core.h

Go to the documentation of this file.

#ifndef COPP_CORE_H
#define COPP_CORE_H
 
/*
 * Generated by bindings/c/scripts/generate_headers.ps1.
 * Do not edit by hand; update src/ffi/c and regenerate.
 */

 
#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif


typedef enum CoppStatus {
    COPP_STATUS_OK = 0,
    COPP_STATUS_NULL_POINTER = 1,
    COPP_STATUS_INVALID_LENGTH = 2,
    COPP_STATUS_INVALID_SHAPE = 3,
    COPP_STATUS_INVALID_ARGUMENT = 4,
    COPP_STATUS_PANIC = 5,
    COPP_STATUS_ALLOCATION_FAILED = 6,
    COPP_STATUS_IO_ERROR = 100,
    COPP_STATUS_CONSTRAINT_NON_INCREASING_S = 200,
    COPP_STATUS_CONSTRAINT_NO_MATCH_DIMENSIONS = 201,
    COPP_STATUS_CONSTRAINT_NO_MATCH_ORDER = 202,
    COPP_STATUS_CONSTRAINT_INVALID_SIGNED_BOUNDS = 203,
    COPP_STATUS_CONSTRAINT_OUT_OF_S_BOUNDS = 204,
    COPP_STATUS_CONSTRAINT_NON_POSITIVE_A = 205,
    COPP_STATUS_CONSTRAINT_NON_POSITIVE_LINEARIZATION_FLOOR = 206,
    COPP_STATUS_CONSTRAINT_NO_GIVEN_Q_INFO = 207,
    COPP_STATUS_CONSTRAINT_LINEAR_JERK_NOT_AVAILABLE = 208,
    COPP_STATUS_CONSTRAINT_NO_DYNAMIC = 209,
    COPP_STATUS_CONSTRAINT_INFEASIBLE_REFERENCE = 210,
    COPP_STATUS_CONSTRAINT_EMPTY_INTERVAL = 211,
    COPP_STATUS_PATH_INVALID_DIMENSION = 300,
    COPP_STATUS_PATH_INVALID_RANGE = 301,
    COPP_STATUS_PATH_INVALID_ORDER = 302,
    COPP_STATUS_PATH_DIMENSION_MISMATCH = 303,
    COPP_STATUS_PATH_NOT_ENOUGH_WAYPOINTS = 304,
    COPP_STATUS_PATH_OUT_OF_RANGE_S = 305,
    COPP_STATUS_PATH_UNSUPPORTED_BOUNDARY = 306,
    COPP_STATUS_PATH_SINGULAR_SYSTEM = 307,
    COPP_STATUS_PATH_UNSUPPORTED_DERIVATIVE_ORDER = 308,
    COPP_STATUS_SOLVER_INFEASIBLE = 400,
    COPP_STATUS_SOLVER_UNBOUNDED = 401,
    COPP_STATUS_SOLVER_INVALID_INPUT = 402,
    COPP_STATUS_SOLVER_INVALID_OPTIONS = 403,
    COPP_STATUS_CLARABEL_SOLVER_ERROR = 404,
    COPP_STATUS_CLARABEL_SOLVER_STATUS = 405,
    COPP_STATUS_SOLVER_OTHER = 499,
    COPP_STATUS_ROBOT_DYNAMICS_ERROR = 500,
} CoppStatus;

const char *copp_status_message(enum CoppStatus status);

enum CoppStatus copp_last_error_code(void);

const char *copp_last_error_message(void);

size_t copp_last_error_message_len(void);

enum CoppStatus copp_last_error_message_copy(char *buffer, size_t capacity, size_t *out_len);

void copp_clear_last_error(void);

enum CoppStatus copp_set_last_error_message(enum CoppStatus status, const char *message);

enum CoppStatus copp_set_last_error_message_n(enum CoppStatus status,
                                              const char *message,
                                              size_t len);

const char *copp_version(void);

typedef enum CoppVerbosity {
    COPP_VERBOSITY_SILENT = 0,
    COPP_VERBOSITY_SUMMARY = 1,
    COPP_VERBOSITY_DEBUG = 2,
    COPP_VERBOSITY_TRACE = 3,
} CoppVerbosity;

typedef enum CoppClarabelDirectSolveMethod {
    COPP_CLARABEL_DIRECT_SOLVE_METHOD_AUTO = 0,
    COPP_CLARABEL_DIRECT_SOLVE_METHOD_QDLDL = 1,
    COPP_CLARABEL_DIRECT_SOLVE_METHOD_FAER = 2,
    COPP_CLARABEL_DIRECT_SOLVE_METHOD_MKL = 3,
    COPP_CLARABEL_DIRECT_SOLVE_METHOD_PANUA = 4,
} CoppClarabelDirectSolveMethod;

typedef enum CoppClarabelSolverStatus {
    COPP_CLARABEL_SOLVER_STATUS_UNSOLVED = 0,
    COPP_CLARABEL_SOLVER_STATUS_SOLVED = 1,
    COPP_CLARABEL_SOLVER_STATUS_PRIMAL_INFEASIBLE = 2,
    COPP_CLARABEL_SOLVER_STATUS_DUAL_INFEASIBLE = 3,
    COPP_CLARABEL_SOLVER_STATUS_ALMOST_SOLVED = 4,
    COPP_CLARABEL_SOLVER_STATUS_ALMOST_PRIMAL_INFEASIBLE = 5,
    COPP_CLARABEL_SOLVER_STATUS_ALMOST_DUAL_INFEASIBLE = 6,
    COPP_CLARABEL_SOLVER_STATUS_MAX_ITERATIONS = 7,
    COPP_CLARABEL_SOLVER_STATUS_MAX_TIME = 8,
    COPP_CLARABEL_SOLVER_STATUS_NUMERICAL_ERROR = 9,
    COPP_CLARABEL_SOLVER_STATUS_INSUFFICIENT_PROGRESS = 10,
    COPP_CLARABEL_SOLVER_STATUS_CALLBACK_TERMINATED = 11,
} CoppClarabelSolverStatus;

