Function tiny_setup

src/tinympc/tiny_api.cpp:21–147

}

int tiny_setup(TinySolver** solverp,
                tinyMatrix Adyn, tinyMatrix Bdyn, tinyMatrix fdyn, tinyMatrix Q, tinyMatrix R, 
                tinytype rho, int nx, int nu, int N, int verbose) {

    TinySolution *solution = new TinySolution();
    TinyCache *cache = new TinyCache();
    TinySettings *settings = new TinySettings();
    TinyWorkspace *work = new TinyWorkspace();
    TinySolver *solver = new TinySolver();

    solver->solution = solution;
    solver->cache = cache;
    solver->settings = settings;
    solver->work = work;

    *solverp = solver;

    // Initialize solution
    solution->iter = 0;
    solution->solved = 0;
    solution->x = tinyMatrix::Zero(nx, N);
    solution->u = tinyMatrix::Zero(nu, N-1);

    // Initialize settings
    tiny_set_default_settings(settings);

    // Initialize workspace
    work->nx = nx;
    work->nu = nu;
    work->N = N;

    // Make sure arguments are the correct shapes
    int status = 0;
    status |= check_dimension("State transition matrix (A)", "rows", Adyn.rows(), nx);
    status |= check_dimension("State transition matrix (A)", "columns", Adyn.cols(), nx);
    status |= check_dimension("Input matrix (B)", "rows",  Bdyn.rows(), nx);
    status |= check_dimension("Input matrix (B)", "columns",  Bdyn.cols(), nu);
    status |= check_dimension("Affine vector (f)", "rows", fdyn.rows(), nx);
    status |= check_dimension("Affine vector (f)", "columns", fdyn.cols(), 1);
    status |= check_dimension("State stage cost (Q)", "rows",  Q.rows(), nx);
    status |= check_dimension("State stage cost (Q)", "columns",  Q.cols(), nx);
    status |= check_dimension("State input cost (R)", "rows",  R.rows(), nu);
    status |= check_dimension("State input cost (R)", "columns",  R.cols(), nu);
    if (status) {
        return status;
    }
    
    work->x = tinyMatrix::Zero(nx, N);
    work->u = tinyMatrix::Zero(nu, N-1);

    work->q = tinyMatrix::Zero(nx, N);
    work->r = tinyMatrix::Zero(nu, N-1);

    work->p = tinyMatrix::Zero(nx, N);
    work->d = tinyMatrix::Zero(nu, N-1);

    // Bound constraint slack variables
    work->v = tinyMatrix::Zero(nx, N);