| 465 | } |
| 466 | |
| 467 | int tiny_set_u_ref(TinySolver* solver, tinyMatrix u_ref) { |
| 468 | if (!solver) { |
| 469 | std::cout << "Error in tiny_set_u_ref: solver is nullptr" << std::endl; |
| 470 | return 1; |
| 471 | } |
| 472 | int status = 0; |
| 473 | status |= check_dimension("Control/input reference trajectory (u_ref)", "rows", u_ref.rows(), solver->work->nu); |
| 474 | status |= check_dimension("Control/input reference trajectory (u_ref)", "columns",u_ref.cols(), solver->work->N-1); |
| 475 | solver->work->Uref = u_ref; |
| 476 | return 0; |
| 477 | } |
| 478 | |
| 479 | void tiny_initialize_sensitivity_matrices(TinySolver *solver) { |
| 480 |
nothing calls this directly
no test coverage detected