factor_status < 0){ + // Error + c_eprint("Error in KKT matrix LDL factorization when computing the nonzero elements. There are zeros in the diagonal matrix"); + return factor_status; + } else if (factor_status < nvar) { + // Error: Number of positive elements of D should be equal to nvar + c_eprint("Error in KKT matrix LDL factorization when computing the nonzero elements. The problem seems to be non-convex"); + return -2; + } + + return 0; + +} + + +static OSQPInt permute_KKT(OSQPCscMatrix** KKT, + qdldl_solver* p, + OSQPInt Pnz, + OSQPInt Anz, + OSQPInt m, + OSQPInt* PtoKKT, + OSQPInt* AtoKKT, + OSQPInt* rhotoKKT) { + OSQPFloat* info; + OSQPInt amd_status; + OSQPInt* Pinv; + OSQPInt* KtoPKPt; + OSQPInt i; // Indexing + + OSQPCscMatrix* KKT_temp; + + info = (OSQPFloat *)c_malloc(AMD_INFO * sizeof(OSQPFloat)); + + // Compute permutation matrix P using AMD +#ifdef OSQP_USE_LONG + amd_status = amd_l_order((*KKT)->n, (*KKT)->p, (*KKT)->i, p->P, (OSQPFloat *)OSQP_NULL, info); +#else + amd_status = amd_order((*KKT)->n, (*KKT)->p, (*KKT)->i, p->P, (OSQPFloat *)OSQP_NULL, info); +#endif + if (amd_status < 0) { + // Free Amd info and return an error + c_free(info); + return amd_status; + } + + + // Inverse of the permutation vector + Pinv = csc_pinv(p->P, (*KKT)->n); + + // Permute KKT matrix + if (!PtoKKT && !AtoKKT && !rhotoKKT){ // No vectors to be stored + // Assign values of mapping + KKT_temp = csc_symperm((*KKT), Pinv, OSQP_NULL, 1); + } + else { + // Allocate vector of mappings from unpermuted to permuted + KtoPKPt = c_malloc((*KKT)->p[(*KKT)->n] * sizeof(OSQPInt)); + KKT_temp = csc_symperm((*KKT), Pinv, KtoPKPt, 1); + + // Update vectors PtoKKT, AtoKKT and rhotoKKT + if (PtoKKT){ + for (i = 0; i < Pnz; i++){ + PtoKKT[i] = KtoPKPt[PtoKKT[i]]; + } + } + if (AtoKKT){ + for (i = 0; i < Anz; i++){ + AtoKKT[i] = KtoPKPt[AtoKKT[i]]; + } + } + if (rhotoKKT){ + for (i = 0; i < m; i++){ + rhotoKKT[i] = KtoPKPt[rhotoKKT[i]]; + } + } + + // Cleanup vector of mapping + c_free(KtoPKPt); + } + + // Cleanup + // Free previous KKT matrix and assign pointer to new one + csc_spfree((*KKT)); + (*KKT) = KKT_temp; + // Free Pinv + c_free(Pinv); + // Free Amd info + c_free(info); + + return 0; +} + + +// Initialize LDL Factorization structure +OSQPInt init_linsys_solver_qdldl(qdldl_solver** sp, + const OSQPMatrix* P, + const OSQPMatrix* A, + const OSQPVectorf* rho_vec, + const OSQPSettings* settings, + OSQPInt polishing) { + + // Define Variables + OSQPCscMatrix* KKT_temp; // Temporary KKT pointer + OSQPInt i; // Loop counter + OSQPInt m, n; // Dimensions of A + OSQPInt n_plus_m; // Define n_plus_m dimension + OSQPFloat* rhov; // used for direct access to rho_vec data when polishing=false + OSQPFloat sigma = settings->sigma; + + // Allocate private structure to store KKT factorization + qdldl_solver* s = c_calloc(1, sizeof(qdldl_solver)); + *sp = s; + + // Size of KKT + n = P->csc->n; + m = A->csc->m; + s->n = n; + s->m = m; + n_plus_m = n + m; + + // Scalar parameters + s->sigma = sigma; + s->rho_inv = 1. / settings->rho; + + // Polishing flag + s->polishing = polishing; + + // Link Functions + s->name = &name_qdldl; + s->solve = &solve_linsys_qdldl; + s->update_settings = &update_settings_linsys_solver_qdldl; + s->warm_start = &warm_start_linsys_solver_qdldl; + s->adjoint_derivative = &adjoint_derivative_qdldl; + + +#ifndef OSQP_EMBEDDED_MODE + s->free = &free_linsys_solver_qdldl; +#endif + +#if OSQP_EMBEDDED_MODE != 1 + s->update_matrices = &update_linsys_solver_matrices_qdldl; + s->update_rho_vec = &update_linsys_solver_rho_vec_qdldl; +#endif + + // Assign type + s->type = OSQP_DIRECT_SOLVER; + + // Set number of threads to 1 (single threaded) + s->nthreads = 1; + + // Sparse matrix L (lower triangular) + // NB: We don not allocate L completely (CSC elements) + // L will be allocated during the factorization depending on the + // resulting number of elements. + s->L = c_calloc(1, sizeof(OSQPCscMatrix)); + s->L->m = n_plus_m; + s->L->n = n_plus_m; + s->L->nz = -1; + s->L->p = (OSQPInt *)c_malloc((n_plus_m+1) * sizeof(QDLDL_int)); + + // Diagonal matrix stored as a vector D + s->Dinv = (QDLDL_float *)c_malloc(sizeof(QDLDL_float) * n_plus_m); + s->D = (QDLDL_float *)c_malloc(sizeof(QDLDL_float) * n_plus_m); + + // Permutation vector P + s->P = (QDLDL_int *)c_malloc(sizeof(QDLDL_int) * n_plus_m); + + // Working vector + s->bp = (QDLDL_float *)c_malloc(sizeof(QDLDL_float) * n_plus_m); + + // Solution vector + s->sol = (QDLDL_float *)c_malloc(sizeof(QDLDL_float) * n_plus_m); + + // Parameter vector + if (rho_vec) + s->rho_inv_vec = (OSQPFloat *)c_malloc(sizeof(OSQPFloat) * m); + // else it is NULL + + // Elimination tree workspace + s->etree = (QDLDL_int *)c_malloc(n_plus_m * sizeof(QDLDL_int)); + s->Lnz = (QDLDL_int *)c_malloc(n_plus_m * sizeof(QDLDL_int)); + + // Lx and Li are sparsity dependent, so set them to + // null initially so we don't try to free them prematurely + s->L->i = OSQP_NULL; + s->L->x = OSQP_NULL; + + // Preallocate workspace + s->iwork = (QDLDL_int *)c_malloc(sizeof(QDLDL_int)*(3*n_plus_m)); + s->bwork = (QDLDL_bool *)c_malloc(sizeof(QDLDL_bool)*n_plus_m); + s->fwork = (QDLDL_float *)c_malloc(sizeof(QDLDL_float)*n_plus_m); + + // Form and permute KKT matrix + if (polishing){ // Called from polish() + + KKT_temp = form_KKT(P->csc,A->csc, + 0, //format = 0 means CSC + sigma, s->rho_inv_vec, sigma, + OSQP_NULL, OSQP_NULL, OSQP_NULL); + + // Permute matrix + if (KKT_temp) + permute_KKT(&KKT_temp, s, OSQP_NULL, OSQP_NULL, OSQP_NULL, OSQP_NULL, OSQP_NULL, OSQP_NULL); + } + else { // Called from ADMM algorithm + + // Allocate vectors of indices + s->PtoKKT = c_malloc(P->csc->p[n] * sizeof(OSQPInt)); + s->AtoKKT = c_malloc(A->csc->p[n] * sizeof(OSQPInt)); + s->rhotoKKT = c_malloc(m * sizeof(OSQPInt)); + + // Use p->rho_inv_vec for storing param2 = rho_inv_vec + if (rho_vec) { + rhov = rho_vec->values; + for (i = 0; i < m; i++){ + s->rho_inv_vec[i] = 1. / rhov[i]; + } + } + else { + s->rho_inv = 1. / settings->rho; + } + + KKT_temp = form_KKT(P->csc,A->csc, + 0, //format = 0 means CSC format + sigma, s->rho_inv_vec, s->rho_inv, + s->PtoKKT, s->AtoKKT,s->rhotoKKT); + + // Permute matrix + if (KKT_temp){ + permute_KKT(&KKT_temp, s, P->csc->p[n], A->csc->p[n], m, s->PtoKKT, s->AtoKKT, s->rhotoKKT); + } + } + + // Check if matrix has been created + if (!KKT_temp){ + c_eprint("Error forming and permuting KKT matrix"); + free_linsys_solver_qdldl(s); + *sp = OSQP_NULL; + return OSQP_LINSYS_SOLVER_INIT_ERROR; + } + + // Factorize the KKT matrix + if (LDL_factor(KKT_temp, s, n) < 0) { + csc_spfree(KKT_temp); + free_linsys_solver_qdldl(s); + *sp = OSQP_NULL; + return OSQP_NONCVX_ERROR; + } + + if (polishing){ // If KKT passed, assign it to KKT_temp + // Polish, no need for KKT_temp + csc_spfree(KKT_temp); + } + else { // If not embedded option 1 copy pointer to KKT_temp. Do not free it. + s->KKT = KKT_temp; + } + + + // No error + return 0; +} + +#endif // OSQP_EMBEDDED_MODE + +const char* name_qdldl(qdldl_solver* s) { + OSQP_UnusedVar(s); + + return "QDLDL v" STRINGIZE(QDLDL_VERSION_MAJOR) "." STRINGIZE(QDLDL_VERSION_MINOR) "." STRINGIZE(QDLDL_VERSION_PATCH); +} + + +/* solve P'LDL'P x = b for x */ +static void LDLSolve(OSQPFloat* x, + const OSQPFloat* b, + const OSQPCscMatrix* L, + const OSQPFloat* Dinv, + const OSQPInt* P, + OSQPFloat* bp) { + + OSQPInt j; + OSQPInt n = L->n; + + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_BACKSOLVE); + + // permute_x(L->n, bp, b, P); + for (j = 0 ; j < n ; j++) bp[j] = b[P[j]]; + + QDLDL_solve(L->n, L->p, L->i, L->x, Dinv, bp); + + // permutet_x(L->n, x, bp, P); + for (j = 0 ; j < n ; j++) x[P[j]] = bp[j]; + + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_BACKSOLVE); +} + + +OSQPInt solve_linsys_qdldl(qdldl_solver* s, + OSQPVectorf* b, + OSQPInt admm_iter) { + + OSQPInt j; + OSQPInt n = s->n; + OSQPInt m = s->m; + OSQPFloat* bv = b->values; + + // Direct solver doesn't care about the ADMM iteration + OSQP_UnusedVar(admm_iter); + + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_SOLVE); + +#ifndef OSQP_EMBEDDED_MODE + if (s->polishing) { + /* stores solution to the KKT system in b */ + LDLSolve(bv, bv, s->L, s->Dinv, s->P, s->bp); + } else { +#endif + /* stores solution to the KKT system in s->sol */ + LDLSolve(s->sol, bv, s->L, s->Dinv, s->P, s->bp); + + /* copy x_tilde from s->sol */ + for (j = 0 ; j < n ; j++) { + bv[j] = s->sol[j]; + } + + /* compute z_tilde from b and s->sol */ + if (s->rho_inv_vec) { + for (j = 0 ; j < m ; j++) { + bv[j + n] += s->rho_inv_vec[j] * s->sol[j + n]; + } + } + else { + for (j = 0 ; j < m ; j++) { + bv[j + n] += s->rho_inv * s->sol[j + n]; + } + } +#ifndef OSQP_EMBEDDED_MODE + } +#endif + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_SOLVE); + return 0; +} + + +#if OSQP_EMBEDDED_MODE != 1 + +// Update private structure with new P and A +OSQPInt update_linsys_solver_matrices_qdldl(qdldl_solver* s, + const OSQPMatrix* P, + const OSQPInt* Px_new_idx, + OSQPInt P_new_n, + const OSQPMatrix* A, + const OSQPInt* Ax_new_idx, + OSQPInt A_new_n) { + + OSQPInt pos_D_count; + + // Update KKT matrix with new P + update_KKT_P(s->KKT, P->csc, Px_new_idx, P_new_n, s->PtoKKT, s->sigma, 0); + + // Update KKT matrix with new A + update_KKT_A(s->KKT, A->csc, Ax_new_idx, A_new_n, s->AtoKKT); + + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_NUM_FAC); + pos_D_count = QDLDL_factor(s->KKT->n, s->KKT->p, s->KKT->i, s->KKT->x, + s->L->p, s->L->i, s->L->x, s->D, s->Dinv, s->Lnz, + s->etree, s->bwork, s->iwork, s->fwork); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_NUM_FAC); + + //number of positive elements in D should match the + //dimension of P if P + \sigma I is PD. Error otherwise. + return (pos_D_count == P->csc->n) ? 0 : 1; +} + + +OSQPInt update_linsys_solver_rho_vec_qdldl(qdldl_solver* s, + const OSQPVectorf* rho_vec, + OSQPFloat rho_sc) { + + OSQPInt i; + OSQPInt retval = 0; + OSQPInt m = s->m; + OSQPFloat* rhov; + + // Update internal rho_inv_vec + if (s->rho_inv_vec) { + rhov = rho_vec->values; + for (i = 0; i < m; i++){ + s->rho_inv_vec[i] = 1. / rhov[i]; + } + } + else { + s->rho_inv = 1. / rho_sc; + } + + // Update KKT matrix with new rho_vec + update_KKT_param2(s->KKT, s->rho_inv_vec, s->rho_inv, s->rhotoKKT, s->m); + + osqp_profiler_sec_push(OSQP_PROFILER_SEC_LINSYS_NUM_FAC); + retval = QDLDL_factor(s->KKT->n, s->KKT->p, s->KKT->i, s->KKT->x, + s->L->p, s->L->i, s->L->x, s->D, s->Dinv, s->Lnz, + s->etree, s->bwork, s->iwork, s->fwork); + osqp_profiler_sec_pop(OSQP_PROFILER_SEC_LINSYS_NUM_FAC); + + return (retval < 0); +} + +#endif + +#ifndef OSQP_EMBEDDED_MODE + +// --------- Derivative functions -------- // + +//increment the D colptr by the number of nonzeros +//in a square diagonal matrix. +static void _colcount_diag(OSQPCscMatrix* D, + OSQPInt initcol, + OSQPInt blockcols) { + + OSQPInt j; + for(j = initcol; j < (initcol + blockcols); j++){ + D->p[j]++; + } +} + +//increment D colptr by the number of nonzeros in M +static void _colcount_block(OSQPCscMatrix* D, + OSQPCscMatrix* M, + OSQPInt initcol, + OSQPInt istranspose) { + + OSQPInt nnzM, j; + + if(istranspose){ + nnzM = M->p[M->n]; + for (j = 0; j < nnzM; j++){ + D->p[M->i[j] + initcol]++; + } + } + else { + //just add the column count + for (j = 0; j < M->n; j++){ + D->p[j + initcol] += M->p[j+1] - M->p[j]; + } + } +} + +static void _colcount_to_colptr(OSQPCscMatrix* D) { + + OSQPInt j, count; + OSQPInt currentptr = 0; + + for(j = 0; j <= D->n; j++){ + count = D->p[j]; + D->p[j] = currentptr; + currentptr += count; + } +} + +//populate values from M using the K colptr as indicator of +//next fill location in each row +static void _fill_block(OSQPCscMatrix* K, + OSQPCscMatrix* M, + OSQPInt* index_mapping, + OSQPInt initrow, + OSQPInt initcol, + OSQPInt istranspose) { + OSQPInt ii, jj, row, col, dest; + + for(ii=0; ii < M->n; ii++){ + for(jj = M->p[ii]; jj < M->p[ii+1]; jj++){ + if(istranspose){ + col = M->i[jj] + initcol; + row = ii + initrow; + } + else { + col = ii + initcol; + row = M->i[jj] + initrow; + } + + dest = K->p[col]++; + K->i[dest] = row; + K->x[dest] = M->x[jj]; + if (index_mapping != OSQP_NULL) { index_mapping[jj] = dest; } + } + } +} + +static void _fill_diag_values(OSQPCscMatrix* K, + OSQPInt* index_mapping, + OSQPInt initrow, + OSQPInt initcol, + OSQPFloat* values, + OSQPFloat value_scalar, + OSQPInt n) { + + OSQPInt j, dest, row, col; + for (j = 0; j < n; j++) { + row = j + initrow; + col = j + initcol; + dest = K->p[col]; + K->i[dest] = row; + if (values != OSQP_NULL) { + K->x[dest] = values[j]; + } else { + K->x[dest] = value_scalar; + } + K->p[col]++; + if (index_mapping != OSQP_NULL) { index_mapping[j] = dest; } + } +} + +static void _backshift_colptrs(OSQPCscMatrix* K) { + + int j; + for(j = K->n; j > 0; j--){ + K->p[j] = K->p[j-1]; + } + K->p[0] = 0; +} + +static void _adj_perturb(OSQPCscMatrix* D, + OSQPFloat eps) { + OSQPInt j, dest; + + dest = 0; + for (j = 0; j < D->m / 2; j++) { + dest = D->p[j+1]-1; + D->x[dest] += eps; + } + for (j = D->m / 2; j < D->m; j++) { + dest = D->p[j+1]-1; + D->x[dest] -= eps; + } +} + +static void _adj_assemble_csc(OSQPCscMatrix* D, + const OSQPMatrix* P_full, + const OSQPMatrix* G, + const OSQPMatrix* A_eq, + const OSQPMatrix* GDiagLambda, + const OSQPVectorf* slacks) { + + OSQPInt n = OSQPMatrix_get_m(P_full); + OSQPInt x = OSQPMatrix_get_m(G); // No. of inequality constraints + OSQPInt y = OSQPMatrix_get_m(A_eq); // No. of equality constraints + + OSQPInt j; + //use D.p to hold nnz entries in each column of the D matrix + for (j=0; j <= 2*(n+x+y); j++){D->p[j] = 0;} + + _colcount_diag(D, 0, n+x+y); + _colcount_block(D, P_full->csc, n+x+y, 0); + _colcount_block(D, G->csc, n+x+y, 0); + _colcount_block(D, A_eq->csc, n+x+y, 0); + _colcount_block(D, GDiagLambda->csc, n+x+y+n, 1); + _colcount_diag(D, n+x+y+n, x); + _colcount_block(D, A_eq->csc, n+x+y+n+x, 1); + _colcount_diag(D, n+x+y, n+x+y); + + //cumsum total entries to convert to D.p + _colcount_to_colptr(D); + + _fill_diag_values(D, OSQP_NULL, 0, 0, OSQP_NULL, 1, n+x+y); + _fill_block(D, P_full->csc, OSQP_NULL, 0, n+x+y, 0); + _fill_block(D, G->csc, OSQP_NULL, n, n+x+y, 0); + _fill_block(D, A_eq->csc, OSQP_NULL, n+x, n+x+y, 0); + _fill_block(D, GDiagLambda->csc, OSQP_NULL, 0, n+x+y+n, 1); + _fill_diag_values(D, OSQP_NULL, n, n+x+y+n, slacks->values, 0, x); + _fill_block(D, A_eq->csc, OSQP_NULL, 0, n+x+y+n+x, 1); + _fill_diag_values(D, OSQP_NULL, n+x+y, n+x+y, OSQP_NULL, 0, n+x+y); + + _backshift_colptrs(D); + +} + +OSQPInt adjoint_derivative_qdldl(qdldl_solver** s, + const OSQPMatrix* P_full, + const OSQPMatrix* G, + const OSQPMatrix* A_eq, + const OSQPMatrix* GDiagLambda, + const OSQPVectorf* slacks, + OSQPVectorf* rhs) { + /* We don't currently reuse the solver for the adjoint computations */ + OSQP_UnusedVar(s); + + OSQPInt retval = 0; + + OSQPInt n = OSQPMatrix_get_m(P_full); + OSQPInt n_ineq = OSQPMatrix_get_m(G); + OSQPInt n_eq = OSQPMatrix_get_m(A_eq); + + // Get maximum number of nonzero elements (only upper triangular part) + OSQPInt P_full_nnz = OSQPMatrix_get_nz(P_full); + OSQPInt G_nnz = OSQPMatrix_get_nz(G); + OSQPInt A_eq_nnz = OSQPMatrix_get_nz(A_eq); + + OSQPInt nnzKKT = n + n_ineq + n_eq + // Number of diagonal elements in I (+eps) + P_full_nnz + // Number of elements in P_full + G_nnz + // Number of nonzeros in G + A_eq_nnz + // Number of nonzeros in A_eq + G_nnz + // Number of nonzeros in G' + n_ineq + // Number of diagonal elements in slacks + A_eq_nnz + // Number of nonzeros in A_eq' + n + n_ineq + n_eq; // Number of -eps entries on diagonal + + OSQPInt dim = 2 * (n + n_ineq + n_eq); + OSQPCscMatrix* adj = csc_spalloc(dim, dim, nnzKKT, 1, 0); + if (!adj) return osqp_error(OSQP_MEM_ALLOC_ERROR); + + _adj_assemble_csc(adj, P_full, G, A_eq, GDiagLambda, slacks); + + OSQPMatrix *adj_matrix = OSQPMatrix_new_from_csc(adj, 1); + + if (!adj_matrix) { + retval = OSQP_MEM_ALLOC_ERROR; + goto adj_alloc_fail; + } + + _adj_perturb(adj, 1e-6); + + // ---------------------------- + // QDLDL formulation + solve + // ---------------------------- + const QDLDL_int An = dim; + QDLDL_int i; // Counter + + //data for L and D factors + QDLDL_int Ln = An; + + QDLDL_float *Lx = OSQP_NULL; + QDLDL_int *Li = OSQP_NULL; + + QDLDL_int *Lp = (QDLDL_int*)malloc(sizeof(QDLDL_int)*(An+1)); + QDLDL_float *D = (QDLDL_float*)malloc(sizeof(QDLDL_float)*An); + QDLDL_float *Dinv = (QDLDL_float*)malloc(sizeof(QDLDL_float)*An); + + //permutation + QDLDL_int *P = (QDLDL_int*)malloc(sizeof(QDLDL_int)*(An)); + QDLDL_int *Pinv = OSQP_NULL; + + //data for elim tree calculation + QDLDL_int *etree = (QDLDL_int*)malloc(sizeof(QDLDL_int)*An); + QDLDL_int *Lnz = (QDLDL_int*)malloc(sizeof(QDLDL_int)*An); + QDLDL_int sumLnz; + + //working data for factorisation + QDLDL_int *iwork = (QDLDL_int*)malloc(sizeof(QDLDL_int)*(3*An)); + QDLDL_bool *bwork = (QDLDL_bool*)malloc(sizeof(QDLDL_bool)*An); + QDLDL_float *fwork = (QDLDL_float*)malloc(sizeof(QDLDL_float)*An); + + //Data for results of A\b + QDLDL_float *x = OSQP_NULL; + QDLDL_float *x_work = OSQP_NULL; + + if (!Lp || !D || !Dinv || !P || !etree || !Lnz || !iwork || !bwork || !fwork) { + retval = OSQP_MEM_ALLOC_ERROR; + goto mat_comp_alloc_error; + } + + OSQPInt amd_status; +#ifdef OSQP_USE_LONG + amd_status = amd_l_order(An, adj->p, adj->i, P, (OSQPFloat *)OSQP_NULL, (OSQPFloat *)OSQP_NULL); +#else + amd_status = amd_order(An, adj->p, adj->i, P, (OSQPFloat *)OSQP_NULL, (OSQPFloat *)OSQP_NULL); +#endif + if (amd_status < 0) { + retval = amd_status; + goto mat_comp_alloc_error; + } + + // Inverse of the permutation vector + Pinv = csc_pinv(P, An); + if (!Pinv) { + retval = OSQP_MEM_ALLOC_ERROR; + goto inv_perm_fail; + } + + OSQPCscMatrix* adj_permuted = OSQP_NULL; + adj_permuted = csc_symperm(adj, Pinv, OSQP_NULL, 1); + if (!adj_permuted) { + retval = OSQP_MEM_ALLOC_ERROR; + goto sym_perm_fail; + } + + sumLnz = QDLDL_etree(An, adj_permuted->p, adj_permuted->i, iwork, Lnz, etree); + + Li = (QDLDL_int*)malloc(sizeof(QDLDL_int)*sumLnz); + Lx = (QDLDL_float*)malloc(sizeof(QDLDL_float)*sumLnz); + + if (!Li || !Lx) { + retval = OSQP_MEM_ALLOC_ERROR; + goto csc_alloc_fail; + } + + QDLDL_factor(An, adj_permuted->p, adj_permuted->i, adj_permuted->x, Lp, Li, Lx, D, Dinv, Lnz, etree, bwork, iwork, fwork); + + x = (QDLDL_float*)malloc(sizeof(QDLDL_float)*An); + x_work = (QDLDL_float*)malloc(sizeof(QDLDL_float)*An); + + if (!x || !x_work) { + retval = OSQP_MEM_ALLOC_ERROR; + goto x_alloc_fail; + } + + //when solving A\b, start with x = b + for (i = 0 ; i < An ; i++) x_work[i] = rhs->values[P[i]]; + QDLDL_solve(Ln, Lp, Li, Lx, Dinv, x_work); + for (i = 0 ; i < An ; i++) x[P[i]] = x_work[i]; + + OSQPVectorf *sol = OSQPVectorf_new(x, An); + OSQPVectorf *residual = OSQPVectorf_malloc(An); + + if (!sol || !residual) { + retval = OSQP_MEM_ALLOC_ERROR; + goto vec_alloc_fail; + } + + OSQPInt k; + for (k=0; k<200; k++) { + OSQPVectorf_copy(residual, rhs); + OSQPMatrix_Axpy(adj_matrix, sol, residual, 1, -1); + if (OSQPVectorf_norm_2(residual) < 1e-12) break; + + for (i = 0 ; i < An ; i++) x_work[i] = residual->values[P[i]]; + QDLDL_solve(Ln, Lp, Li, Lx, Dinv, x_work); + for (i = 0 ; i < An ; i++) residual->values[P[i]] = x_work[i]; + + OSQPVectorf_minus(sol, sol, residual); + } + + // rhs is sized to be the largest possible size needed, so sol might be smaller + // Therefore, we have to subassign into rhs + OSQPVectorf_subvector_assign(rhs, OSQPVectorf_data(sol), 0, OSQPVectorf_length(sol), 1.0); + +/* Free data based on what failed */ +vec_alloc_fail: + OSQPVectorf_free(sol); + OSQPVectorf_free(residual); + +x_alloc_fail: + c_free(x); + c_free(x_work); + +csc_alloc_fail: + c_free(Li); + c_free(Lx); + +sym_perm_fail: + csc_spfree(adj_permuted); + +inv_perm_fail: + c_free(Pinv); + +mat_comp_alloc_error: + c_free(Lp); + c_free(D); + c_free(Dinv); + c_free(P); + c_free(etree); + c_free(Lnz); + c_free(iwork); + c_free(bwork); + c_free(fwork); + +adj_alloc_fail: + OSQPMatrix_free(adj_matrix); + csc_spfree(adj); + + return retval; +} + +#endif diff --git a/lib/controller/mpc/solver_code/src/scaling.c b/lib/controller/mpc/solver_code/src/scaling.c new file mode 100644 index 0000000..d93512d --- /dev/null +++ b/lib/controller/mpc/solver_code/src/scaling.c @@ -0,0 +1,208 @@ +#include "scaling.h" + +#if OSQP_EMBEDDED_MODE != 1 + + +// Set values lower than threshold SCALING_REG to 1 + +OSQPFloat limit_scaling_scalar(OSQPFloat v) { + v = v < OSQP_MIN_SCALING ? 1.0 : v; + v = v > OSQP_MAX_SCALING ? OSQP_MAX_SCALING : v; + return v; +} + +void limit_scaling_vector(OSQPVectorf* v) { + OSQPVectorf_set_scalar_if_lt(v,v,OSQP_MIN_SCALING,1.0); + OSQPVectorf_set_scalar_if_gt(v,v,OSQP_MAX_SCALING,OSQP_MAX_SCALING); +} + +/** + * Compute infinite norm of the columns of the KKT matrix without forming it + * + * The norm is stored in the vector v = (D, E) + * + * @param P Cost matrix + * @param A Constraints matrix + * @param D Norm of columns related to variables + * @param D_temp_A Temporary vector for norm of columns of A + * @param E Norm of columns related to constraints + */ +void compute_inf_norm_cols_KKT(const OSQPMatrix* P, + const OSQPMatrix* A, + OSQPVectorf* D, + OSQPVectorf* D_temp_A, + OSQPVectorf* E) { + // First half + // [ P ] + // [ A ] + OSQPMatrix_col_norm_inf(P,D); + OSQPMatrix_col_norm_inf(A, D_temp_A); + OSQPVectorf_ew_max_vec(D, D_temp_A, D); + + // Second half + // [ A'] + // [ 0 ] + OSQPMatrix_row_norm_inf(A,E); +} + +OSQPInt scale_data(OSQPSolver* solver) { + // Scale KKT matrix + // + // [ P A'] + // [ A 0 ] + // + // with diagonal matrix + // + // S = [ D ] + // [ E ] + // + + OSQPInt i; // Iterations index + OSQPInt n; // Number of variables + OSQPFloat c_temp; // Objective function scaling + OSQPFloat inf_norm_q; // Infinity norm of q + + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + n = work->data->n; + + // Initialize scaling to 1 + work->scaling->c = 1.0; + OSQPVectorf_set_scalar(work->scaling->D, 1.); + OSQPVectorf_set_scalar(work->scaling->Dinv, 1.); + OSQPVectorf_set_scalar(work->scaling->E, 1.); + OSQPVectorf_set_scalar(work->scaling->Einv, 1.); + + + for (i = 0; i < settings->scaling; i++) { + // + // First Ruiz step + // + + // Compute norm of KKT columns + compute_inf_norm_cols_KKT(work->data->P, work->data->A, + work->D_temp, + work->D_temp_A, + work->E_temp); + + // Set to 1 values with 0 norms (avoid crazy scaling) + limit_scaling_vector(work->D_temp); + limit_scaling_vector(work->E_temp); + + // Take square root of norms + OSQPVectorf_ew_sqrt(work->D_temp); + OSQPVectorf_ew_sqrt(work->E_temp); + + // Copy inverses of D/E over themselves + OSQPVectorf_ew_reciprocal(work->D_temp, work->D_temp); + OSQPVectorf_ew_reciprocal(work->E_temp, work->E_temp); + + // Equilibrate matrices P and A and vector q + // P <- DPD + OSQPMatrix_lmult_diag(work->data->P,work->D_temp); + OSQPMatrix_rmult_diag(work->data->P,work->D_temp); + + // A <- EAD + OSQPMatrix_lmult_diag(work->data->A,work->E_temp); + OSQPMatrix_rmult_diag(work->data->A,work->D_temp); + + // q <- Dq + OSQPVectorf_ew_prod(work->data->q, work->data->q, work->D_temp); + + // Update equilibration matrices D and E + OSQPVectorf_ew_prod(work->scaling->D, work->scaling->D, work->D_temp); + OSQPVectorf_ew_prod(work->scaling->E, work->scaling->E, work->E_temp); + + // + // Cost normalization step + // + + // Compute avg norm of cols of P. + OSQPMatrix_col_norm_inf(work->data->P, work->D_temp); + c_temp = OSQPVectorf_norm_1(work->D_temp); + c_temp = c_temp / n; + + // Compute inf norm of q + inf_norm_q = OSQPVectorf_norm_inf(work->data->q); + + // If norm_q == 0, set it to 1 (ignore it in the scaling) + // NB: Using the same function as with vectors here + inf_norm_q = limit_scaling_scalar(inf_norm_q); + + // Compute max between avg norm of cols of P and inf norm of q + c_temp = c_max(c_temp, inf_norm_q); + + // Limit scaling (use same function as with vectors) + c_temp = limit_scaling_scalar(c_temp); + + // Invert scaling c = 1 / cost_measure + c_temp = 1. / c_temp; + + // Scale P + OSQPMatrix_mult_scalar(work->data->P,c_temp); + + // Scale q + OSQPVectorf_mult_scalar(work->data->q, c_temp); + + // Update cost scaling + work->scaling->c *= c_temp; + } + + + // Store cinv, Dinv, Einv + work->scaling->cinv = 1. / work->scaling->c; + OSQPVectorf_ew_reciprocal(work->scaling->Dinv, work->scaling->D); + OSQPVectorf_ew_reciprocal(work->scaling->Einv, work->scaling->E); + + + // Scale problem vectors l, u + OSQPVectorf_ew_prod(work->data->l, work->data->l, work->scaling->E); + OSQPVectorf_ew_prod(work->data->u, work->data->u, work->scaling->E); + + return 0; +} + +#endif /* if OSQP_EMBEDDED_MODE != 1 */ + + +OSQPInt unscale_data(OSQPSolver* solver) { + + OSQPWorkspace* work = solver->work; + + // Unscale cost + OSQPMatrix_mult_scalar(work->data->P, work->scaling->cinv); + OSQPMatrix_lmult_diag(work->data->P, work->scaling->Dinv); + OSQPMatrix_rmult_diag(work->data->P, work->scaling->Dinv); + OSQPVectorf_mult_scalar(work->data->q,work->scaling->cinv); + OSQPVectorf_ew_prod(work->data->q, work->data->q, work->scaling->Dinv); + + // Unscale