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 <stdlib.h>
  #include <stdio.h>
  
  #include <blasfeo_target.h>
  #include <blasfeo_common.h>
  #include <blasfeo_s_aux.h>
  
  #include <hpipm_s_ocp_qp_dim.h>
  #include <hpipm_s_ocp_qp.h>
  #include <hpipm_s_ocp_qp_sol.h>
  #include <hpipm_aux_string.h>
  #include <hpipm_aux_mem.h>
  
  
  
  #define CREATE_STRVEC blasfeo_create_svec
  #define CVT_STRVEC2VEC blasfeo_unpack_svec
  #define CVT_VEC2STRVEC blasfeo_pack_svec
  #define OCP_QP s_ocp_qp
  #define OCP_QP_DIM s_ocp_qp_dim
  #define OCP_QP_SOL s_ocp_qp_sol
  #define REAL float
  #define STRVEC blasfeo_svec
  #define SIZE_STRVEC blasfeo_memsize_svec
  #define VECCP blasfeo_sveccp
  #define VECSE blasfeo_svecse
  
  #define OCP_QP_SOL_STRSIZE s_ocp_qp_sol_strsize
  #define OCP_QP_SOL_MEMSIZE s_ocp_qp_sol_memsize
  #define OCP_QP_SOL_CREATE s_ocp_qp_sol_create
  #define OCP_QP_SOL_COPY_ALL s_ocp_qp_sol_copy_all
  #define OCP_QP_SOL_GET_ALL s_ocp_qp_sol_get_all
  #define OCP_QP_SOL_SET_ALL s_ocp_qp_sol_set_all
  #define OCP_QP_SOL_GET s_ocp_qp_sol_get
  #define OCP_QP_SOL_GET_U s_ocp_qp_sol_get_u
  #define OCP_QP_SOL_GET_X s_ocp_qp_sol_get_x
  #define OCP_QP_SOL_GET_SL s_ocp_qp_sol_get_sl
  #define OCP_QP_SOL_GET_SU s_ocp_qp_sol_get_su
  #define OCP_QP_SOL_GET_PI s_ocp_qp_sol_get_pi
  #define OCP_QP_SOL_GET_LAM_LB s_ocp_qp_sol_get_lam_lb
  #define OCP_QP_SOL_GET_LAM_UB s_ocp_qp_sol_get_lam_ub
  #define OCP_QP_SOL_GET_LAM_LG s_ocp_qp_sol_get_lam_lg
  #define OCP_QP_SOL_GET_LAM_UG s_ocp_qp_sol_get_lam_ug
  #define OCP_QP_SOL_SET s_ocp_qp_sol_set
  #define OCP_QP_SOL_SET_U s_ocp_qp_sol_set_u
  #define OCP_QP_SOL_SET_X s_ocp_qp_sol_set_x
  #define OCP_QP_SOL_SET_SL s_ocp_qp_sol_set_sl
  #define OCP_QP_SOL_SET_SU s_ocp_qp_sol_set_su
  
  
  #include "x_ocp_qp_sol.c"
  
  