dragonpilot beta3

date: 2023-08-22T14:21:17 commit: 6148ce3d77530281f890970718e9c42b2acc5ff1
2026-09-30 19:33:42 +08:00 · 2023-08-22 14:20:25 -07:00
parent 957d61c2f7
commit d8e5331c6e
722 changed files with 24317 additions and 116310 deletions
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
+#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// daqp
+#include "daqp/include/types.h"
+
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+
+typedef struct dense_qp_daqp_opts_
+{
+    DAQPSettings* daqp_opts;
+    int warm_start;
+} dense_qp_daqp_opts;
+
+
+typedef struct dense_qp_daqp_memory_
+{
+    double* lb_tmp;
+    double* ub_tmp;
+    int* idxb;
+    int* idxv_to_idxb;
+    int* idxs;
+    int* idxdaqp_to_idxs;
+
+    double* Zl;
+    double* Zu;
+    double* zl;
+    double* zu;
+    double* d_ls;
+    double* d_us;
+
+    double time_qp_solver_call;
+    int iter;
+    DAQPWorkspace * daqp_work;
+
+} dense_qp_daqp_memory;
+
+// opts
+acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+// memory 
+acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+// functions
+int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_daqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -419,6 +416,9 @@ void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp
 void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
 //
+int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
 double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
            int check_early_termination);
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -82,9 +79,6 @@ acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
 //
 void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx,
-                                         int nbu, int ng, int nh, int dummy0, int ns);
-//
 void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
 //
 void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
@@ -116,6 +110,9 @@ void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_m
 int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
                         void *model_, const char *field, void *value);

+//
+void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);


 /************************************************
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -63,7 +60,7 @@ typedef struct
    int nbu;
    int nbx;
    int ng;   // number of general linear constraints
-    int nphi; // dimension of convex outer part 
+    int nphi; // dimension of convex outer part
    int ns;   // nsbu + nsbx + nsg + nsphi
    int nsbu; // number of softened input bounds
    int nsbx; // number of softened state bounds
@@ -81,9 +78,6 @@ acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
 //
 void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_constraints_bgp_dims_initialize(void *config, void *dims, int nx, int nu, int nz, 
-		int nbx, int nbu, int ng, int nphi, int nq, int ns);
-//
 void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);


@@ -109,6 +103,9 @@ void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory)
 //
 int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
                         void *model_, const char *field, void *value);
+//
+void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);

 /* options */

@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -60,11 +57,10 @@ typedef struct
 {
    acados_size_t (*dims_calculate_size)(void *config);
    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nz, int nbx, int nbu, int ng,
-                            int nh, int nq, int ns);
    acados_size_t (*model_calculate_size)(void *config, void *dims);
    void *(*model_assign)(void *config, void *dims, void *raw_memory);
    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
+    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
    acados_size_t (*opts_calculate_size)(void *config, void *dims);
    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
    void (*opts_initialize_default)(void *config, void *dims, void *opts);
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -33,8 +30,8 @@


 ///
-/// \defgroup ocp_nlp_cost ocp_nlp_cost 
-/// 
+/// \defgroup ocp_nlp_cost ocp_nlp_cost
+///

 /// \addtogroup ocp_nlp_cost ocp_nlp_cost
 /// @{
@@ -62,7 +59,6 @@ typedef struct
 {
    acados_size_t (*dims_calculate_size)(void *config);
    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
    acados_size_t (*model_calculate_size)(void *config, void *dims);
@@ -91,6 +87,8 @@ typedef struct
    // computes the cost function value (intended for globalization)
    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
    void (*config_initialize_default)(void *config);
+    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+
 } ocp_nlp_cost_config;

 //
@@ -105,5 +103,5 @@ ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
 #endif