typedef struct CoppClarabelLinearSolverInfo {
    enum CoppClarabelDirectSolveMethod method;
    size_t threads;
    bool direct;
    size_t nnz_a;
    size_t nnz_l;
} CoppClarabelLinearSolverInfo;

typedef struct CoppClarabelSettings {
    uint32_t max_iter;
    double time_limit;
    bool verbose;
    double max_step_fraction;
    double tol_gap_abs;
    double tol_gap_rel;
    double tol_feas;
    double tol_infeas_abs;
    double tol_infeas_rel;
    double tol_ktratio;
    double reduced_tol_gap_abs;
    double reduced_tol_gap_rel;
    double reduced_tol_feas;
    double reduced_tol_infeas_abs;
    double reduced_tol_infeas_rel;
    double reduced_tol_ktratio;
    bool equilibrate_enable;
    uint32_t equilibrate_max_iter;
    double equilibrate_min_scaling;
    double equilibrate_max_scaling;
    double linesearch_backtrack_step;
    double min_switch_step_length;
    double min_terminate_step_length;
    uint32_t max_threads;
    bool direct_kkt_solver;
    enum CoppClarabelDirectSolveMethod direct_solve_method;
    bool static_regularization_enable;
    double static_regularization_constant;
    double static_regularization_proportional;
    bool dynamic_regularization_enable;
    double dynamic_regularization_eps;
    double dynamic_regularization_delta;
    bool iterative_refinement_enable;
    double iterative_refinement_reltol;
    double iterative_refinement_abstol;
    uint32_t iterative_refinement_max_iter;
    double iterative_refinement_stop_ratio;
    bool presolve_enable;
    bool input_sparse_dropzeros;
} CoppClarabelSettings;

typedef struct CoppClarabelOptions {
    enum CoppVerbosity verbosity;
    bool allow_almost_solved;
    bool allow_max_iterations;
    bool allow_max_time;
    bool allow_callback_terminated;
    bool allow_insufficient_progress;
    struct CoppClarabelSettings clarabel_settings;
} CoppClarabelOptions;

enum CoppStatus copp_clarabel_default_options(struct CoppClarabelOptions *out_options);

typedef enum CoppMatrixLayout {
    COPP_MATRIX_LAYOUT_COLUMN_MAJOR = 0,
    COPP_MATRIX_LAYOUT_ROW_MAJOR = 1,
} CoppMatrixLayout;

typedef struct CoppMatrixViewF64 {
    const double *data;
    size_t rows;
    size_t cols;
    enum CoppMatrixLayout layout;
    size_t leading_dim;
} CoppMatrixViewF64;

#ifdef __cplusplus
#define COPP_MATRIX_VIEW_F64_COLUMN_MAJOR(data_, rows_, cols_) \
    CoppMatrixViewF64{(data_), (rows_), (cols_), COPP_MATRIX_LAYOUT_COLUMN_MAJOR, (rows_)}
#else
#define COPP_MATRIX_VIEW_F64_COLUMN_MAJOR(data_, rows_, cols_) \
    ((struct CoppMatrixViewF64){(data_), (rows_), (cols_), COPP_MATRIX_LAYOUT_COLUMN_MAJOR, (rows_)})
#endif

#ifdef __cplusplus
#define COPP_MATRIX_VIEW_F64_ROW_MAJOR(data_, rows_, cols_) \
    CoppMatrixViewF64{(data_), (rows_), (cols_), COPP_MATRIX_LAYOUT_ROW_MAJOR, (cols_)}
#else
#define COPP_MATRIX_VIEW_F64_ROW_MAJOR(data_, rows_, cols_) \
    ((struct CoppMatrixViewF64){(data_), (rows_), (cols_), COPP_MATRIX_LAYOUT_ROW_MAJOR, (cols_)})
#endif

typedef struct CoppSliceF64 {
    const double *data;
    size_t len;
} CoppSliceF64;

typedef struct CoppSliceMutF64 {
    double *data;
    size_t len;
} CoppSliceMutF64;

typedef struct CoppVecF64 {
    double *data;
    size_t len;
    size_t capacity;
} CoppVecF64;

typedef struct CoppVecUsize {
    size_t *data;
    size_t len;
    size_t capacity;
} CoppVecUsize;

typedef struct CoppMatrixF64 {
    double *data;
    size_t rows;
    size_t cols;
    size_t capacity;
} CoppMatrixF64;

void copp_vec_f64_free(struct CoppVecF64 vec);

void copp_vec_usize_free(struct CoppVecUsize vec);

void copp_matrix_f64_free(struct CoppMatrixF64 matrix);

struct CoppProfile3rd;

enum CoppStatus copp_clarabel_solution_to_profile_2nd(size_t s_len,
                                                      struct CoppSliceF64 x,
                                                      struct CoppVecF64 *out_a);

enum CoppStatus copp_clarabel_solution_to_profile_3rd(struct CoppSliceF64 s,
                                                      struct CoppSliceF64 x,
                                                      size_t num_stationary_start,
                                                      size_t num_stationary_end,
                                                      struct CoppProfile3rd *out_profile);

 
#ifdef __cplusplus
}
#endif
 
#endif /* COPP_CORE_H */