Closed alphaville closed 4 years ago
All non-static functions and #defines have now problem-specific names. For example, casadi_memory.h looks like this:
#define
casadi_memory.h
/* * Header file with sizes of arrays that need to be allocated * (statically) once * * * This file is autogenerated by Optimization Engine * See http://doc.optimization-engine.xyz * * * Metadata: * + Optimizer * + name: nmpc * + version: 0.0.0 * + licence: MIT * * Generated at: 2019-10-22 12:30:25.901470 * */ #pragma once /* * Cost sizes */ #define COST_SZ_ARG_NMPC 3 #define COST_SZ_IW_NMPC 0 #define COST_SZ_W_NMPC 9 #define COST_SZ_RES_NMPC 1 /* * Gradient sizes */ #define GRAD_SZ_ARG_NMPC 3 #define GRAD_SZ_IW_NMPC 0 #define GRAD_SZ_W_NMPC 9 #define GRAD_SZ_RES_NMPC 1 /* * F1 sizes */ #define F1_SZ_ARG_NMPC 2 #define F1_SZ_IW_NMPC 0 #define F1_SZ_W_NMPC 1 #define F1_SZ_RES_NMPC 1 /* * F2 sizes */ #define F2_SZ_ARG_NMPC 2 #define F2_SZ_IW_NMPC 0 #define F2_SZ_W_NMPC 3 #define F2_SZ_RES_NMPC 1
and interface.c looks like this:
interface.c
/* * Interface/Wrapper for C functions generated by CasADi * * CasADi generated the following four files: * - auto_casadi_cost.c * - auto_casadi_grad.c * - auto_casadi_mapping_f1.c * - auto_casadi_mapping_f2.c * * This file is autogenerated by Optimization Engine * See http://doc.optimization-engine.xyz * * * Metadata: * + Optimizer * + name: nmpc * + version: 0.0.0 * + licence: MIT * + Problem * + vars: 5 * + parameters: 2 * + n1: 0 * + n2: 2 * * Generated at: 2019-10-22 12:30:25.933883 * */ #include <stdlib.h> #include "casadi_memory.h" /* Number of input variables */ #define NU_NMPC 5 /* Number of static parameters */ #define NP_NMPC 4 /* Dimension of F1 (number of ALM constraints) */ #define N1_NMPC 0 /* Dimension of F2 (number of PM constraints) */ #define N2_NMPC 2 /* Dimension of xi = (c, y) */ #define NXI_NMPC 1 #ifndef casadi_real #define casadi_real double #endif #ifndef casadi_int #define casadi_int long long int #endif /* ------EXTERNAL FUNCTIONS (DEFINED IN C FILES)-------------------------------- */ /* * CasADi interface for the cost function */ extern int phi_ICwAHEaoxEFOhSeMBkgH( const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem); /* * CasADi interface for the gradient of the cost */ extern int grad_phi_ICwAHEaoxEFOhSeMBkgH( const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem); /* * CasADi interface for the gradient of mapping F1 */ extern int mapping_f1_ICwAHEaoxEFOhSeMBkgH( const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem); /* * CasADi interface for the gradient of mapping F2 */ extern int mapping_f2_ICwAHEaoxEFOhSeMBkgH( const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem); /* ------WORKSPACES------------------------------------------------------------- */ /* * Integer workspaces */ #if COST_SZ_IW_NMPC > 0 static casadi_int allocated_i_workspace_cost[COST_SZ_IW_NMPC]; /* cost (int ) */ #else static casadi_int *allocated_i_workspace_cost = NULL; #endif #if GRAD_SZ_IW_NMPC > 0 static casadi_int allocated_i_workspace_grad[GRAD_SZ_IW_NMPC]; /* grad (int ) */ #else static casadi_int *allocated_i_workspace_grad = NULL; #endif #if F1_SZ_IW_NMPC > 0 static casadi_int allocated_i_workspace_f1[F1_SZ_IW_NMPC]; /* f1 (int ) */ #else static casadi_int *allocated_i_workspace_f1 = NULL; #endif #if F2_SZ_IW_NMPC > 0 static casadi_int allocated_i_workspace_f2[F2_SZ_IW_NMPC]; /* f2 (int ) */ #else static casadi_int *allocated_i_workspace_f2 = NULL; #endif /* * Real workspaces */ #if COST_SZ_W_NMPC > 0 static casadi_real allocated_r_workspace_cost[COST_SZ_W_NMPC]; /* cost (real) */ #else static casadi_real *allocated_r_workspace_cost = NULL; #endif #if GRAD_SZ_W_NMPC > 0 static casadi_real allocated_r_workspace_grad[GRAD_SZ_W_NMPC]; /* grad (real ) */ #else static casadi_real *allocated_r_workspace_grad = NULL; #endif #if F1_SZ_W_NMPC > 0 static casadi_real allocated_r_workspace_f1[F1_SZ_W_NMPC]; /* f1 (real ) */ #else static casadi_real *allocated_r_workspace_f1 = NULL; #endif #if F2_SZ_W_NMPC > 0 static casadi_real allocated_r_workspace_f2[F2_SZ_W_NMPC]; /* f2 (real ) */ #else static casadi_real *allocated_r_workspace_f2 = NULL; #endif /* * Result workspaces */ #if COST_SZ_RES_NMPC > 0 static casadi_real *result_space_cost[COST_SZ_RES_NMPC]; /* cost (res ) */ #else static