 #endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-/// @} 
-/// @} 
+/// @}
+/// @}
@@ -0,0 +1,207 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
+/// \brief This module implements convex-over-nonlinear costs of the form
+/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_conl_dims;
+
+//
+acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    external_function_generic *conl_cost_fun;
+    external_function_generic *conl_cost_fun_jac_hess;
+    struct blasfeo_dvec y_ref;
+    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
+    struct blasfeo_dvec z;              // gradient of slacks as vector
+    double scaling;
+} ocp_nlp_cost_conl_model;
+
+//
+acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
+} ocp_nlp_cost_conl_opts;
+
+//
+acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+typedef struct
+{
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    double fun;                         ///< value of the cost function
+} ocp_nlp_cost_conl_memory;
+
+//
+acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat W;             // hessian of outer loss function
+    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
+    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
+    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
+    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
+    struct blasfeo_dmat tmp_nv_ny;
+    struct blasfeo_dvec tmp_ny;
+    struct blasfeo_dvec tmp_2ns;
+} ocp_nlp_cost_conl_workspace;
+
+//
+acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_conl_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+/// @}
+/// @}
+/// @}
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -54,6 +51,7 @@ extern "C" {
 typedef struct
 {
    int nx;  // number of states
+    int nz;  // number of algebraic variables
    int nu;  // number of inputs
    int ns;  // number of slacks
 } ocp_nlp_cost_external_dims;
@@ -63,9 +61,6 @@ acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
 //
 void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_cost_external_dims_initialize(void *config, void *dims, int nx,
-                                           int nu, int ny, int ns, int nz);
-//
 void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
 //
 void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
@@ -122,7 +117,7 @@ typedef struct
 {
    struct blasfeo_dvec grad;    // gradient of cost function
    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;     // pointer to tmp_ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
@@ -157,7 +152,10 @@ void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_

 typedef struct
 {
-    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat tmp_nunx_nunx;
+    struct blasfeo_dmat tmp_nz_nz;
+    struct blasfeo_dmat tmp_nz_nunx;
+    struct blasfeo_dvec tmp_nunxnz;
    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
 } ocp_nlp_cost_external_workspace;

@@ -168,6 +166,8 @@ acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void
 * functions
 ************************************************/

+//
+void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
 //
 void ocp_nlp_cost_external_config_initialize_default(void *config);
 //
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -82,30 +79,14 @@ typedef struct
 acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);


-///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct 
+///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
 ///
-///  \param[in] config structure containing configuration of ocp_nlp_cost 
+///  \param[in] config structure containing configuration of ocp_nlp_cost
 ///  module
-///  \param[in] raw_memory pointer to memory location  
+///  \param[in] raw_memory pointer to memory location
 ///  \param[out] []
 ///  \return dims
 void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
-
-
-///  Initialize the dimensions struct of the 
-///  ocp_nlp-cost_ls component    
-///
-///  \param[in] config structure containing configuration ocp_nlp-cost_ls component 
-///  \param[in] nx number of states
-///  \param[in] nu number of inputs
-///  \param[in] ny number of residuals
-///  \param[in] ns number of slacks
-///  \param[in] nz number of algebraic variables
-///  \param[out] dims
-///  \return size
-void ocp_nlp_cost_ls_dims_initialize(void *config, void *dims, int nx,
-        int nu, int ny, int ns, int nz);
-
 //
 void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
 //
@@ -117,7 +98,7 @@ void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int
 ////////////////////////////////////////////////////////////////////////////////


-/// structure containing the data describing the linear least-square cost 
+/// structure containing the data describing the linear least-square cost
 typedef struct
 {
    // slack penalty has the form z^T * s + .5 * s^T * Z * s
@@ -128,6 +109,8 @@ typedef struct
    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
    double scaling;
+    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
+    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
 } ocp_nlp_cost_ls_model;

 //
@@ -170,7 +153,7 @@ void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void



-/// structure containing the memory associated with cost_ls component 
+/// structure containing the memory associated with cost_ls component
 /// of the ocp_nlp module
 typedef struct
 {
@@ -237,7 +220,8 @@ acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims,
 ////////////////////////////////////////////////////////////////////////////////


-
+// computations that are done once when solver is created
+void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
 //
 void ocp_nlp_cost_ls_config_initialize_default(void *config);
 //
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -38,8 +35,7 @@
 /// @{
 /// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
 /// \brief This module implements nonlinear-least squares costs of the form
-/// \f$\min_{x,u} \| r(x,u) - y_{\text{ref}} \|_W^2\f$.
-/// @{
+/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,