constraints + OSQPMatrix_lmult_diag(work->data->A,work->scaling->Einv); + OSQPMatrix_rmult_diag(work->data->A,work->scaling->Dinv); + + OSQPVectorf_ew_prod(work->data->l, + work->data->l, + work->scaling->Einv); + OSQPVectorf_ew_prod(work->data->u, + work->data->u, + work->scaling->Einv); + + return 0; +} + +OSQPInt unscale_solution(OSQPVectorf* usolx, + OSQPVectorf* usoly, + const OSQPVectorf* solx, + const OSQPVectorf* soly, + OSQPWorkspace* work) { + + // primal + OSQPVectorf_ew_prod(usolx,solx,work->scaling->D); + + // dual + OSQPVectorf_ew_prod(usoly,soly,work->scaling->E); + + OSQPVectorf_mult_scalar(usoly,work->scaling->cinv); + return 0; +} diff --git a/lib/controller/mpc/solver_code/src/util.c b/lib/controller/mpc/solver_code/src/util.c new file mode 100644 index 0000000..65b3457 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/util.c @@ -0,0 +1,488 @@ +#include "osqp.h" +#include "util.h" +#include "algebra_vector.h" +#include "version.h" +#include "printing.h" +#include "lin_alg.h" + +/************************************ +* Printing Constants to set Layout * +************************************/ +#ifdef OSQP_ENABLE_PRINTING +# define HEADER_LINE_LEN 65 +#endif /* ifdef OSQP_ENABLE_PRINTING */ + +/********************** +* Utility Functions * +**********************/ +void c_strcpy(char dest[], const char source[]) { + int i = 0; + + while (1) { + dest[i] = source[i]; + + if (dest[i] == '\0') break; + i++; + } +} + +#ifdef OSQP_ENABLE_PRINTING + +static void print_line(void) { + char the_line[HEADER_LINE_LEN + 1]; + OSQPInt i; + + for (i = 0; i < HEADER_LINE_LEN; ++i) the_line[i] = '-'; + the_line[HEADER_LINE_LEN] = '\0'; + c_print("%s\n", the_line); +} + +void print_header(void) { + // Different indentation required for windows +#if defined(IS_WINDOWS) && !defined(PYTHON) + c_print("iter "); +#else + c_print("iter "); +#endif + + // Main information + c_print("objective prim res dual res gap rel kkt rho"); +# ifdef OSQP_ENABLE_PROFILING + c_print(" time"); +# endif /* ifdef OSQP_ENABLE_PROFILING */ + c_print("\n"); +} + +void print_setup_header(const OSQPSolver* solver) { + + OSQPWorkspace* work; + OSQPData* data; + OSQPSettings* settings; + + OSQPInt nnz; // Number of nonzeros in the problem + +#define NAMEBUFLEN 30 + char namebuf[NAMEBUFLEN]; + +/* Disable device printing in embedded mode to save stack space */ +#ifndef OSQP_EMBEDDED_MODE + #define DEVICEBUFLEN 150 + char devicebuf[DEVICEBUFLEN]; +#endif + + work = solver->work; + data = solver->work->data; + settings = solver->settings; + + // Number of nonzeros + nnz = OSQPMatrix_get_nz(data->P) + OSQPMatrix_get_nz(data->A); + + print_line(); + c_print(" OSQP v%s - Operator Splitting QP Solver\n" + " (c) The OSQP Developer Team\n", + OSQP_VERSION); + print_line(); + + // Print variables and constraints + c_print("problem: "); + c_print("variables n = %i, constraints m = %i\n ", + (int)data->n, + (int)data->m); + c_print("nnz(P) + nnz(A) = %i\n", (int)nnz); + + // Print Settings + c_print("settings: "); + + osqp_algebra_name(namebuf, NAMEBUFLEN); + c_print("algebra = %s", namebuf); + c_print(",\n "); + + c_print("OSQPInt = %i bytes, OSQPFloat = %i bytes,\n ", (int)sizeof(OSQPInt), (int)sizeof(OSQPFloat)); + +#ifndef OSQP_EMBEDDED_MODE + osqp_algebra_device_name(devicebuf, DEVICEBUFLEN); + + if (devicebuf[0] != 0 ) { + c_print("device = %s", devicebuf); + c_print(",\n "); + } +#endif + + c_print("linear system solver = %s", work->linsys_solver->name(work->linsys_solver)); + + if (work->linsys_solver->nthreads != 1) { + c_print(" (%d threads)", (int)work->linsys_solver->nthreads); + } + c_print(",\n "); + + c_print("eps_abs = %.1e, eps_rel = %.1e,\n ", + settings->eps_abs, settings->eps_rel); + c_print("eps_prim_inf = %.1e, eps_dual_inf = %.1e,\n ", + settings->eps_prim_inf, settings->eps_dual_inf); + c_print("rho = %.2e ", settings->rho); + + switch(settings->adaptive_rho) + { + case OSQP_ADAPTIVE_RHO_UPDATE_DISABLED: + c_print("(adaptive: disabled)"); + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_ITERATIONS: + c_print("(adaptive: %d iterations)", (int) settings->adaptive_rho_interval); + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_TIME: + c_print("(adaptive: time)"); + break; + + case OSQP_ADAPTIVE_RHO_UPDATE_KKT_ERROR: + c_print("(adaptive: kkt error, interval %d)", (int) settings->adaptive_rho_interval); + break; + } + + c_print(",\n "); + c_print("sigma = %.2e, alpha = %.2f, ", + settings->sigma, settings->alpha); + c_print("max_iter = %i\n", (int)settings->max_iter); + + if (settings->check_termination) { + if(settings->check_dualgap) { + c_print(" check_termination: on (interval %i, duality gap: on),\n", + (int)settings->check_termination); + } + else { + c_print(" check_termination: on (interval %i, duality gap: off),\n", + (int)settings->check_termination); + } + } + else + c_print(" check_termination: off,\n"); + +# ifdef OSQP_ENABLE_PROFILING + if (settings->time_limit) + c_print(" time_limit: %.2e sec,\n", settings->time_limit); +# endif /* ifdef OSQP_ENABLE_PROFILING */ + + if (settings->scaling) { + c_print(" scaling: on (%i iterations), ", (int)settings->scaling); + } else { + c_print(" scaling: off, "); + } + + if (settings->scaled_termination) { + c_print("scaled_termination: on\n"); + } else { + c_print("scaled_termination: off\n"); + } + + if (settings->warm_starting) { + c_print(" warm starting: on, "); + } else { + c_print(" warm starting: off, "); + } + + if (settings->polishing) { + c_print("polishing: on, "); + } else { + c_print("polishing: off, "); + } + + c_print("\n"); +} + +void print_summary(OSQPSolver* solver) { + + OSQPInfo* info = solver->info; + OSQPSettings* settings = solver->settings; + OSQPWorkspace* work = solver->work; + + c_print("%4i", (int)info->iter); + c_print(" %12.4e", info->obj_val); + c_print(" %9.2e", info->prim_res); + c_print(" %9.2e", info->dual_res); + c_print(" %9.2e", info->duality_gap); + c_print(" %9.2e", info->rel_kkt_error); + + /* Specially mark the iterations where we have just adapted rho + * (Note, we print out the new rho value in this iteration, not the old one) */ + if(solver->work->rho_updated) { + c_print(" %9.2e*", settings->rho); + } else { + c_print(" %9.2e ", settings->rho); + } + + +# ifdef OSQP_ENABLE_PROFILING + + if (work->first_run) { + // total time: setup + solve + c_print(" %9.2es", info->setup_time + info->solve_time); + } else { + // total time: update + solve + c_print(" %9.2es", info->update_time + info->solve_time); + } +# endif /* ifdef OSQP_ENABLE_PROFILING */ + c_print("\n"); + + work->summary_printed = 1; // Summary has been printed +} + +void print_polish(OSQPSolver* solver) { + + OSQPInfo* info = solver->info; + OSQPWorkspace* work = solver->work; + + c_print("%4s", "plsh"); + c_print(" %12.4e", info->obj_val); + c_print(" %9.2e", info->prim_res); + c_print(" %9.2e", info->dual_res); + c_print(" %9.2e", info->duality_gap); + c_print(" %9.2e", info->rel_kkt_error); + + // Different characters for windows/unix +#if defined(IS_WINDOWS) && !defined(PYTHON) + c_print(" --------- "); +#else + c_print(" -------- "); +#endif + +# ifdef OSQP_ENABLE_PROFILING + if (work->first_run) { + // total time: setup + solve + c_print(" %9.2es", info->setup_time + info->solve_time + + info->polish_time); + } else { + // total time: update + solve + c_print(" %9.2es", info->update_time + info->solve_time + + info->polish_time); + } +# endif /* ifdef OSQP_ENABLE_PROFILING */ + c_print("\n"); +} + +void print_footer(OSQPInfo* info, + OSQPInt polishing) { + c_print("\n"); // Add space after iterations + + c_print("status: %s\n", info->status); + + if (polishing && (info->status_val == OSQP_SOLVED)) { + if (info->status_polish == OSQP_POLISH_SUCCESS) { + c_print("solution polishing: successful\n"); + } else if (info->status_polish < 0) { + c_print("solution polishing: unsuccessful\n"); + } else if (info->status_polish == OSQP_POLISH_NO_ACTIVE_SET_FOUND) { + c_print("solution polishing: not needed\n"); + } + } + + c_print("number of iterations: %i\n", (int)info->iter); + + if ((info->status_val == OSQP_SOLVED) || + (info->status_val == OSQP_SOLVED_INACCURATE)) { + c_print("optimal objective: %.4f\n", info->obj_val); + c_print("dual objective: %.4f\n", info->dual_obj_val); + c_print("duality gap: %.4e\n", info->duality_gap); + c_print("primal-dual integral: %.4e\n", info->primdual_int); + } + +# ifdef OSQP_ENABLE_PROFILING + c_print("run time: %.2es\n", info->run_time); +# endif /* ifdef OSQP_ENABLE_PROFILING */ + +# if OSQP_EMBEDDED_MODE != 1 + c_print("optimal rho estimate: %.2e\n", info->rho_estimate); +# endif /* if OSQP_EMBEDDED_MODE != 1 */ + c_print("\n"); +} + +#endif /* End #ifdef OSQP_ENABLE_PRINTING */ + + +#ifndef OSQP_EMBEDDED_MODE + +OSQPSettings* copy_settings(const OSQPSettings *settings) { + + OSQPSettings *new = c_malloc(sizeof(OSQPSettings)); + if (!new) return OSQP_NULL; + + /* Copy settings + * NB: Copying them explicitly because memcpy is not + * defined when OSQP_ENABLE_PRINTING is disabled (appears in string.h) + */ + new->device = settings->device; + new->linsys_solver = settings->linsys_solver; + + new->allocate_solution = settings->allocate_solution; + new->profiler_level = settings->profiler_level; + new->verbose = settings->verbose; + new->warm_starting = settings->warm_starting; + new->scaling = settings->scaling; + new->polishing = settings->polishing; + + new->rho = settings->rho; + new->rho_is_vec = settings->rho_is_vec; + new->sigma = settings->sigma; + new->alpha = settings->alpha; + + new->cg_max_iter = settings->cg_max_iter; + new->cg_tol_reduction = settings->cg_tol_reduction; + new->cg_tol_fraction = settings->cg_tol_fraction; + new->cg_precond = settings->cg_precond; + + new->adaptive_rho = settings->adaptive_rho; + new->adaptive_rho_interval = settings->adaptive_rho_interval; + new->adaptive_rho_fraction = settings->adaptive_rho_fraction; + new->adaptive_rho_tolerance = settings->adaptive_rho_tolerance; + + new->max_iter = settings->max_iter; + new->eps_abs = settings->eps_abs; + new->eps_rel = settings->eps_rel; + new->eps_prim_inf = settings->eps_prim_inf; + new->eps_dual_inf = settings->eps_dual_inf; + new->scaled_termination = settings->scaled_termination; + new->check_termination = settings->check_termination; + new->check_dualgap = settings->check_dualgap; + new->time_limit = settings->time_limit; + + new->delta = settings->delta; + new->polish_refine_iter = settings->polish_refine_iter; + + return new; +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + + +/* ==================== DEBUG FUNCTIONS ======================= */ + + +#if defined(OSQP_ENABLE_DEBUG) && defined(OSQP_ENABLE_PRINTING) + +void print_csc_matrix(const OSQPCscMatrix* M, + const char* name) +{ + OSQPInt j, i, row_start, row_stop; + OSQPInt k = 0; + + // Print name + c_print("%s :\n", name); + + for (j = 0; j < M->n; j++) { + row_start = M->p[j]; + row_stop = M->p[j + 1]; + + if (row_start == row_stop) continue; + else { + for (i = row_start; i < row_stop; i++) { + c_print("\t[%3u,%3u] = %.3g\n", (int)M->i[i], (int)j, M->x[k++]); + } + } + } +} + +void dump_csc_matrix(const OSQPCscMatrix* M, + const char* file_name) { + OSQPInt j, i, row_strt, row_stop; + OSQPInt k = 0; + FILE *f = fopen(file_name, "w"); + + if (f) { + for (j = 0; j < M->n; j++) { + row_strt = M->p[j]; + row_stop = M->p[j + 1]; + + if (row_strt == row_stop) continue; + else { + for (i = row_strt; i < row_stop; i++) { + fprintf(f, "%d\t%d\t%20.18e\n", + (int)M->i[i] + 1, (int)j + 1, M->x[k++]); + } + } + } + fprintf(f, "%d\t%d\t%20.18e\n", (int)M->m, (int)M->n, 0.0); + fclose(f); + c_print("File %s successfully written.\n", file_name); + } else { + c_eprint("Error during writing file %s.\n", file_name); + } +} + +void print_trip_matrix(const OSQPCscMatrix* M, + const char* name) +{ + OSQPInt k = 0; + + // Print name + c_print("%s :\n", name); + + for (k = 0; k < M->nz; k++) { + c_print("\t[%3u, %3u] = %.3g\n", (int)M->i[k], (int)M->p[k], M->x[k]); + } +} + +void print_dns_matrix(const OSQPFloat* M, + OSQPInt m, + OSQPInt n, + const char* name) +{ + OSQPInt i, j; + + c_print("%s : \n\t", name); + + for (i = 0; i < m; i++) { // Cycle over rows + for (j = 0; j < n; j++) { // Cycle over columns + if (j < n - 1) { + // c_print("% 14.12e, ", M[j*m+i]); + c_print("% .3g, ", M[j * m + i]); + + } else { + // c_print("% 14.12e; ", M[j*m+i]); + c_print("% .3g; ", M[j * m + i]); + } + } + + if (i < m - 1) { + c_print("\n\t"); + } + } + c_print("\n"); +} + +void print_vec(const OSQPFloat* v, + OSQPInt n, + const char* name) { + print_dns_matrix(v, 1, n, name); +} + +void dump_vec(const OSQPFloat* v, + OSQPInt len, + const char* file_name) { + OSQPInt i; + FILE *f = fopen(file_name, "w"); + + if (f) { + for (i = 0; i < len; i++) { + fprintf(f, "%20.18e\n", v[i]); + } + fclose(f); + c_print("File %s successfully written.