casadi_real **result_space_cost = NULL; #endif #if GRAD_SZ_RES_NMPC > 0 static casadi_real *result_space_grad[GRAD_SZ_RES_NMPC]; /* grad (res ) */ #else static casadi_real **result_space_grad = NULL; #endif #if F1_SZ_RES_NMPC > 0 static casadi_real *result_space_f1[F1_SZ_RES_NMPC]; /* f1 (res ) */ #else static casadi_real **result_space_f1 = NULL; #endif #if F2_SZ_RES_NMPC > 0 static casadi_real *result_space_f2[F2_SZ_RES_NMPC]; /* f2 (res ) */ #else static casadi_real **result_space_f2 = NULL; #endif /* ------U, XI, P--------------------------------------------------------------- */ /* * Space for storing (u, xi, p) * that is, uxip_space = [u, xi, p] * * 0 NU-1 NU NU+NXI-1 NU+NX NU+NXI+NP-1 * |--- u ----| |---- xi -------| |----- p ----------| * | | * |------------------- uxip_space ------------------------------| */ static casadi_real uxip_space[NU_NMPC +NXI_NMPC +NP_NMPC]; /** * Copy (u, xi, p) into uxip_space * * Input arguments: * - `arg = {u, xi, p}`, where `u`, `xi` and `p` are pointer-to-double */ static void copy_args_into_uxip_space(const casadi_real** arg) { int i; for (i=0; i<NU_NMPC; i++) uxip_space[i] = arg[0][i]; /* copy u */ for (i=0; i<NXI_NMPC; i++) uxip_space[NU_NMPC+i] = arg[1][i]; /* copy xi */ for (i=0; i<NP_NMPC; i++) uxip_space[NU_NMPC+NXI_NMPC+i] = arg[2][i]; /* copy p */ } /** * Copy (u, p) into uxip_space */ static void copy_args_into_up_space(const casadi_real** arg) { int i; for (i=0; i<NU_NMPC; i++) uxip_space[i] = arg[0][i]; /* copy u */ for (i=0; i<NP_NMPC; i++) uxip_space[NU_NMPC+NXI_NMPC+i] = arg[1][i]; /* copy p */ } /* ------COST------------------------------------------------------------------- */ int cost_function_nmpc(const casadi_real** arg, casadi_real** res) { const casadi_real* args__[COST_SZ_ARG_NMPC] = {uxip_space, /* :u */ uxip_space + NU_NMPC, /* :xi */ uxip_space + NU_NMPC + NXI_NMPC}; /* :p */ copy_args_into_uxip_space(arg); result_space_cost[0] = res[0]; return phi_ICwAHEaoxEFOhSeMBkgH( args__, result_space_cost, allocated_i_workspace_cost, allocated_r_workspace_cost, (void*) 0); } /* ------GRADIENT--------------------------------------------------------------- */ int grad_cost_function_nmpc(const casadi_real** arg, casadi_real** res) { const casadi_real* args__[GRAD_SZ_ARG_NMPC] = { uxip_space, /* :u */ uxip_space + NU_NMPC, /* :xi */ uxip_space + NU_NMPC + NXI_NMPC}; /* :p */ copy_args_into_uxip_space(arg); result_space_grad[0] = res[0]; return grad_phi_ICwAHEaoxEFOhSeMBkgH( args__, result_space_grad, allocated_i_workspace_grad, allocated_r_workspace_grad, (void*) 0); } /* ------MAPPING F1------------------------------------------------------------- */ int mapping_f1_function_nmpc(const casadi_real** arg, casadi_real** res) { /* Array of pointers to where (u, p) are stored */ const casadi_real* args__[F1_SZ_ARG_NMPC] = {uxip_space, /* :u */ uxip_space + NU_NMPC + NXI_NMPC}; /* :p */ /* Copy given data to variable `uxip_space` */ copy_args_into_up_space(arg); /* * The result should be written in result_space_f1 * (memory has been allocated - see beginning of this file) */ result_space_f1[0] = res[0]; /* * Call auto-generated function mapping_f1_ICwAHEaoxEFOhSeMBkgH * Implemented in: icasadi/extern/auto_casadi_mapping_f1.c */ return mapping_f1_ICwAHEaoxEFOhSeMBkgH( args__, result_space_f1, allocated_i_workspace_f1, allocated_r_workspace_f1, (void*) 0); } /* ------MAPPING F2------------------------------------------------------------- */ int mapping_f2_function_nmpc(const casadi_real** arg, casadi_real** res) { /* Array of pointers to where (u, p) are stored */ const casadi_real* args__[F2_SZ_ARG_NMPC] = {uxip_space, /* :u */ uxip_space + NU_NMPC + NXI_NMPC}; /* :p */ /* Copy given data to variable `uxip_space` */ copy_args_into_up_space(arg); /* * The result should be written in result_space_f2 * (memory has been allocated - see beginning of this file) */ result_space_f2[0] = res[0]; /* * Call auto-generated function mapping_f2_ICwAHEaoxEFOhSeMBkgH * Implemented in: icasadi/extern/auto_casadi_mapping_f2.c */ return mapping_f2_ICwAHEaoxEFOhSeMBkgH( args__, result_space_f2, allocated_i_workspace_f2, allocated_r_workspace_f2, (void*) 0); }
All non-static functions and
#defines have now problem-specific names. For example,casadi_memory.hlooks like this:and
interface.clooks like this: