text: /**************************************************************************************************
  *                                                                                                 *
  * This file is part of HPIPM.                                                                     *
  *                                                                                                 *
  * HPIPM -- High-Performance Interior Point Method.                                                *
  * Copyright (C) 2019 by Gianluca Frison.                                                          *
  * Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
  * All rights reserved.                                                                            *
  *                                                                                                 *
  * The 2-Clause BSD License                                                                        *
  *                                                                                                 *
  * Redistribution and use in source and binary forms, with or without                              *
  * modification, are permitted provided that the following conditions are met:                     *
  *                                                                                                 *
  * 1. Redistributions of source code must retain the above copyright notice, this                  *
  *    list of conditions and the following disclaimer.                                             *
  * 2. Redistributions in binary form must reproduce the above copyright notice,                    *
  *    this list of conditions and the following disclaimer in the documentation                    *
  *    and/or other materials provided with the distribution.                                       *
  *                                                                                                 *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
  * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
  *                                                                                                 *
  * Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
  *                                                                                                 *
  **************************************************************************************************/
  
  
  
  #include <stdio.h>
  #include <stdlib.h>
  
  #include <blasfeo_target.h>
  #include <blasfeo_common.h>
  #include <blasfeo_s_aux.h>
  #include <blasfeo_s_blas.h>
  
  #include <hpipm_s_ocp_qcqp_dim.h>
  #include <hpipm_s_ocp_qcqp.h>
  #include <hpipm_s_ocp_qcqp_sol.h>
  #include <hpipm_s_ocp_qcqp_red.h>
  #include <hpipm_aux_string.h>
  #include <hpipm_aux_mem.h>
  
  
  
  #define SINGLE_PRECISION
  
  
  
  #define AXPY blasfeo_saxpy
  #define COLEX blasfeo_scolex
  #define CREATE_STRVEC blasfeo_create_svec
  #define DOT blasfeo_sdot
  #define GECP blasfeo_sgecp
  #define GEMV_N blasfeo_sgemv_n
  #define GEMV_T blasfeo_sgemv_t
  #define OCP_QCQP s_ocp_qcqp
  #define OCP_QCQP_DIM s_ocp_qcqp_dim
  #define OCP_QCQP_DIM_SET_NU s_ocp_qcqp_dim_set_nu
  #define OCP_QCQP_DIM_SET_NX s_ocp_qcqp_dim_set_nx
  #define OCP_QCQP_DIM_SET_NBU s_ocp_qcqp_dim_set_nbu
  #define OCP_QCQP_DIM_SET_NBX s_ocp_qcqp_dim_set_nbx
  #define OCP_QCQP_DIM_SET_NG s_ocp_qcqp_dim_set_ng
  #define OCP_QCQP_DIM_SET_NQ s_ocp_qcqp_dim_set_nq
  #define OCP_QCQP_DIM_SET_NS s_ocp_qcqp_dim_set_ns
  #define OCP_QCQP_DIM_SET_NSBU s_ocp_qcqp_dim_set_nsbu
  #define OCP_QCQP_DIM_SET_NSBX s_ocp_qcqp_dim_set_nsbx
  #define OCP_QCQP_DIM_SET_NSG s_ocp_qcqp_dim_set_nsg
  #define OCP_QCQP_DIM_SET_NSQ s_ocp_qcqp_dim_set_nsq
  #define OCP_QCQP_DIM_SET_NBUE s_ocp_qcqp_dim_set_nbue
  #define OCP_QCQP_DIM_SET_NBXE s_ocp_qcqp_dim_set_nbxe
  #define OCP_QCQP_DIM_SET_NGE s_ocp_qcqp_dim_set_nge
  #define OCP_QCQP_DIM_SET_NQE s_ocp_qcqp_dim_set_nqe
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG s_ocp_qcqp_reduce_eq_dof_arg
  #define OCP_QCQP_REDUCE_EQ_DOF_WS s_ocp_qcqp_reduce_eq_dof_ws
  #define OCP_QCQP_SOL s_ocp_qcqp_sol
  #define MATEL BLASFEO_SMATEL
  #define REAL float
  #define SIZE_STRVEC blasfeo_memsize_svec
  #define STRVEC blasfeo_svec
  #define SYMV_L blasfeo_ssymv_l
  #define VECAD_SP blasfeo_svecad_sp
  #define VECCP blasfeo_sveccp
  #define VECEL BLASFEO_SVECEL
  #define VECSE blasfeo_svecse
  
  #define OCP_QCQP_DIM_REDUCE_EQ_DOF s_ocp_qcqp_dim_reduce_eq_dof
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_MEMSIZE s_ocp_qcqp_reduce_eq_dof_arg_memsize
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_CREATE s_ocp_qcqp_reduce_eq_dof_arg_create
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_SET_DEFAULT s_ocp_qcqp_reduce_eq_dof_arg_set_default
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_SET_ALIAS_UNCHANGED s_ocp_qcqp_reduce_eq_dof_arg_set_alias_unchanged
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_SET_COMP_PRIM_SOL s_ocp_qcqp_reduce_eq_dof_arg_set_comp_prim_sol
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_SET_COMP_DUAL_SOL_EQ s_ocp_qcqp_reduce_eq_dof_arg_set_comp_dual_sol_eq
  #define OCP_QCQP_REDUCE_EQ_DOF_ARG_SET_COMP_DUAL_SOL_INEQ s_ocp_qcqp_reduce_eq_dof_arg_set_comp_dual_sol_ineq
  #define OCP_QCQP_REDUCE_EQ_DOF_WS_MEMSIZE s_ocp_qcqp_reduce_eq_dof_ws_memsize
  #define OCP_QCQP_REDUCE_EQ_DOF_WS_CREATE s_ocp_qcqp_reduce_eq_dof_ws_create
  #define OCP_QCQP_REDUCE_EQ_DOF s_ocp_qcqp_reduce_eq_dof
  #define OCP_QCQP_REDUCE_EQ_DOF_LHS s_ocp_qcqp_reduce_eq_dof_lhs
  #define OCP_QCQP_REDUCE_EQ_DOF_RHS s_ocp_qcqp_reduce_eq_dof_rhs
  #define OCP_QCQP_RESTORE_EQ_DOF s_ocp_qcqp_restore_eq_dof
  
  
  
  #include "x_ocp_qcqp_red.c"
  
  
  
  