\n", file_name); + } else { + c_print("Error during writing file %s.\n", file_name); + } +} + +void print_vec_int(const OSQPInt* x, + OSQPInt n, + const char* name) { + OSQPInt i; + + c_print("%s = [", name); + + for (i = 0; i < n; i++) { + c_print(" %i ", (int)x[i]); + } + c_print("]\n"); +} + +#endif /* if defined(OSQP_ENABLE_DEBUG) && defined(OSQP_ENABLE_PRINTING) */ diff --git a/lib/controller/mpc/solver_code/src/vector.c b/lib/controller/mpc/solver_code/src/vector.c new file mode 100644 index 0000000..1b31950 --- /dev/null +++ b/lib/controller/mpc/solver_code/src/vector.c @@ -0,0 +1,953 @@ +#include "osqp.h" +#include "algebra_vector.h" +#include "algebra_impl.h" + +/* VECTOR FUNCTIONS ----------------------------------------------------------*/ + +#ifndef OSQP_EMBEDDED_MODE + +OSQPInt OSQPVectorf_is_eq(const OSQPVectorf* A, + const OSQPVectorf* B, + OSQPFloat tol) { + + if (A->length != B->length) return 0; + OSQPInt i; + OSQPInt retval = 1; + for (i=0; ilength; i++) { + if (c_absval(A->values[i] - B->values[i]) > tol) { + retval = 0; + } + } + return retval; +} + +OSQPVectorf* OSQPVectorf_new(const OSQPFloat* a, + OSQPInt length) { + + OSQPVectorf* out = OSQPVectorf_malloc(length); + if(!out) return OSQP_NULL; + + if (length > 0) { + OSQPVectorf_from_raw(out, a); + } + return out; +} + +OSQPVectori* OSQPVectori_new(const OSQPInt* a, + OSQPInt length) { + + OSQPVectori* out = OSQPVectori_malloc(length); + if(!out) return OSQP_NULL; + + if (length > 0) { + OSQPVectori_from_raw(out, a); + } + return out; +} + +OSQPVectorf* OSQPVectorf_malloc(OSQPInt length) { + + OSQPVectorf *b = c_malloc(sizeof(OSQPVectorf)); + + if (b) { + b->length = length; + if (length) { + b->values = c_malloc(length * sizeof(OSQPFloat)); + if (!(b->values)) { + c_free(b); + b = OSQP_NULL; + } + } + else { + b->values = OSQP_NULL; + } + } + return b; +} + +OSQPVectori* OSQPVectori_malloc(OSQPInt length) { + + OSQPVectori *b = c_malloc(sizeof(OSQPVectori)); + + if (b) { + b->length = length; + if (length) { + b->values = c_malloc(length * sizeof(OSQPInt)); + if (!(b->values)) { + c_free(b); + b = OSQP_NULL; + } + } + else { + b->values = OSQP_NULL; + } + } + return b; +} + +OSQPVectorf* OSQPVectorf_calloc(OSQPInt length) { + + OSQPVectorf *b = c_malloc(sizeof(OSQPVectorf)); + + if (b) { + b->length = length; + if (length) { + b->values = c_calloc(length, sizeof(OSQPFloat)); + if (!(b->values)) { + c_free(b); + b = OSQP_NULL; + } + } + else { + b->values = OSQP_NULL; + } + } + return b; +} + +OSQPVectori* OSQPVectori_calloc(OSQPInt length) { + + OSQPVectori *b = c_malloc(sizeof(OSQPVectori)); + + if (b) { + b->length = length; + if (length) { + b->values = c_calloc(length, sizeof(OSQPInt)); + if (!(b->values)) { + c_free(b); + b = OSQP_NULL; + } + } + else { + b->values = OSQP_NULL; + } + } + return b; +} + +OSQPVectorf* OSQPVectorf_copy_new(const OSQPVectorf* a) { + + OSQPVectorf* b = OSQPVectorf_malloc(a->length); + if(b) OSQPVectorf_copy(b,a); + return b; + +} + +// OSQPVectori* OSQPVectori_copy_new(const OSQPVectori *a){ + +// OSQPVectori* b = OSQPVectori_malloc(a->length); +// if(b) OSQPVectori_copy(b,a); +// return b; +// } + +void OSQPVectorf_free(OSQPVectorf* a) { + if (a) { + c_free(a->values); + } + c_free(a); +} + +void OSQPVectori_free(OSQPVectori* a) { + if (a) c_free(a->values); + c_free(a); +} + +void OSQPVectorf_subvector_assign(OSQPVectorf* A, + OSQPFloat* b, + OSQPInt start, + OSQPInt length, + OSQPFloat multiplier) { + OSQPInt i; + + for (i = 0; i < length; i++) { + A->values[start+i] = multiplier * b[i]; + } +} + +void OSQPVectorf_subvector_assign_scalar(OSQPVectorf* A, + OSQPFloat sc, + OSQPInt start, + OSQPInt length) { + OSQPInt i; + + for (i = 0; i < length; i++) { + A->values[start+i] = sc; + } +} + +OSQPVectorf* OSQPVectorf_subvector_byrows(const OSQPVectorf* A, + const OSQPVectori* rows) { + OSQPInt i; + + OSQPInt rows_len = 0; + for (i = 0; i < rows->length; i++) + if (rows->values[i]) rows_len++; + + OSQPVectorf* out = OSQPVectorf_malloc(rows_len); + if(!out) return OSQP_NULL; + + OSQPInt j = 0; + for (i = 0; i < rows->length; i++) { + if (rows->values[i]) { + out->values[j] = A->values[i]; + j++; + } + } + + return out; +} + +OSQPVectorf* OSQPVectorf_concat(const OSQPVectorf* A, + const OSQPVectorf* B) { + + OSQPVectorf* out = OSQPVectorf_malloc(A->length + B->length); + if(!out) return OSQP_NULL; + + OSQPInt i, j; + for (i = 0; i < A->length; i++) + out->values[i] = A->values[i]; + for (j = 0; j < B->length; j++) + out->values[j+i] = B->values[j]; + + return out; +} + +OSQPVectorf* OSQPVectorf_view(const OSQPVectorf* a, + OSQPInt head, + OSQPInt length) { + + OSQPVectorf* view = c_malloc(sizeof(OSQPVectorf)); + if (view) { + OSQPVectorf_view_update(view, a, head, length); + } + return view; +} + +void OSQPVectorf_view_update(OSQPVectorf* a, + const OSQPVectorf* b, + OSQPInt head, + OSQPInt length) { + a->length = length; + a->values = b->values + head; +} + +void OSQPVectorf_view_free(OSQPVectorf* a) { + c_free(a); +} + +OSQPFloat OSQPVectorf_norm_2(const OSQPVectorf* v) { + OSQPInt i; + OSQPInt length = v->length; + + OSQPFloat* vv = v->values; + OSQPFloat normval = 0.0; + + for (i = 0; i < length; i++) { + normval += vv[i] * vv[i]; + } + return c_sqrt(normval); +} + +#endif /* ifndef OSQP_EMBEDDED_MODE */ + +OSQPInt OSQPVectorf_length(const OSQPVectorf* a) {return a->length;} +OSQPInt OSQPVectori_length(const OSQPVectori *a){return a->length;} + +/* Pointer to vector data (floats) */ +OSQPFloat* OSQPVectorf_data(const OSQPVectorf* a) {return a->values;} + +// OSQPInt* OSQPVectori_data(const OSQPVectori *a){return a->values;} + +void OSQPVectorf_copy(OSQPVectorf* b, + const OSQPVectorf* a) { + OSQPVectorf_from_raw(b, a->values); +} + +// void OSQPVectori_copy(OSQPVectori *b, +// const OSQPVectori *a){ +// OSQPVectori_from_raw(b, a->values); +// } + +void OSQPVectorf_from_raw(OSQPVectorf* b, + const OSQPFloat* av) { + OSQPInt i; + OSQPInt length = b->length; + OSQPFloat* bv = b->values; + + for (i = 0; i < length; i++) { + bv[i] = av[i]; + } +} + +void OSQPVectori_from_raw(OSQPVectori* b, + const OSQPInt* av) { + OSQPInt i; + OSQPInt length = b->length; + OSQPInt* bv = b->values; + + for (i = 0; i < length; i++) { + bv[i] = av[i]; + } +} + +void OSQPVectorf_to_raw(OSQPFloat* bv, + const OSQPVectorf* a) { + OSQPInt i; + OSQPInt length = a->length; + OSQPFloat* av = a->values; + + for (i = 0; i < length; i++) { + bv[i] = av[i]; + } +} + +void OSQPVectori_to_raw(OSQPInt* bv, + const OSQPVectori* a) { + OSQPInt i; + OSQPInt length = a->length; + OSQPInt* av = a->values; + + for (i = 0; i < length; i++) { + bv[i] = av[i]; + } +} + +void OSQPVectorf_set_scalar(OSQPVectorf* a, + OSQPFloat sc) { + OSQPInt i; + OSQPInt length = a->length; + OSQPFloat* av = a->values; + + for (i = 0; i < length; i++) { + av[i] = sc; + } +} + + +void OSQPVectorf_set_scalar_conditional(OSQPVectorf* a, + const OSQPVectori* test, + OSQPFloat sc_if_neg, + OSQPFloat sc_if_zero, + OSQPFloat sc_if_pos) { + OSQPInt i; + OSQPInt length = a->length; + OSQPFloat* av = a->values; + OSQPInt* testv = test->values; + + for (i = 0; i < length; i++) { + if (testv[i] == 0) av[i] = sc_if_zero; + else if (testv[i] > 0) av[i] = sc_if_pos; + else av[i] = sc_if_neg; + } +} + + +void OSQPVectorf_round_to_zero(OSQPVectorf* a, + OSQPFloat tol) { + OSQPInt i; + OSQPInt length = a->length; + OSQPFloat* av = a->values; + + for(i=0; i < length; i++) { + if(c_absval(av[i]) < tol) { + av[i] = (OSQPFloat)0.0; + } + } +} + + +void OSQPVectorf_mult_scalar(OSQPVectorf* a, + OSQPFloat sc) { + OSQPInt i; + OSQPInt length = a->length; + OSQPFloat* av = a->values; + + for (i = 0; i < length; i++) { + av[i] *= sc; + } +} + +void OSQPVectorf_plus(OSQPVectorf* x, + const OSQPVectorf* a, + const OSQPVectorf* b) { + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* xv = x->values; + + if (x == a){ + for (i = 0; i < length; i++) { + xv[i] += bv[i]; + } + } + else { + for (i = 0; i < length; i++) { + xv[i] = av[i] + bv[i]; + } + } +} + +void OSQPVectorf_minus(OSQPVectorf* x, + const OSQPVectorf* a, + const OSQPVectorf* b) { + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* xv = x->values; + + if (x == a) { + for (i = 0; i < length; i++) { + xv[i] -= bv[i]; + } + } + else { + for (i = 0; i < length; i++) { + xv[i] = av[i] - bv[i]; + } + } +} + +void OSQPVectorf_add_scaled(OSQPVectorf* x, + OSQPFloat sca, + const OSQPVectorf* a, + OSQPFloat scb, + const OSQPVectorf* b) { + OSQPInt i; + OSQPInt length = x->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* xv = x->values; + + /* shorter version when incrementing */ + if (x == a && sca == 1.){ + for (i = 0; i < length; i++) { + xv[i] += scb * bv[i]; + } + } + else { + for (i = 0; i < length; i++) { + xv[i] = sca * av[i] + scb * bv[i]; + } + } +} + +void OSQPVectorf_add_scaled3(OSQPVectorf* x, + OSQPFloat sca, + const OSQPVectorf* a, + OSQPFloat scb, + const OSQPVectorf* b, + OSQPFloat scc, + const OSQPVectorf* c) { + OSQPInt i; + OSQPInt length = x->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* cv = c->values; + OSQPFloat* xv = x->values; + + /* shorter version when incrementing */ + if (x == a && sca == 1.){ + for (i = 0; i < length; i++) { + xv[i] += scb * bv[i] + scc * cv[i]; + } + } + else { + for (i = 0; i < length; i++) { + xv[i] = sca * av[i] + scb * bv[i] + scc * cv[i]; + } + } +} + + +OSQPFloat OSQPVectorf_norm_inf(const OSQPVectorf* v) { + + OSQPInt i; + OSQPInt length = v->length; + + OSQPFloat absval; + OSQPFloat normval = 0.0; + OSQPFloat* vv = v->values; + + for (i = 0; i < length; i++) { + absval = c_absval(vv[i]); + if (absval > normval) normval = absval; + } + return normval; +} + +// OSQPFloat OSQPVectorf_norm_1(const OSQPVectorf *v){ + +// OSQPInt i; +// OSQPInt length = v->length; +// OSQPFloat* vv = v->values; +// OSQPFloat normval = 0.0; + +// for (i = 0; i < length; i++) { +// normval += c_absval(vv[i]); +// } +// return normval; +// } + +OSQPFloat OSQPVectorf_scaled_norm_inf(const OSQPVectorf* S, + const OSQPVectorf* v) { + + OSQPInt i; + OSQPInt length = v->length; + + OSQPFloat* vv = v->values; + OSQPFloat* Sv = S->values; + OSQPFloat absval; + OSQPFloat normval = 0.0; + + for (i = 0; i < length; i++) { + absval = c_absval(Sv[i] * vv[i]); + if (absval > normval) normval = absval; + } + return normval; +} + +// OSQPFloat OSQPVectorf_scaled_norm_1(const OSQPVectorf *S, const OSQPVectorf *v){ + +// OSQPInt i; +// OSQPInt length = v->length; +// OSQPFloat* vv = v->values; +// OSQPFloat* Sv = S->values; +// OSQPFloat normval = 0.0; + +// for (i = 0; i < length; i++) { +// normval += c_absval(Sv[i] * vv[i]); +// } +// return normval; +// } + +OSQPFloat OSQPVectorf_norm_inf_diff(const OSQPVectorf* a, + const OSQPVectorf* b) { + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat absval; + OSQPFloat normDiff = 0.0; + + for (i = 0; i < length; i++) { + absval = c_absval(av[i] - bv[i]); + if (absval > normDiff) normDiff = absval; + } + return normDiff; +} + +// OSQPFloat OSQPVectorf_norm_1_diff(const OSQPVectorf *a, +// const OSQPVectorf *b){ + +// OSQPInt i; +// OSQPInt length = a->length; +// OSQPFloat* av = a->values; +// OSQPFloat* bv = b->values; +// OSQPFloat normDiff = 0.0; + +// for (i = 0; i < length; i++) { +// normDiff += c_absval(av[i] - bv[i]); +// } +// return normDiff; +// } + +// OSQPFloat OSQPVectorf_sum(const OSQPVectorf *a){ + +// OSQPInt i; +// OSQPInt length = a->length; +// OSQPFloat* av = a->values; +// OSQPFloat val = 0.0; + +// for (i = 0; i < length; i++) { +// val += av[i]; +// } + +// return val; +// } + +OSQPFloat OSQPVectorf_dot_prod(const OSQPVectorf* a, + const OSQPVectorf* b) { + + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat dotprod = 0.0; + + for (i = 0; i < length; i++) { + dotprod += av[i] * bv[i]; + } + return dotprod; +} + +OSQPFloat OSQPVectorf_dot_prod_signed(const OSQPVectorf* a, + const OSQPVectorf* b, + OSQPInt sign) { + + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat dotprod = 0.0; + + if (sign == 1) { /* dot with positive part of b */ + for (i = 0; i < length; i++) { + dotprod += av[i] * c_max(bv[i], 0.); + } + } + else if (sign == -1){ /* dot with negative part of b */ + for (i = 0; i < length; i++) { + dotprod += av[i] * c_min(bv[i],0.); + } + } + else{ + /* return the conventional dot product */ + dotprod = OSQPVectorf_dot_prod(a, b); + } + return dotprod; +} + +void OSQPVectorf_ew_prod(OSQPVectorf* c, + const OSQPVectorf* a, + const OSQPVectorf* b) { + + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* cv = c->values; + + + if (c == a) { + for (i = 0; i < length; i++) { + cv[i] *= bv[i]; + } + } + else { + for (i = 0; i < length; i++) { + cv[i] = av[i] * bv[i]; + } + } +} + +OSQPInt OSQPVectorf_all_leq(const OSQPVectorf* l, + const OSQPVectorf* u) { + + OSQPInt i; + OSQPInt length = l->length; + + OSQPFloat* lv = l->values; + OSQPFloat* uv = u->values; + + for (i = 0; i < length; i++) { + if (lv[i] > uv[i]) return 0; + } + return 1; +} + +void OSQPVectorf_ew_bound_vec(OSQPVectorf* x, + const OSQPVectorf* z, + const OSQPVectorf* l, + const OSQPVectorf* u) { + + OSQPInt i; + OSQPInt length = x->length; + + OSQPFloat* xv = x->values; + OSQPFloat* zv = z->values; + OSQPFloat* lv = l->values; + OSQPFloat* uv = u->values; + + for (i = 0; i < length; i++) { + xv[i] = c_min(c_max(zv[i], lv[i]), uv[i]); + } +} + +void OSQPVectorf_project_polar_reccone(OSQPVectorf* y, + const OSQPVectorf* l, + const OSQPVectorf* u, + OSQPFloat infval) { + + OSQPInt i; // Index for loops + OSQPInt length = y->length; + + OSQPFloat* yv = y->values; + OSQPFloat* lv = l->values; + OSQPFloat* uv = u->values; + + for (i = 0; i < length; i++) { + if (uv[i] > +infval) { // Infinite upper bound + if (lv[i] < -infval) { // Infinite lower bound + // Both bounds infinite + yv[i] = 0.0; + } else { + // Only upper bound infinite + yv[i] = c_min(yv[i], 0.0); + } + } else if (lv[i] < -infval) { // Infinite lower bound + // Only lower bound infinite + yv[i] = c_max(yv[i], 0.0); + } + } +} + +OSQPInt OSQPVectorf_in_reccone(const OSQPVectorf* y, + const OSQPVectorf* l, + const OSQPVectorf* u, + OSQPFloat infval, + OSQPFloat tol){ + + OSQPInt i; // Index for loops + OSQPInt length = y->length; + + OSQPFloat* yv = y->values; + OSQPFloat* lv = l->values; + OSQPFloat* uv = u->values; + + for (i = 0; i < length; i++) { + if (((uv[i] < +infval) && + (yv[i] > +tol)) || + ((lv[i] > -infval) && + (yv[i] < -tol))) { + // At least one condition not satisfied -> not dual infeasible + return 0; + } + } + return 1; +} + + +// void OSQPVectorf_permute(OSQPVectorf *x, const OSQPVectorf *b, const OSQPVectori *p){ + +// OSQPInt j; +// OSQPInt length = x->length; +// OSQPFloat* xv = x->values; +// OSQPFloat* bv = b->values; +// OSQPInt* pv = p->values; + +// for (j = 0; j < length; j++) { +// xv[j] = bv[pv[j]]; +// } +// } + +// void OSQPVectori_permute(OSQPVectori *x, const OSQPVectori *b, const OSQPVectori *p){ + +// OSQPInt j; +// OSQPInt length = x->length; +// OSQPInt* xv = x->values; +// OSQPInt* bv = b->values; +// OSQPInt* pv = p->values; + +// for (j = 0; j < length; j++) { +// xv[j] = bv[pv[j]]; +// } +// } + +// void OSQPVectorf_ipermute(OSQPVectorf *x, const OSQPVectorf *b, const OSQPVectori *p){ + +// OSQPInt j; +// OSQPInt length = x->length; +// OSQPFloat* xv = x->values; +// OSQPFloat* bv = b->values; +// OSQPInt* pv = p->values; + +// for (j = 0; j < length; j++) { +// xv[pv[j]] = bv[j]; +// } +// } + +// void OSQPVectori_ipermute(OSQPVectori *x, const OSQPVectori *b, const OSQPVectori *p){ + +// OSQPInt j; +// OSQPInt length = x->length; +// OSQPInt* xv = x->values; +// OSQPInt* bv = b->values; +// OSQPInt* pv = p->values; + +// for (j = 0; j < length; j++) { +// xv[pv[j]] = bv[j]; +// } +// } + + + +#if OSQP_EMBEDDED_MODE != 1 + +OSQPFloat OSQPVectorf_norm_1(const OSQPVectorf* a) { + + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat val = 0.0; + + if (length) { + for (i = 0; i < length; i++) { + val += c_absval(av[i]); + } + } + + return val; +} + +void OSQPVectorf_ew_reciprocal(OSQPVectorf* b, + const OSQPVectorf* a) { + + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + + for (i = 0; i < length; i++) { + bv[i] = (OSQPFloat)1.0 / av[i]; + } +} + +void OSQPVectorf_ew_sqrt(OSQPVectorf* a){ + + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + + for (i = 0; i < length; i++) { + av[i] = c_sqrt(av[i]); + } +} + +// void OSQPVectorf_ew_max(OSQPVectorf *c, +// const OSQPVectorf *a, +// OSQPFloat max_val){ + +// OSQPInt i; +// OSQPInt length = c->length; +// OSQPFloat* av = a->values; +// OSQPFloat* cv = c->values; + +// for (i = 0; i < length; i++) { +// cv[i] = c_max(av[i], max_val); +// } +// } + +// void OSQPVectorf_ew_min(OSQPVectorf *c, const OSQPVectorf *a, OSQPFloat min_val){ + +// OSQPInt i; +// OSQPInt length = a->length; +// OSQPFloat* av = a->values; +// OSQPFloat* cv = c->values; + +// for (i = 0; i < length; i++) { +// cv[i] = c_min(av[i], min_val); +// } +// } + +void OSQPVectorf_ew_max_vec(OSQPVectorf* c, + const OSQPVectorf* a, + const OSQPVectorf* b) { + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* cv = c->values; + + for (i = 0; i < length; i++) { + cv[i] = c_max(av[i], bv[i]); + } +} + +void OSQPVectorf_ew_min_vec(OSQPVectorf* c, + const OSQPVectorf* a, + const OSQPVectorf* b) { + OSQPInt i; + OSQPInt length = a->length; + + OSQPFloat* av = a->values; + OSQPFloat* bv = b->values; + OSQPFloat* cv = c->values; + + for (i = 0; i < length; i++) { + cv[i] = c_min(av[i], bv[i]); + } +} + +OSQPInt OSQPVectorf_ew_bounds_type(OSQPVectori* iseq, + const OSQPVectorf* l, + const OSQPVectorf* u, + OSQPFloat tol, + OSQPFloat infval) { + + OSQPInt i; + OSQPInt old_value; + OSQPInt has_changed = 0; + OSQPInt length = iseq->length; + OSQPInt* iseqv = iseq->values; + + OSQPFloat* lv = l->values; + OSQPFloat* uv = u->values; + + for (i = 0; i < length; i++) { + + old_value = iseqv[i]; + + if ((lv[i] < -infval) && (uv[i] > infval)) { + // Loose bounds + iseqv[i] = -1; + } else if (uv[i] - lv[i] < tol) { + // Equality constraints + iseqv[i] = 1; + } else { + // Inequality constraints + iseqv[i] = 0; + } + + //has anything changed? + has_changed = has_changed || (iseqv[i] != old_value); + } + + return has_changed; + +} + +void OSQPVectorf_set_scalar_if_lt(OSQPVectorf* x, + const OSQPVectorf* z, + OSQPFloat testval, + OSQPFloat newval) { + OSQPInt i; + OSQPInt length = x->length; + + OSQPFloat* xv = x->values; + OSQPFloat* zv = z->values; + + for (i = 0; i < length; i++) { + xv[i] = zv[i] < testval ? newval : zv[i]; + } +} + +void OSQPVectorf_set_scalar_if_gt(OSQPVectorf* x, + const OSQPVectorf* z, + OSQPFloat testval, + OSQPFloat newval) { + OSQPInt i; + OSQPInt length = x->length; + + OSQPFloat* xv = x->values; + OSQPFloat* zv = z->values; + + for (i = 0; i < length; i++) { + xv[i] = zv[i] > testval ? newval : zv[i]; + } +} + +#endif /* OSQP_EMBEDDED_MODE != 1 */ diff --git a/lib/controller/mpc/solver_code/workspace.c b/lib/controller/mpc/solver_code/workspace.c new file mode 100644 index 0000000..29ab177 --- /dev/null +++ b/lib/controller/mpc/solver_code/workspace.c @@ -0,0 +1,67573 @@ +/* + * This file was autogenerated by OSQP on Wed Apr 9 13:51:03 2025 + * + * This file contains the workspace variables needed by OSQP. + */ + +#include "types.h" +#include "algebra_impl.h" +#include "qdldl_interface.h" + +/* Define the settings structure */ +OSQPSettings settings = { + 0, + OSQP_DIRECT_SOLVER, + 1, + 0, + 0, + 1, + 10, + 0, + (OSQPFloat)0.10000000000000000555, + 1, + (OSQPFloat)0.00000100000000000000, + (OSQPFloat)1.60000000000000008882, + 20, + 10, + (OSQPFloat)0.14999999999999999445, + 1, + 1, + 50, + (OSQPFloat)0.40000000000000002220, + (OSQPFloat)5.00000000000000000000, + 4000, + (OSQPFloat)0.00100000000000000002, + (OSQPFloat)0.00100000000000000002, + (OSQPFloat)0.00010000000000000000, + (OSQPFloat)0.00010000000000000000, + 0, + 25, + 1, + (OSQPFloat)10000000000.00000000000000000000, + (OSQPFloat)0.00000100000000000000, + 3, +}; + +/* Define the solution structure */ +OSQPFloat sol_x[664]; +OSQPFloat sol_y[704]; +OSQPFloat sol_prim_inf_cert[704]; +OSQPFloat sol_dual_inf_cert[664]; +OSQPSolution sol = { + sol_x, + sol_y, + sol_prim_inf_cert, + sol_dual_inf_cert, +}; + +/* Define the info structure */ +OSQPInfo info = { + "unsolved", + 11, + 0, + (OSQPFloat)1000000000000000019884624838656.00000000000000000000, + (OSQPFloat)1000000000000000019884624838656.00000000000000000000, + (OSQPFloat)1000000000000000019884624838656.00000000000000000000, + (OSQPFloat)1000000000000000019884624838656.00000000000000000000, + (OSQPFloat)1000000000000000019884624838656.00000000000000000000, + 0, + 0, + (OSQPFloat)0.10000000000000000555, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, +}; + +/* Define the data structure */ +OSQPInt data_P_csc_p[665] = { + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, 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work_xz_tilde_val[1368]; +OSQPVectorf work_xz_tilde = { + work_xz_tilde_val, + 1368 +}; +OSQPVectorf work_xtilde_view = { + work_xz_tilde_val, + 664 +}; +OSQPVectorf work_ztilde_view = { + work_xz_tilde_val+664, + 704 +}; +OSQPFloat work_x_prev_val[664]; +OSQPVectorf work_x_prev = { + work_x_prev_val, + 664 +}; +OSQPFloat work_z_prev_val[704]; +OSQPVectorf work_z_prev = { + work_z_prev_val, + 704 +}; +OSQPFloat work_Ax_val[704]; +OSQPVectorf work_Ax = { + work_Ax_val, + 704 +}; +OSQPFloat work_Px_val[664]; +OSQPVectorf work_Px = { + work_Px_val, + 664 +}; +OSQPFloat work_Aty_val[664]; +OSQPVectorf work_Aty = { + work_Aty_val, + 664 +}; +OSQPFloat work_delta_y_val[704]; +OSQPVectorf work_delta_y = { + work_delta_y_val, + 704 +}; +OSQPFloat work_Atdelta_y_val[664]; +OSQPVectorf work_Atdelta_y = { + work_Atdelta_y_val, + 664 +}; +OSQPFloat work_delta_x_val[664]; +OSQPVectorf work_delta_x = { + work_delta_x_val, + 664 +}; +OSQPFloat work_Pdelta_x_val[664]; +OSQPVectorf work_Pdelta_x = { + work_Pdelta_x_val, + 664 +}; +OSQPFloat work_Adelta_x_val[704]; +OSQPVectorf work_Adelta_x = { + work_Adelta_x_val, + 704 +}; +OSQPFloat work_D_temp_val[664]; +OSQPVectorf work_D_temp = { + work_D_temp_val, + 664 +}; +OSQPFloat work_D_temp_A_val[664]; +OSQPVectorf work_D_temp_A = { + work_D_temp_A_val, + 664 +}; +OSQPFloat work_E_temp_val[704]; +OSQPVectorf work_E_temp = { + work_E_temp_val, + 704 +}; + +/* Define the scaling structure */ +OSQPFloat scaling_D_val[664] = { + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + (OSQPFloat)0.70710678118654757274, + 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(OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)0.94453492255576043668, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, + (OSQPFloat)1.00000000000000000000, +}; +OSQPVectorf scaling_Einv = { + scaling_Einv_val, + 704 +}; +OSQPScaling scaling = { + (OSQPFloat)1.00000000000000000000, + &scaling_D, + &scaling_E, + (OSQPFloat)1.00000000000000000000, + &scaling_Dinv, + &scaling_Einv +}; + +/* Define the workspace structure */ +OSQPWorkspace work = { + &data, + (LinSysSolver *)&linsys, + &work_rho_vec, + &work_rho_inv_vec, + &work_constr_type, + &work_x, + &work_y, + &work_z, + &work_xz_tilde, + &work_xtilde_view, + &work_ztilde_view, + &work_x_prev, + &work_z_prev, + &work_Ax, + &work_Px, + &work_Aty, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + &work_delta_y, + &work_Atdelta_y, + &work_delta_x, + &work_Pdelta_x, + &work_Adelta_x, + &work_D_temp, + &work_D_temp_A, + &work_E_temp, + &scaling, + (OSQPFloat)0.0, + (OSQPFloat)0.0, + (OSQPFloat)0.00000000000000000000, + 0, + (OSQPFloat)1000000000000000019884624838656.00000000000000000000, +}; + +/* Define the solver structure */ +OSQPSolver solver = { + &settings, + &sol, + &info, + &work +}; diff --git a/lib/controller/mpc/solver_code/workspace.h b/lib/controller/mpc/solver_code/workspace.h new file mode 100644 index 0000000..bbc64a8 --- /dev/null +++ b/lib/controller/mpc/solver_code/workspace.h @@ -0,0 +1,25 @@ +/* + * This file was autogenerated by OSQP on Wed Apr 9 13:51:03 2025 + * + * This file contains the prototype for the solver structure needed + * by OSQP. The actual data is contained inside workspace.c. + */ + +#ifndef WORKSPACE_H +#define WORKSPACE_H + +#include "osqp_api_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + + extern OSQPSolver solver; + extern OSQPFloat sol_x[664]; + extern OSQPFloat sol_y[704]; + +#ifdef __cplusplus +} +#endif + +#endif /* ifndef WORKSPACE_H */ diff --git a/lib/controller/mpc/src/cpg_example.c b/lib/controller/mpc/src/cpg_example.c new file mode 100644 index 0000000..348f767 --- /dev/null +++ b/lib/controller/mpc/src/cpg_example.c @@ -0,0 +1,63 @@ + +/* +Auto-generated by CVXPYgen on April 09, 