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 <math.h>
  
  #include <blasfeo_target.h>
  #include <blasfeo_common.h>
  #include <blasfeo_s_aux.h>
  #include <blasfeo_s_blas.h>
  
  #include <hpipm_s_ocp_qp_dim.h>
  #include <hpipm_s_ocp_qp.h>
  #include <hpipm_s_ocp_qp_sol.h>
  #include <hpipm_s_ocp_qp_ipm.h>
  #include <hpipm_s_core_qp_ipm.h>
  #include <hpipm_s_core_qp_ipm_aux.h>
  
  
  
  #define SINGLE_PRECISION
  #define BLASFEO_MATEL BLASFEO_SMATEL
  #define BLASFEO_VECEL BLASFEO_SVECEL
  
  
  
  #define AXPY blasfeo_saxpy
  #define COLSC blasfeo_scolsc
  #define COMPUTE_LAM_T_QP s_compute_lam_t_qp
  #define COMPUTE_GAMMA_GAMMA_QP s_compute_Gamma_gamma_qp
  #define COMPUTE_GAMMA_QP s_compute_gamma_qp
  #define CORE_QP_IPM_WORKSPACE s_core_qp_ipm_workspace
  #define DIAAD_SP blasfeo_sdiaad_sp
  #define DIARE blasfeo_sdiare
  #define GEAD blasfeo_sgead
  #define GECP blasfeo_sgecp
  #define GELQF blasfeo_sgelqf
  #define GELQF_PD blasfeo_sgelqf_pd
  #define GELQF_PD_LA blasfeo_sgelqf_pd_la
  #define GELQF_PD_LLA blasfeo_sgelqf_pd_lla
  #define GEMM_NT blasfeo_sgemm_nt
  #define GEMM_R_DIAG blasfeo_sgemm_nd
  #define GEMV_N blasfeo_sgemv_n
  #define GEMV_T blasfeo_sgemv_t
  #define GESE blasfeo_sgese
  #define OCP_QP s_ocp_qp
  #define OCP_QP_IPM_ARG s_ocp_qp_ipm_arg
  #define OCP_QP_IPM_WS s_ocp_qp_ipm_ws
  #define OCP_QP_DIM s_ocp_qp_dim
  #define OCP_QP_SOL s_ocp_qp_sol
  #define POTRF_L blasfeo_spotrf_l
  #define POTRF_L_MN blasfeo_spotrf_l_mn
  #define PRINT_E_MAT s_print_exp_mat
  #define PRINT_E_STRVEC blasfeo_print_exp_svec
  #define PRINT_E_TRAN_STRVEC blasfeo_print_exp_tran_svec
  #define PRINT_STRMAT blasfeo_print_smat
  #define PRINT_STRVEC blasfeo_print_svec
  #define PRINT_TRAN_STRVEC blasfeo_print_tran_svec
  #define REAL float
  #define ROWAD_SP blasfeo_srowad_sp
  #define ROWEX blasfeo_srowex
  #define ROWIN blasfeo_srowin
  #define STRMAT blasfeo_smat
  #define STRVEC blasfeo_svec
  #define SYRK_LN blasfeo_ssyrk_ln
  #define SYRK_LN_MN blasfeo_ssyrk_ln_mn
  #define SYRK_POTRF_LN_MN blasfeo_ssyrk_spotrf_ln_mn
  #define TRCP_L blasfeo_strcp_l
  #define TRMM_RLNN blasfeo_strmm_rlnn
  #define TRMV_LNN blasfeo_strmv_lnn
  #define TRMV_LTN blasfeo_strmv_ltn
  #define TRSV_LNN blasfeo_strsv_lnn
  #define TRSV_LTN blasfeo_strsv_ltn
  #define TRSV_LNN_MN blasfeo_strsv_lnn_mn
  #define TRSV_LTN_MN blasfeo_strsv_ltn_mn
  #define TRTR_L blasfeo_strtr_l
  #define VECAD_SP blasfeo_svecad_sp
  #define VECCP blasfeo_sveccp
  #define VECCPSC blasfeo_sveccpsc
  #define VECEX_SP blasfeo_svecex_sp
  #define VECSC blasfeo_svecsc
  
  
  
  #define OCP_QP_FACT_SOLVE_KKT_UNCONSTR s_ocp_qp_fact_solve_kkt_unconstr
  #define OCP_QP_FACT_SOLVE_KKT_STEP s_ocp_qp_fact_solve_kkt_step
  #define OCP_QP_FACT_LQ_SOLVE_KKT_STEP s_ocp_qp_fact_lq_solve_kkt_step
  #define OCP_QP_SOLVE_KKT_STEP s_ocp_qp_solve_kkt_step
  
  
  
  #include "x_ocp_qp_kkt.c"
  
  