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_d_aux.h>
  
  #include <hpipm_d_dense_qp_dim.h>
  #include <hpipm_d_dense_qp.h>
  
  
  #define CREATE_STRMAT blasfeo_create_dmat
  #define CREATE_STRVEC blasfeo_create_dvec
  #define CVT_MAT2STRMAT blasfeo_pack_dmat
  #define CVT_TRAN_MAT2STRMAT blasfeo_pack_tran_dmat
  #define CVT_TRAN_STRMAT2MAT blasfeo_unpack_tran_dmat
  #define CVT_VEC2STRVEC blasfeo_pack_dvec
  #define CVT_STRMAT2MAT blasfeo_unpack_dmat
  #define CVT_STRVEC2VEC blasfeo_unpack_dvec
  #define DENSE_QP d_dense_qp
  #define DENSE_QP_DIM d_dense_qp_dim
  #define GECP_LIBSTR blasfeo_dgecp
  #define GETR_LIBSTR blasfeo_dgetr
  #define REAL double
  #define ROWIN_LIBSTR blasfeo_drowin
  #define SIZE_STRMAT blasfeo_memsize_dmat
  #define SIZE_STRVEC blasfeo_memsize_dvec
  #define STRMAT blasfeo_dmat
  #define STRVEC blasfeo_dvec
  #define VECCP_LIBSTR blasfeo_dveccp
  #define VECSC_LIBSTR blasfeo_dvecsc
  #define VECSE_LIBSTR blasfeo_dvecse
  
  #define DENSE_QP_MEMSIZE d_dense_qp_memsize
  #define DENSE_QP_CREATE d_dense_qp_create
  #define DENSE_QP_SET_ALL d_dense_qp_set_all
  #define DENSE_QP_GET_ALL d_dense_qp_get_all
  #define DENSE_QP_SET_H d_dense_qp_set_H
  #define DENSE_QP_SET_G d_dense_qp_set_g
  #define DENSE_QP_SET_A d_dense_qp_set_A
  #define DENSE_QP_SET_B d_dense_qp_set_b
  #define DENSE_QP_SET_IDXB d_dense_qp_set_idxb
  #define DENSE_QP_SET_LB d_dense_qp_set_lb
  #define DENSE_QP_SET_UB d_dense_qp_set_ub
  #define DENSE_QP_SET_C d_dense_qp_set_C
  #define DENSE_QP_SET_LG d_dense_qp_set_lg
  #define DENSE_QP_SET_UG d_dense_qp_set_ug
  #define DENSE_QP_SET_IDXS d_dense_qp_set_idxs
  #define DENSE_QP_SET_ZZL d_dense_qp_set_Zl
  #define DENSE_QP_SET_ZZU d_dense_qp_set_Zu
  #define DENSE_QP_SET_ZL d_dense_qp_set_zl
  #define DENSE_QP_SET_ZU d_dense_qp_set_zu
  #define DENSE_QP_SET_LS d_dense_qp_set_ls
  #define DENSE_QP_SET_US d_dense_qp_set_us
  #define DENSE_QP_GET_H d_dense_qp_get_H
  #define DENSE_QP_GET_G d_dense_qp_get_g
  #define DENSE_QP_GET_A d_dense_qp_get_A
  #define DENSE_QP_GET_B d_dense_qp_get_b
  #define DENSE_QP_GET_IDXB d_dense_qp_get_idxb
  #define DENSE_QP_GET_LB d_dense_qp_get_lb
  #define DENSE_QP_GET_UB d_dense_qp_get_ub
  #define DENSE_QP_GET_C d_dense_qp_get_C
  #define DENSE_QP_GET_LG d_dense_qp_get_lg
  #define DENSE_QP_GET_UG d_dense_qp_get_ug
  #define DENSE_QP_GET_IDXS d_dense_qp_get_idxs
  #define DENSE_QP_GET_ZZL d_dense_qp_get_Zl
  #define DENSE_QP_GET_ZZU d_dense_qp_get_Zu
  #define DENSE_QP_GET_ZL d_dense_qp_get_zl
  #define DENSE_QP_GET_ZU d_dense_qp_get_zu
  #define DENSE_QP_GET_LS d_dense_qp_get_ls
  #define DENSE_QP_GET_US d_dense_qp_get_us
  #define DENSE_QP_SET_ALL_ROWMAJ d_dense_qp_set_all_rowmaj
  #define DENSE_QP_GET_ALL_ROWMAJ d_dense_qp_get_all_rowmaj
  
  
  
  #include "x_dense_qp.c"
  