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                             *
  *                                                                                                 *
  **************************************************************************************************/
  
  #ifndef HPIPM_D_OCP_QP_DIM_H_
  #define HPIPM_D_OCP_QP_DIM_H_
  
  
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  
  
  struct d_ocp_qp_dim
  	{
  	int *nx; // number of states
  	int *nu; // number of inputs
  	int *nb; // number of box constraints
  	int *nbx; // number of state box constraints
  	int *nbu; // number of input box constraints
  	int *ng; // number of general constraints
  	int *ns; // number of soft constraints
  	int *nsbx; // number of soft state box constraints
  	int *nsbu; // number of soft input box constraints
  	int *nsg; // number of soft general constraints
  	int N; // horizon length
  	int memsize;
  	};
  
  
  
  //
  int d_ocp_qp_dim_strsize();
  //
  int d_ocp_qp_dim_memsize(int N);
  //
  void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
  //
  void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
  //
  void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
  //
  void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
  //
  void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
  //
  void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
  //
  void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
  
  
  
  #ifdef __cplusplus
  }	// #extern "C"
  #endif
  
  
  
  #endif // HPIPM_D_OCP_QP_DIM_H_
  