2025 at 13:51:03. +Content: Example program for updating parameters, solving, and inspecting the result. +*/ + +#include +#include "cpg_workspace.h" +#include "cpg_solve.h" + +static int i; + +int main(int argc, char *argv[]){ + + // Update first entry of every user-defined parameter + cpg_update_Psqrt(0, 0.00000000000000000000); + cpg_update_Qsqrt(0, 141.42135623730951010657); + cpg_update_Rsqrt(0, 0.00000000000000000000); + cpg_update_x_init(0, 0.00000000000000000000); + + // Solve the problem instance + cpg_solve(); + + // Print objective function value + printf("obj = %f\n", CPG_Result.info->obj_val); + + // Print primal solution + for(i=0; i<252; i++) { + printf("X[%d] = %f\n", i, CPG_Result.prim->X[i]); + } + for(i=0; i<80; i++) { + printf("U[%d] = %f\n", i, CPG_Result.prim->U[i]); + } + + // Print dual solution + for(i=0; i<240; i++) { + printf("d0[%d] = %f\n", i, CPG_Result.dual->d0[i]); + } + for(i=0; i<20; i++) { + printf("d1[%d] = %f\n", i, CPG_Result.dual->d1[i]); + } + for(i=0; i<20; i++) { + printf("d2[%d] = %f\n", i, CPG_Result.dual->d2[i]); + } + for(i=0; i<20; i++) { + printf("d3[%d] = %f\n", i, CPG_Result.dual->d3[i]); + } + for(i=0; i<20; i++) { + printf("d4[%d] = %f\n", i, CPG_Result.dual->d4[i]); + } + for(i=0; i<20; i++) { + printf("d5[%d] = %f\n", i, CPG_Result.dual->d5[i]); + } + for(i=0; i<20; i++) { + printf("d6[%d] = %f\n", i, CPG_Result.dual->d6[i]); + } + for(i=0; i<12; i++) { + printf("d7[%d] = %f\n", i, CPG_Result.dual->d7[i]); + } + + return 0; + +} diff --git a/lib/controller/mpc/src/cpg_solve.c b/lib/controller/mpc/src/cpg_solve.c new file mode 100644 index 0000000..9ab8d5b --- /dev/null +++ b/lib/controller/mpc/src/cpg_solve.c @@ -0,0 +1,142 @@ + +/* +Auto-generated by CVXPYgen on April 09, 2025 at 13:51:03. +Content: Function definitions. +*/ + +#include "cpg_solve.h" +#include "cpg_workspace.h" + +static cpg_int i; +static cpg_int j; + +// Update user-defined parameters +void cpg_update_Psqrt(cpg_int idx, cpg_float val){ + cpg_params_vec[idx+0] = val; + Canon_Outdated.A = 1; +} + +void cpg_update_Qsqrt(cpg_int idx, cpg_float val){ + cpg_params_vec[idx+144] = val; + Canon_Outdated.A = 1; +} + +void cpg_update_Rsqrt(cpg_int idx, cpg_float val){ + cpg_params_vec[idx+288] = val; + Canon_Outdated.A = 1; +} + +void cpg_update_x_init(cpg_int idx, cpg_float val){ + cpg_params_vec[idx+304] = val; + Canon_Outdated.l = 1; + Canon_Outdated.u = 1; +} + +// Map user-defined to canonical parameters +void cpg_canonicalize_A(){ + for(i=0; i<4808; i++){ + Canon_Params.A->x[i] = 0; + for(j=canon_A_map.p[i]; jx[i] += canon_A_map.x[j]*cpg_params_vec[canon_A_map.i[j]]; + } + } +} + +void cpg_canonicalize_l(){ + for(i=0; i<584; i++){ + Canon_Params.l[i] = 0; + for(j=canon_l_map.p[i]; jobj_val); + CPG_Info.iter = solver.info->iter; + CPG_Info.status = solver.info->status; + CPG_Info.pri_res = solver.info->prim_res; + CPG_Info.dua_res = solver.info->dual_res; +} + +// Solve via canonicalization, canonical solve, retrieval +void cpg_solve(){ + // Canonicalize if necessary + if (Canon_Outdated.A) { + cpg_canonicalize_A(); + } + if (Canon_Outdated.l) { + cpg_canonicalize_l(); + } + if (Canon_Outdated.u) { + cpg_canonicalize_u(); + } + if (Canon_Outdated.A) { + osqp_update_data_mat(&solver, OSQP_NULL, 0, 0, Canon_Params.A->x, 0, Canon_Params.A->nnz); + } + if (Canon_Outdated.l && Canon_Outdated.u) { + osqp_update_data_vec(&solver, OSQP_NULL, Canon_Params.l, Canon_Params.u); + } else { + if (Canon_Outdated.l) { + osqp_update_data_vec(&solver, OSQP_NULL, Canon_Params.l, OSQP_NULL); + } + if (Canon_Outdated.u) { + osqp_update_data_vec(&solver, OSQP_NULL, OSQP_NULL, Canon_Params.u); + } + } + // Solve with OSQP + osqp_solve(&solver); + // Retrieve results + cpg_retrieve_info(); + // Reset flags for outdated canonical parameters + Canon_Outdated.A = 0; + Canon_Outdated.l = 0; + Canon_Outdated.u = 0; +} + +// Update solver settings +void cpg_set_solver_default_settings(){ + osqp_set_default_settings(solver.settings); +} + +void cpg_set_solver_max_iter(cpg_int max_iter_new){ + solver.settings->max_iter = max_iter_new; +} + +void cpg_set_solver_eps_abs(cpg_float eps_abs_new){ + solver.settings->eps_abs = eps_abs_new; +} + +void cpg_set_solver_eps_rel(cpg_float eps_rel_new){ + solver.settings->eps_rel = eps_rel_new; +} + +void cpg_set_solver_eps_prim_inf(cpg_float eps_prim_inf_new){ + solver.settings->eps_prim_inf = eps_prim_inf_new; +} + +void cpg_set_solver_eps_dual_inf(cpg_float eps_dual_inf_new){ + solver.settings->eps_dual_inf = eps_dual_inf_new; +} + +void cpg_set_solver_scaled_termination(cpg_int scaled_termination_new){ + solver.settings->scaled_termination = scaled_termination_new; +} + +void cpg_set_solver_check_termination(cpg_int check_termination_new){ + solver.settings->check_termination = check_termination_new; +} + +void cpg_set_solver_warm_starting(cpg_int warm_starting_new){ + solver.settings->warm_starting = warm_starting_new; +} diff --git a/lib/controller/mpc/src/cpg_workspace.c b/lib/controller/mpc/src/cpg_workspace.c new file mode 100644 index 0000000..c08982c --- /dev/null +++ b/lib/controller/mpc/src/cpg_workspace.c @@ -0,0 +1,30130 @@ + +/* +Auto-generated by CVXPYgen on April 09, 2025 at 13:51:03. +Content: Variable definitions. +*/ + +#include "cpg_workspace.h" + +// Vector containing flattened user-defined parameters +cpg_float cpg_params_vec[317] = { +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, +(cpg_float)0.00000000000000000000, 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+70, +71, +72, +73, +74, +75, +76, +77, +78, +79, +80, +81, +82, +83, +84, +85, +86, +87, +88, +89, +90, +91, +92, +93, +94, +95, +96, +97, +98, +99, +100, +101, +102, +103, +104, +105, +106, +107, +108, +109, +110, +111, +112, +113, +114, +115, +116, +117, +118, +119, +120, +121, +122, +123, +124, +125, +126, +127, +128, +129, +130, +131, +132, +}; +cpg_float canon_u_map_x[132] = { +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)1.00000000000000000000, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)0.10000000000000000555, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.00000000000000000000, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +}; +cpg_csc canon_u_map = {canon_u_map_p, canon_u_map_i, canon_u_map_x, 132}; + +// Canonical parameters +cpg_int canon_P_i[332] = { +0, +1, +2, +3, +4, +5, +6, +7, +8, +9, +10, +11, +12, +13, +14, +15, +16, +17, +18, +19, +20, +21, +22, +23, +24, +25, +26, +27, +28, +29, +30, +31, +32, +33, +34, +35, +36, +37, +38, +39, +40, +41, +42, +43, +44, +45, +46, +47, +48, +49, +50, +51, +52, +53, +54, +55, +56, +57, +58, +59, +60, +61, +62, +63, +64, +65, +66, +67, +68, +69, +70, +71, +72, +73, +74, +75, +76, +77, +78, +79, +80, +81, +82, +83, +84, +85, +86, +87, +88, +89, +90, +91, +92, +93, +94, +95, +96, +97, +98, +99, +100, +101, +102, +103, +104, +105, +106, +107, +108, +109, +110, +111, +112, +113, +114, +115, +116, +117, +118, +119, +120, +121, +122, +123, +124, +125, +126, +127, +128, +129, +130, +131, +132, +133, +134, +135, +136, +137, +138, +139, +140, +141, +142, +143, +144, +145, +146, +147, +148, +149, +150, +151, +152, +153, +154, +155, +156, +157, +158, +159, +160, +161, +162, +163, +164, +165, +166, +167, +168, +169, +170, +171, +172, +173, +174, +175, +176, +177, +178, +179, +180, +181, +182, +183, +184, +185, +186, +187, +188, +189, +190, +191, +192, +193, +194, +195, +196, +197, +198, +199, +200, +201, +202, +203, +204, +205, +206, +207, +208, +209, +210, +211, +212, +213, +214, +215, +216, +217, +218, +219, +220, +221, +222, +223, +224, +225, +226, +227, +228, +229, +230, +231, +232, +233, +234, +235, +236, +237, +238, +239, +240, +241, +242, +243, +244, +245, +246, +247, +248, +249, +250, +251, +252, +253, +254, +255, +256, +257, +258, +259, +260, +261, +262, +263, +264, +265, +266, +267, +268, +269, +270, +271, +272, +273, +274, +275, +276, +277, +278, +279, +280, +281, +282, +283, +284, +285, +286, +287, +288, +289, +290, +291, +292, +293, +294, +295, +296, +297, +298, +299, +300, +301, +302, +303, +304, +305, +306, +307, +308, +309, +310, +311, +312, +313, +314, +315, +316, +317, +318, +319, +320, +321, +322, +323, +324, +325, +326, +327, +328, +329, +330, +331, +}; +cpg_int canon_P_p[665] = { +0, +1, +2, +3, +4, +5, +6, +7, +8, +9, +10, +11, +12, +13, +14, +15, +16, +17, +18, +19, +20, +21, +22, +23, +24, +25, +26, +27, +28, +29, +30, +31, +32, +33, +34, +35, +36, +37, +38, +39, +40, +41, +42, +43, +44, +45, +46, +47, +48, +49, +50, +51, +52, +53, +54, +55, +56, +57, +58, +59, +60, +61, +62, +63, +64, +65, +66, +67, +68, +69, +70, +71, +72, +73, +74, +75, +76, +77, +78, +79, +80, +81, +82, +83, +84, +85, +86, +87, +88, +89, +90, +91, +92, +93, +94, +95, +96, +97, +98, +99, +100, +101, +102, +103, +104, +105, +106, +107, +108, +109, +110, +111, +112, +113, +114, +115, +116, +117, +118, +119, +120, +121, +122, +123, +124, +125, +126, +127, +128, +129, +130, +131, +132, +133, +134, +135, +136, +137, +138, +139, +140, +141, +142, +143, +144, +145, +146, +147, +148, +149, +150, +151, +152, +153, +154, +155, +156, +157, +158, +159, +160, +161, +162, +163, +164, +165, +166, +167, +168, +169, +170, +171, +172, +173, +174, +175, +176, +177, +178, +179, +180, +181, +182, +183, +184, +185, +186, +187, +188, +189, +190, +191, +192, +193, +194, +195, +196, +197, +198, +199, +200, +201, +202, +203, +204, +205, +206, +207, +208, +209, +210, +211, +212, +213, +214, +215, +216, +217, +218, +219, +220, +221, +222, +223, +224, +225, +226, +227, +228, +229, +230, +231, +232, +233, +234, +235, +236, +237, +238, +239, +240, +241, +242, +243, +244, +245, +246, +247, +248, +249, +250, +251, +252, +253, +254, +255, +256, +257, +258, +259, +260, +261, +262, +263, +264, +265, +266, +267, +268, +269, +270, +271, +272, +273, +274, +275, +276, +277, +278, +279, +280, +281, +282, +283, +284, +285, +286, +287, +288, +289, +290, +291, +292, +293, +294, +295, +296, +297, +298, +299, +300, +301, +302, +303, +304, +305, +306, +307, +308, +309, +310, +311, +312, +313, +314, +315, +316, +317, +318, +319, +320, +321, +322, +323, +324, +325, +326, +327, +328, +329, +330, +331, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +332, +}; +cpg_float canon_P_x[332] = { +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, +(cpg_float)2.00000000000000000000, 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+(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +(cpg_float)30.10000000000000142109, +}; + +// Struct containing canonical parameters +Canon_Params_t Canon_Params = { +.P = &canon_P, +.q = (cpg_float *) &canon_q, +.d = 0.00000000000000000000, +.A = &canon_A, +.l = (cpg_float *) &canon_l, +.u = (cpg_float *) &canon_u, +}; + +// Struct containing flags for outdated canonical parameters +Canon_Outdated_t Canon_Outdated = { +.P = 1, +.q = 1, +.d = 1, +.A = 1, +.l = 1, +.u = 1, +}; + +// User-defined variables +// Struct containing primal solution +CPG_Prim_t CPG_Prim = { +.X = (cpg_float *) &sol_x + 332, +.U = (cpg_float *) &sol_x + 584, +}; +// Struct containing dual solution +CPG_Dual_t CPG_Dual = { +.d0 = (cpg_float *) &sol_y + 332, +.d1 = (cpg_float *) &sol_y + 584, +.d2 = (cpg_float *) &sol_y + 604, +.d3 = (cpg_float *) &sol_y + 624, +.d4 = (cpg_float *) &sol_y + 644, +.d5 = (cpg_float *) &sol_y + 664, +.d6 = (cpg_float *) &sol_y + 684, +.d7 = (cpg_float *) &sol_y + 572, +}; + +// Struct containing solver info +CPG_Info_t CPG_Info = { +.obj_val = 0, +.iter = 0, +.status = "unknown", +.pri_res = 0, +.dua_res = 0, +}; + +// Struct containing solution and info +CPG_Result_t CPG_Result = { +.prim = &CPG_Prim, +.dual = &CPG_Dual, +.info = &CPG_Info, +}; + +// Struct containing solver settings +Canon_Settings_t Canon_Settings = { +.max_iter = 4000, +.eps_abs = 1e-3, +.eps_rel = 1e-3, +.eps_prim_inf = 1e-4, +.eps_dual_inf = 1e-4, +.scaled_termination = 0, +.check_termination = 25, +.warm_starting = 1, +}; diff --git a/lib/controller/tiny.py b/lib/controller/tiny.py new file mode 100644 index 0000000..94e60e6 --- /dev/null +++ b/lib/controller/tiny.py @@ -0,0 +1,149 @@ +import tinympc +import autograd as AG +import autograd.numpy as np + +# mc = 0.2 # mass of the cart (kg) +# mp = 0.1 # mass of the pole (kg) +# l = 0.5 # distance to the center of mass (meters) +# g = 9.81 + +# xdot = dynamics(x, u) +# x = [pos*3, vel*3, ang*3, angvel*3] +# u = [gimbalx, gimbaly, rollthruster, thruster] +def rot_matrix(rx,ry,rz): + return np.array([ + [np.cos(rz)*np.cos(ry), np.cos(rz)*np.sin(ry)*np.sin(rx) - np.sin(rz)*np.cos(rx), np.cos(rz)*np.sin(ry)*np.cos(rx) + np.sin(rz)*np.sin(rx)], + [np.sin(rz)*np.cos(ry), np.sin(rz)*np.sin(ry)*np.sin(rx) + np.cos(rz)*np.cos(rx), np.sin(rz)*np.sin(ry)*np.cos(rx) - np.cos(rz)*np.sin(rx)], + [-np.sin(ry), np.cos(ry)*np.sin(rx), np.cos(ry)*np.cos(rx)] + ]) + +def dynamics(X, U): + r = 0.15 + M = 10 + I = 1/2 * (M / 2) * r**2 + + x,y,z = X[0:3] + vx,vy,vz = X[3:6] + rx,ry,rz = X[6:9] + drx,dry,drz = X[9:12] + gimbalx, gimbaly, rollT, fT = U + + # xyz are in inertial ref frame + # rotation are in body ref frame + # xyz pos has no effect on vel or angvel + # vx, vy, vz directly affect xyz + # acceleration depends on thrust + direction + # Rot(Body) @ (Rot(Gimbal) @ [0, 0, fT].T) - [0, 0, 9.81] + # angvel directly dependent on drx, dry, drz + # Angular acceleration dependent on torque from gimbaled motor + # tau = rF sin theta -> angaccel = rF sin theta / I, I is rotational inertia + # We assume rocket body is solid cylinder and legs are negligible (change this for real world!) + accel = rot_matrix(rx,ry,rz) @ (rot_matrix(gimbalx, gimbaly, 0) @ np.array([0, 0, fT])) / M - np.array([0, 0, 9.81]) + arx = r * fT * np.sin(gimbalx) / I + ary = r * fT * np.sin(gimbaly) / I + arz = rollT + print(f"arz {arz}, drz {drz}") + return np.array([ + vx, vy, vz, + accel[0], accel[1], accel[2], + drx, dry, drz, + arx, ary, arz + ]) + + # r = x[0] # cart position + # theta = x[1] # pole angle + # rd = x[2] # change in cart position + # theta_d = x[3] # change in pole angle + # F = u[0] # force applied to cart + + # theta_dd = (g*np.sin(theta) + np.cos(theta) * ((-F - mp*l*(theta_d**2) * \ + # np.sin(theta))/(mc + mp))) / (l*(4/3 - (mp*(np.cos(theta)**2))/(mc + mp))) + # rdd = (F + mp*l*((theta_d**2)*np.sin(theta) - theta_dd*np.cos(theta))) / (mc + mp) + + # return np.array([rd, theta_d, rdd, theta_dd]) + +def dynamics_rk4(x, u, dt): + f1 = dt*dynamics(x, u) + f2 = dt*dynamics(x + f1/2, u) + f3 = dt*dynamics(x + f2/2, u) + f4 = dt*dynamics(x + f3, u) + return x + (1/6)*(f1 + 2*f2 + 2*f3 + f4) + +# Neutral position to linearize around +xgoal = np.zeros(12) # On ground, straight up, no movement +ugoal = np.array([0, 0, 0, 98.1]) # Thrust force to counteract gravity + +dt = 0.01 +A = AG.jacobian(lambda x_: dynamics_rk4(x_, ugoal, dt))(xgoal) +B = AG.jacobian(lambda u_: dynamics_rk4(xgoal, u_, dt))(ugoal) +print("sim", A @ xgoal + B @ np.array([0, 0, 0, 100.0])) + +Q = np.diag([ + 200.0, 200.0, 200.0, + 0.4, 0.4, 0.4, + 0.4, 0.4, 0.2, + 0.2, 0.2, 0.2, +]) +R = np.diag([0.1] * 4); # Penalize actuator effort + +N = 20 + +# print(dynamics_rk4(np.zeros(12), np.array([0, 0, 0, 1000]), 0.01)) + +# Set up the problem +prob = tinympc.TinyMPC() +prob.u_min = np.array([-0.5, -0.5, -1.0, -98.1]) +prob.u_max = np.array([0.5, 0.5, 1.0, 200.0]) +prob.x_min = np.array([-np.inf] * 12) +prob.x_min[2] = 0.1 +prob.x_max = np.array([np.inf] * 12) +prob.setup(A, B, Q, R, N, u_min=prob.u_min, u_max=prob.u_max, x_min=prob.x_min) + +# Define initial condition +x0 = np.zeros(12) +x0[2] = 9 +prob.set_x0(x0) + +x_goal = np.zeros(12) +x_goal[1] = 3 +x_goal[2] = 0 +prob.set_x_ref(x_goal) + +# Solve the problem +solution = prob.solve() + +# Print the controls at the first time step +print(solution) + +Nsim = 350 +xs = np.zeros((Nsim, Q.shape[0])) # History of states for plotting +us = np.zeros((Nsim, R.shape[0])) # History of controls for plotting +for i in range(Nsim): + prob.set_x0(x0) # Set the first state in the horizon + solution = prob.solve() # Solve the problem + x0 = dynamics_rk4(x0, ugoal + solution["controls"], 0.01) + # x0 = A@x0 + B@ np.array([0, 0, 0, 100.0])# solution["controls"] # Simulate the system + # x0 = A@x0 + B@ solution["controls"] # Simulate the system + print(x0[2], solution["controls"]) + xs[i] = x0 + us[i] = solution["controls"] + +# prob.codegen("generated_code", verbose=1) + +import matplotlib.pyplot as plt + +# Plot trajectory +fig, axs = plt.subplots(4, 1, sharex=True) +axs[0].plot(xs[:,:3], label=["x", "y", "z"]) +axs[1].plot(xs[:,3:6], label=["vx", "vy", "vz"]) +axs[2].plot(xs[:,6:9], label=["rx", "ry", "rz"]) +axs[3].plot(us, label=["u1", "u2", "u3", "u4"]) +axs[0].set_title("trajectory over time") +axs[1].set_title("velocity over time") +axs[2].set_title("rotation over time") +axs[3].set_xlabel("time steps (100Hz)") +axs[0].legend() +axs[1].legend() +axs[2].legend() +axs[3].legend() +plt.show() \ No newline at end of file diff --git a/lib/encoders/EncoderModule.cpp b/lib/encoders/EncoderModule.cpp index fee5761..35330d3 100644 --- a/lib/encoders/EncoderModule.cpp +++ b/lib/encoders/EncoderModule.cpp @@ -1,5 +1,5 @@ #include "EncoderModule.h" -#include "Error.h" +#include "ASTRAError.h" int Encoder::init() { diff --git a/lib/error/Error.h b/lib/error/ASTRAError.h similarity index 92% rename from lib/error/Error.h rename to lib/error/ASTRAError.h index 3b41504..0c056d1 100644 --- a/lib/error/Error.h +++ b/lib/error/ASTRAError.h @@ -1,11 +1,11 @@ /* -Error.h - Error Header/Constants File +ASTRAError.h - Error Header/Constants File Description: Error Constants for General Errors that can occur throughout Astra Author: Vincent Palmerio */ -#ifndef ERROR_H -#define ERROR_H +#ifndef ASTRAERROR_H +#define ASTRAERROR_H #define NO_ERROR_CODE (0) #define GENERAL_ERROR_CODE (-1) diff --git a/lib/estimator/MEKFEstimatorModule.cpp b/lib/estimator/MEKFEstimatorModule.cpp index a495a64..97b225b 100644 --- a/lib/estimator/MEKFEstimatorModule.cpp +++ b/lib/estimator/MEKFEstimatorModule.cpp @@ -1,7 +1,7 @@ #include "MEKFEstimatorModule.h" #include "MEKF.h" #include "MathFunctions.h" -#include "Error.h" +#include "ASTRAError.h" #include "VEigen.h" @@ -50,24 +50,31 @@ void MEKFEstimatorModule::update(unsigned long time) { this->lastUpdateTime = time; // Get data out of filter - float qw = estimate.w(); - float qx = estimate.x(); - float qy = estimate.y(); - float qz = estimate.z(); + // float qw = estimate.w(); + // float qx = estimate.x(); + // float qy = estimate.y(); + // float qz = estimate.z(); Eigen::Vector3d v = math::quatToEuler(estimate); - float roll = v.x() * SENSORS_RADS_TO_DPS; - float pitch = v.y() * SENSORS_RADS_TO_DPS; - float yaw = v.z() * SENSORS_RADS_TO_DPS; - - flightData::estimatedStateX(0) = qx; - flightData::estimatedStateX(1) = qy; - flightData::estimatedStateX(2) = qz; - flightData::estimatedStateX(3) = flightData::measurementVectorY(3); - flightData::estimatedStateX(4) = flightData::measurementVectorY(4); - flightData::estimatedStateX(5) = flightData::measurementVectorY(5); + float rx = v.x(); // * SENSORS_RADS_TO_DPS; + float ry = v.y(); // * SENSORS_RADS_TO_DPS; + float rz = v.z(); // * SENSORS_RADS_TO_DPS; + + flightData::estimatedStateX(0) = flightData::measurementVectorY(9); + flightData::estimatedStateX(1) = flightData::measurementVectorY(10); + flightData::estimatedStateX(2) = flightData::measurementVectorY(11); + flightData::estimatedStateX(3) = flightData::measurementVectorY(12); + flightData::estimatedStateX(4) = flightData::measurementVectorY(13); + flightData::estimatedStateX(5) = flightData::measurementVectorY(14); + + flightData::estimatedStateX(6) = rx; + flightData::estimatedStateX(7) = ry; + flightData::estimatedStateX(8) = rz; + flightData::estimatedStateX(9) = flightData::measurementVectorY(3); + flightData::estimatedStateX(10) = flightData::measurementVectorY(4); + flightData::estimatedStateX(11) = flightData::measurementVectorY(5); // flightData::estimatedStateX(3) = roll; // flightData::estimatedStateX(4) = pitch; // flightData::estimatedStateX(5) = yaw; -} \ No newline at end of file +} diff --git a/lib/estimator/NXPEstimatorModule.cpp b/lib/estimator/NXPEstimatorModule.cpp index a8919d7..e446fc7 100644 --- a/lib/estimator/NXPEstimatorModule.cpp +++ b/lib/estimator/NXPEstimatorModule.cpp @@ -1,5 +1,5 @@ #include "NXPEstimatorModule.h" -#include "Error.h" +#include "ASTRAError.h" #include "IMU.h" #include "settings.h" diff --git a/lib/flightmodule/FlightModule.h b/lib/flightmodule/FlightModule.h index 749fc70..302ff57 100644 --- a/lib/flightmodule/FlightModule.h +++ b/lib/flightmodule/FlightModule.h @@ -6,7 +6,7 @@ #ifndef FLIGHTMODULE_H #define FLIGHTMODULE_H -#include "Error.h" +#include "ASTRAError.h" class FlightModule { public: diff --git a/lib/flightmodule/Router.cpp b/lib/flightmodule/Router.cpp index 3871d6a..e8170ed 100644 --- a/lib/flightmodule/Router.cpp +++ b/lib/flightmodule/Router.cpp @@ -1,6 +1,6 @@ #include "Router.h" #include "Scheduler.h" -#include "Error.h" +#include "ASTRAError.h" #include Router::Router() {} diff --git a/lib/gps/MujocoGPS.cpp b/lib/gps/MujocoGPS.cpp new file mode 100644 index 0000000..badfe41 --- /dev/null +++ b/lib/gps/MujocoGPS.cpp @@ -0,0 +1,34 @@ +#if IS_MUJOCO +#include "MujocoGPS.h" +#include "ASTRAError.h" +#include +#include + +#include +#include "VEigen.h" + +#define NOISE_COEFF 0.1 + +MujocoGPSModule::MujocoGPSModule() { + this->measurementVector = &flightData::measurementVectorY; +} + +MujocoGPSModule::MujocoGPSModule(Eigen::VectorXd *measurementVector) { + this->measurementVector = measurementVector; +} + +int MujocoGPSModule::init() { + this->measurementVector->setZero(); + return NO_ERROR_CODE; +} + +void MujocoGPSModule::update(unsigned long time) { + (*this->measurementVector)( 9) = this->d->qpos[0]; + (*this->measurementVector)(10) = this->d->qpos[1]; + (*this->measurementVector)(11) = this->d->qpos[2]; + (*this->measurementVector)(12) = this->d->qvel[0]; + (*this->measurementVector)(13) = this->d->qvel[1]; + (*this->measurementVector)(14) = this->d->qvel[2]; +} + +#endif // IS_MUJOCO \ No newline at end of file diff --git a/lib/gps/MujocoGPS.h b/lib/gps/MujocoGPS.h new file mode 100644 index 0000000..a1bc54c --- /dev/null +++ b/lib/gps/MujocoGPS.h @@ -0,0 +1,37 @@ +/* +FakeGPS.h - GPS module that fills measurement vector with random noise +Author: Vincent Wang +*/ + +#ifdef IS_MUJOCO +#ifndef MJCGPS_H +#define MJCGPS_H + +#include "FlightModule.h" +#include +#include "VEigen.h" + + +namespace flightData { + extern Eigen::VectorXd measurementVectorY; +} + +class MujocoGPSModule : public FlightModule { +public: + // Write directly to measurementVectorY + // NO CHECKS! May clobber other values! + MujocoGPSModule(); + + // Write to passed pointer to Eigen::Vector, useful for + // combining with other modules + MujocoGPSModule(Eigen::VectorXd* measurementVector); + int init() override; + void update(unsigned long time) override; + + mjData *d; +private: + Eigen::VectorXd* measurementVector; +}; + +#endif // MJCGPS_H +#endif // IS_MUJOCO \ No newline at end of file diff --git a/lib/led/LEDModule.cpp b/lib/led/LEDModule.cpp index 11063b3..1639862 100644 --- a/lib/led/LEDModule.cpp +++ b/lib/led/LEDModule.cpp @@ -1,5 +1,5 @@ #include "LEDModule.h" -#include "Error.h" +#include "ASTRAError.h" #include #define SLOW_THRESHOLD 1000 diff --git a/lib/math/Derivative.cpp b/lib/math/Derivative.cpp index e4367f9..87afc14 100644 --- a/lib/math/Derivative.cpp +++ b/lib/math/Derivative.cpp @@ -5,7 +5,7 @@ Author: Vincent Palmerio */ #include "Derivative.h" -#include "Error.h" +#include "ASTRAError.h" Eigen::VectorXd derivative(1); diff --git a/lib/math/Integrator.cpp b/lib/math/Integrator.cpp index f022920..29acf52 100644 --- a/lib/math/Integrator.cpp +++ b/lib/math/Integrator.cpp @@ -7,7 +7,7 @@ Last updated: 01/10/2024 by Ishan Goel */ #include "Integrator.h" -#include "Error.h" +#include "ASTRAError.h" // This function needs testing int Integrator::reset(Eigen::VectorXd* vector) diff --git a/lib/math/LinearInterpolator.cpp b/lib/math/LinearInterpolator.cpp index fc71151..d739efa 100644 --- a/lib/math/LinearInterpolator.cpp +++ b/lib/math/LinearInterpolator.cpp @@ -1,5 +1,5 @@ #include "LinearInterpolator.h" -#include "Error.h" +#include "ASTRAError.h" /* LinearInterpolator.cpp diff --git a/lib/math/MathFunctions.cpp b/lib/math/MathFunctions.cpp index 464f29d..95d1175 100644 --- a/lib/math/MathFunctions.cpp +++ b/lib/math/MathFunctions.cpp @@ -74,4 +74,10 @@ namespace math{ v.z() = atan2(2*(q.w()*q.z() + q.x()*q.y()), 1 - 2*(q.y()*q.y() + q.z()*q.z())); return v; } + + float constrain(float input, float min, float max) { + if (input < min) return min; + if (input > max) return max; + return input; + } } \ No newline at end of file diff --git a/lib/math/MathFunctions.h b/lib/math/MathFunctions.h index 5bb4058..458db2f 100644 --- a/lib/math/MathFunctions.h +++ b/lib/math/MathFunctions.h @@ -16,6 +16,8 @@ namespace math { Eigen::VectorXd quaternionProduct(Eigen::VectorXd q1, Eigen::VectorXd q2); Eigen::VectorXd quaternionConjugate(Eigen::VectorXd q); Eigen::Vector3d