Function tiny_set_cone_constraints

src/tinympc/tiny_api.cpp:176–208

}

int tiny_set_cone_constraints(TinySolver* solver,
                              VectorXi Acx, VectorXi qcx, tinyVector cx,
                              VectorXi Acu, VectorXi qcu, tinyVector cu) {
    if (!solver) {
        std::cout << "Error in tiny_set_cone_constraints: solver is nullptr" << std::endl;
        return 1;
    }

    // Make sure all cone constraint vector sizes are self-consistent
    int num_state_cones = Acx.rows();
    int num_input_cones = Acu.rows();
    int status = 0;
    status |= check_dimension("Cone state size (qcx)", "rows", qcx.rows(), num_state_cones);
    status |= check_dimension("Cone mu value for state (cx)", "rows", cx.rows(), num_state_cones);
    status |= check_dimension("Cone input size (qcu)", "rows", qcu.rows(), num_input_cones);
    status |= check_dimension("Cone mu value for input (cu)", "rows", cu.rows(), num_input_cones);
    if (status) {
        return status;
    }

    solver->work->numStateCones = num_state_cones;
    solver->work->numInputCones = num_input_cones;

    solver->work->Acx = Acx;
    solver->work->qcx = qcx;
    solver->work->cx = cx;
    
    solver->work->Acu = Acu;
    solver->work->qcu = qcu;
    solver->work->cu = cu;

    return 0;
}

int tiny_set_linear_constraints(TinySolver* solver,
                               tinyMatrix Alin_x, tinyVector blin_x,