quatToEuler(Eigen::Quaterniond q); + + float constrain(float input, float min, float max); } #endif \ No newline at end of file diff --git a/lib/motor/MotorModule.h b/lib/motor/MotorModule.h index d4cf4f3..393a746 100644 --- a/lib/motor/MotorModule.h +++ b/lib/motor/MotorModule.h @@ -5,7 +5,7 @@ #include "ESC.h" #include "FlightModule.h" #include "VEigen.h" -#include "Error.h" +#include "ASTRAError.h" /** Pins for servos and ESC */ #define INNER_GIMBAL_PIN (29) diff --git a/lib/motor/MujocoMotor.cpp b/lib/motor/MujocoMotor.cpp new file mode 100644 index 0000000..adfa890 --- /dev/null +++ b/lib/motor/MujocoMotor.cpp @@ -0,0 +1,26 @@ +#if IS_MUJOCO +#include "MujocoMotor.h" +#include "ASTRAError.h" +#include +#include + +#include +#include "VEigen.h" + +#define NOISE_COEFF 0.1 + +MujocoMotorModule::MujocoMotorModule() { +} + +int MujocoMotorModule::init() { + return NO_ERROR_CODE; +} + +void MujocoMotorModule::update(unsigned long time) { + this->d->ctrl[0] = flightData::controllerInputU(0); + this->d->ctrl[1] = flightData::controllerInputU(1); + this->d->ctrl[2] = flightData::controllerInputU(2); + this->d->ctrl[3] = flightData::controllerInputU(3); +} + +#endif // IS_MUJOCO \ No newline at end of file diff --git a/lib/motor/MujocoMotor.h b/lib/motor/MujocoMotor.h new file mode 100644 index 0000000..d3fec2f --- /dev/null +++ b/lib/motor/MujocoMotor.h @@ -0,0 +1,30 @@ +/* +FakeMotor.h - Motor module that fills measurement vector with random noise +Author: Vincent Wang +*/ + +#ifdef IS_MUJOCO +#ifndef MJCMotor_H +#define MJCMotor_H + +#include "FlightModule.h" +#include +#include "VEigen.h" + + +namespace flightData { + extern Eigen::VectorXd controllerInputU; +} + +class MujocoMotorModule : public FlightModule { +public: + MujocoMotorModule(); + int init() override; + void update(unsigned long time) override; + + mjData *d; +private: +}; + +#endif // MJCMotor_H +#endif // IS_MUJOCO \ No newline at end of file diff --git a/lib/old/controller/Controller.cpp b/lib/old/controller/Controller.cpp index 0f9cf74..17222f6 100644 --- a/lib/old/controller/Controller.cpp +++ b/lib/old/controller/Controller.cpp @@ -1,6 +1,6 @@ #ifdef one #include "Controller.h" -#include "Error.h" +#include "ASTRAError.h" #include "settings.h" #include "Estimator.h" #include "Encoder.h" diff --git a/lib/old/estimator/Estimator.cpp b/lib/old/estimator/Estimator.cpp index 5c4feeb..f67882e 100644 --- a/lib/old/estimator/Estimator.cpp +++ b/lib/old/estimator/Estimator.cpp @@ -1,6 +1,6 @@ #include "Estimator.h" #include "Integrator.h" -#include "Error.h" +#include "ASTRAError.h" #include "IMU.h" #include "MathFunctions.h" #include "TOF.h" diff --git a/lib/old/timer/timer.cpp b/lib/old/timer/timer.cpp index 67f8dc6..aeb18d2 100644 --- a/lib/old/timer/timer.cpp +++ b/lib/old/timer/timer.cpp @@ -1,4 +1,4 @@ -#include "Error.h" +#include "ASTRAError.h" #include "timer.h" #include diff --git a/lib/old/timer/timer.h b/lib/old/timer/timer.h index 32d0cf8..2f48fbe 100644 --- a/lib/old/timer/timer.h +++ b/lib/old/timer/timer.h @@ -2,7 +2,7 @@ #define TIMER_H #include -#include "Error.h" +#include "ASTRAError.h" /* Timer.h diff --git a/lib/voltage_monitor/VoltageModule.cpp b/lib/voltage_monitor/VoltageModule.cpp index 5f9488e..1ee8e04 100644 --- a/lib/voltage_monitor/VoltageModule.cpp +++ b/lib/voltage_monitor/VoltageModule.cpp @@ -1,5 +1,5 @@ #include "VoltageModule.h" -#include "Error.h" +#include "ASTRAError.h" #include #define SLOW_THRESHOLD 1000 diff --git a/model/rocket.xml b/model/rocket.xml new file mode 100644 index 0000000..f5cdc8f --- /dev/null +++ b/model/rocket.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/model/rocket_original.xml b/model/rocket_original.xml new file mode 100644 index 0000000..423ef0f --- /dev/null +++ b/model/rocket_original.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/main.cpp b/src/main.cpp index 3e0e5c9..ad01ba7 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -26,8 +26,11 @@ namespace flightData { float encoderPos[4] = {0.0f}; float encoderSpeeds[4] = {0.0f}; Router *router; - Eigen::VectorXd measurementVectorY(9); - Eigen::VectorXd estimatedStateX(6); + // accel*3, gyro*3, mag*3, gpspos*3, gpsvel*3 + Eigen::VectorXd measurementVectorY(15); + // pos, vel, rot, angvel + Eigen::VectorXd estimatedStateX(12); + // gimbalx, gimbaly, roll, thrust Eigen::VectorXd controllerInputU(4); } diff --git a/src/main_mujoco.cpp b/src/main_mujoco.cpp new file mode 100644 index 0000000..1f5df0f --- /dev/null +++ b/src/main_mujoco.cpp @@ -0,0 +1,282 @@ +/** + * Main entry point for mujoco simulation of ASTRA + * This is adapted from mujoco/sample/basic.cc: + * Copyright 2021 DeepMind Technologies Limited + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Compile and run the mujoco sim using the following commands in ASTRAFlightSoftware: + * 1. mkdir build + * 2. cmake .. + * 3. make + * 4. ./bin/main-mujoco ../model/rocket.xml + * + * Note that you need cmake and make installed (build-essential on Linux, XCode tools on MacOS) + */ +#ifdef IS_MUJOCO + +#include +#include + +/* -- MUJOCO UI HANDLING CODE (can skip) --*/ + +#include +#include +#include "FlightModule.h" +#include "Scheduler.h" +#include "MujocoIMU.h" +#include "MujocoGPS.h" +#include "MujocoMotor.h" +#include "MEKFEstimatorModule.h" +// #include "Comms.h" +#include "Router.h" +#include "ControllerModule.h" + +// MuJoCo data structures +mjModel* m = NULL; // MuJoCo model +mjData* d = NULL; // MuJoCo data +mjvCamera cam; // abstract camera +mjvOption opt; // visualization options +mjvScene scn; // abstract scene +mjrContext con; // custom GPU context + +// mouse interaction +bool button_left = false; +bool button_middle = false; +bool button_right = false; +double lastx = 0; +double lasty = 0; + +// keyboard callback +void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods) { + // backspace: reset simulation + if (act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE) { + mj_resetData(m, d); + mj_forward(m, d); + } +} + + +// mouse button callback +void mouse_button(GLFWwindow* window, int button, int act, int mods) { + // update button state + button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS); + button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS); + button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS); + + // update mouse position + glfwGetCursorPos(window, &lastx, &lasty); +} + + +// mouse move callback +void mouse_move(GLFWwindow* window, double xpos, double ypos) { + // no buttons down: nothing to do + if (!button_left && !button_middle && !button_right) { + return; + } + + // compute mouse displacement, save + double dx = xpos - lastx; + double dy = ypos - lasty; + lastx = xpos; + lasty = ypos; + + // get current window size + int width, height; + glfwGetWindowSize(window, &width, &height); + + // get shift key state + bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS || + glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS); + + // determine action based on mouse button + mjtMouse action; + if (button_right) { + action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V; + } else if (button_left) { + action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V; + } else { + action = mjMOUSE_ZOOM; + } + + // move camera + mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam); +} + + +// scroll callback +void scroll(GLFWwindow* window, double xoffset, double yoffset) { + // emulate vertical mouse motion = 5% of window height + mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam); +} + +/* -- END MUJOCO UI CODE -- */ + + +/* ----- CONTROL LOOP ----- */ +// Define module setup +namespace flightData { + int ledMode = 0; + float voltage[1] = {0.0f}; + float encoderPos[4] = {0.0f}; + float encoderSpeeds[4] = {0.0f}; + Router *router; + // accel*3, gyro*3, mag*3, gpspos*3, gpsvel*3 + Eigen::VectorXd measurementVectorY(15); + // pos, vel, rot, angvel + Eigen::VectorXd estimatedStateX(12); + // gimbalx, gimbaly, roll, thrust + Eigen::VectorXd controllerInputU(4); +} + +// LEDModule ledModule; +// VoltageModule voltageModule(0, BATT_V_PIN); +MujocoIMUModule imuModule; +MujocoGPSModule gpsModule; +MujocoMotorModule motorModule; +MEKFEstimatorModule estimatorModule; +// CommsManager commsManager; +ControllerModule controllerModule; + +FlightModule* basicSchedule[] = { + (FlightModule*) &imuModule, + (FlightModule*) &gpsModule, + (FlightModule*) &estimatorModule, + (FlightModule*) &controllerModule, + (FlightModule*) &motorModule, + // (FlightModule*) &commsManager, +}; + +constexpr int scheduleSize = sizeof(basicSchedule) / sizeof(FlightModule*); + +Scheduler scheduler(basicSchedule, scheduleSize); +Router centralRouter; +void init(mjModel *m, mjData *d) { + imuModule.d = d; // Set mjData pointer + gpsModule.d = d; // Set mjData pointer + motorModule.d = d; // Set mjData pointer + flightData::router = ¢ralRouter; + centralRouter.registerSchedule(ASTRA_MAINLOOP, &scheduler); + centralRouter.changeSchedule(ASTRA_MAINLOOP); + + centralRouter.init(); +} + +void controller(const mjModel *m, mjData *d) { + // Control code here + scheduler.update((unsigned long) (d->time * 1000000)); +} + +// main loop +int main(int argc, const char** argv) { + if (argc != 2) { + std::printf("USAGE: main-mujoco modelfile\n"); + return 0; + } + + // load and compile model from XML + char error[1000] = "Could not load binary model"; + if (std::strlen(argv[1]) > 4 && !std::strcmp(argv[1]+std::strlen(argv[1])-4, ".mjb")) { + m = mj_loadModel(argv[1], 0); + } else { + m = mj_loadXML(argv[1], 0, error, 1000); + } + if (!m) { + mju_error("Load model error: %s", error); + } + + // make data + d = mj_makeData(m); + init(m, d); + + /* --------- UI stuff ---------- */ + + // init GLFW + if (!glfwInit()) { + mju_error("Could not initialize GLFW"); + } + + // create window, make OpenGL context current, request v-sync + GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL); + glfwMakeContextCurrent(window); + glfwSwapInterval(1); + + // initialize visualization data structures + mjv_defaultCamera(&cam); + mjv_defaultOption(&opt); + mjv_defaultScene(&scn); + mjr_defaultContext(&con); + cam.trackbodyid = mj_name2id(m, mjOBJ_BODY, "rocket"); + cam.type = mjCAMERA_TRACKING; + + // create scene and context + mjv_makeScene(m, &scn, 2000); + mjr_makeContext(m, &con, mjFONTSCALE_150); + + // install GLFW mouse and keyboard callbacks + glfwSetKeyCallback(window, keyboard); + glfwSetCursorPosCallback(window, mouse_move); + glfwSetMouseButtonCallback(window, mouse_button); + glfwSetScrollCallback(window, scroll); + + /* --------- end UI stuff ---------- */ + + /* Set control loop */ + mjcb_control = controller; + + // run main loop, target real-time simulation and 60 fps rendering + while (!glfwWindowShouldClose(window)) { + // advance interactive simulation for 1/60 sec + // Assuming MuJoCo can simulate faster than real-time, which it usually can, + // this loop will finish on time for the next frame to be rendered at 60 fps. + // Otherwise add a cpu timer and exit this loop when it is time to render. + mjtNum simstart = d->time; + /* ACTUAL MAINLOOP - run stuff per simulation step. */ + while (d->time - simstart < 1.0/60.0) { + mj_step(m, d); + } + + /* ---------- Update render ---------- */ + // get framebuffer viewport + mjrRect viewport = {0, 0, 0, 0}; + glfwGetFramebufferSize(window, &viewport.width, &viewport.height); + + // update scene and render + mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn); + mjr_render(viewport, &scn, &con); + + // swap OpenGL buffers (blocking call due to v-sync) + glfwSwapBuffers(window); + + // process pending GUI events, call GLFW callbacks + glfwPollEvents(); + } + + // free visualization storage + mjv_freeScene(&scn); + mjr_freeContext(&con); + + // free MuJoCo model and data + mj_deleteData(d); + mj_deleteModel(m); + + // terminate GLFW (crashes with Linux NVidia drivers) +#if defined(__APPLE__) || defined(_WIN32) + glfwTerminate(); +#endif + + return 1; +} + +#endif diff --git a/src/main_posix.cpp b/src/main_posix.cpp index 88d30d1..e7d1992 100644 --- a/src/main_posix.cpp +++ b/src/main_posix.cpp @@ -13,8 +13,12 @@ #include namespace flightData { - Eigen::VectorXd measurementVectorY(9); - Eigen::VectorXd estimatedStateX(6); + // accel*3, gyro*3, mag*3, gpspos*3, gpsvel*3 + Eigen::VectorXd measurementVectorY(15); + // pos, vel, rot, angvel + Eigen::VectorXd estimatedStateX(12); + // gimbalx, gimbaly, roll, thrust + Eigen::VectorXd controllerInputU(4); float voltage[1] = {12.6f}; Router *router; }