 #ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
 #define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
@@ -65,6 +61,7 @@ extern "C" {
 typedef struct
 {
    int nx;  // number of states
+    int nz;  // number of algebraic variables
    int nu;  // number of inputs
    int ny;  // number of outputs
    int ns;  // number of slacks
@@ -75,8 +72,6 @@ acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
 //
 void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_cost_nls_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
-//
 void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
 //
 void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
@@ -99,6 +94,7 @@ typedef struct
    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
    struct blasfeo_dvec z;              // gradient of slacks as vector
    double scaling;
+    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
 } ocp_nlp_cost_nls_model;

 //
@@ -144,11 +140,11 @@ typedef struct
    struct blasfeo_dvec grad;    // gradient of cost function
    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-	double fun;                         ///< value of the cost function
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    double fun;                         ///< value of the cost function
 } ocp_nlp_cost_nls_memory;

 //
@@ -180,8 +176,11 @@ typedef struct
 {
    struct blasfeo_dmat tmp_nv_ny;
    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat Vz;
+    struct blasfeo_dmat Cyt_tilde;
    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_2ns;
+    struct blasfeo_dvec tmp_nz;
 } ocp_nlp_cost_nls_workspace;

 //
@@ -191,6 +190,8 @@ acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims
 * functions
 ************************************************/

+//
+void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
 //
 void ocp_nlp_cost_nls_config_initialize_default(void *config);
 //
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -68,7 +65,6 @@ typedef struct
    /* dims */
    acados_size_t (*dims_calculate_size)(void *config);
    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nx1, int nu1, int nz);
    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
    /* model */
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -75,10 +72,6 @@ typedef struct
 acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
 //
 void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
-                                           int nu1, int nz);
-
 //
 void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);

@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -68,10 +65,6 @@ typedef struct
 acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
 //
 void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
-                                           int nu1, int nz);
-
 //
 void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);

@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -145,12 +142,6 @@ acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims
 /************************************************
 * functions
 ************************************************/
-
-void ocp_nlp_sqp_rti_preparation_step(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts, void *mem_, void *work_);
-//
-void ocp_nlp_sqp_rti_feedback_step(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
 //
 int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
    void *opts_, void *mem_, void *work_);
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -84,6 +81,7 @@ typedef struct
    acados_size_t (*dims_calculate_size)(void *config, int N);
    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -149,6 +146,8 @@ typedef struct
    bool jac_reuse;
    // Newton_scheme *scheme;

+    double newton_tol; // optinally used in implicit integrators
+
    // workspace
    void *work;

@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -46,12 +43,12 @@ extern "C" {
 #include "acados/sim/sim_common.h"

 #include "blasfeo/include/blasfeo_common.h"
-#include "blasfeo/include/blasfeo_d_aux.h"
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_d_blas.h"
-#include "blasfeo/include/blasfeo_d_kernel.h"
-#include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_target.h"
+// #include "blasfeo/include/blasfeo_d_aux.h"
+// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+// #include "blasfeo/include/blasfeo_d_blas.h"
+// #include "blasfeo/include/blasfeo_d_kernel.h"
+// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
+// #include "blasfeo/include/blasfeo_target.h"

 /* 
 GNSF - Generalized Nonlinear Static Feedback Model
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -137,8 +134,8 @@ typedef struct
    int (*casadi_work)(int *, int *, int *, int *);
    const int *(*casadi_sparsity_in)(int);
    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)();
-    int (*casadi_n_out)();
+    int (*casadi_n_in)(void);
+    int (*casadi_n_out)(void);
    double **args;
    double **res;
    double *w;
@@ -195,8 +192,8 @@ typedef struct
    int (*casadi_work)(int *, int *, int *, int *);
    const int *(*casadi_sparsity_in)(int);
    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)();
-    int (*casadi_n_out)();
+    int (*casadi_n_in)(void);
+    int (*casadi_n_out)(void);
    double **args;
    double **res;
    double *w;
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -42,6 +39,7 @@ extern "C" {

 #if defined(__MABX2__)
 double fmax(double a, double b);
+int isnan(double x);
 #endif

 #define MIN(a,b) (((a)<(b))?(a):(b))
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -78,7 +75,7 @@ typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, doub
 enum return_values
 {
    ACADOS_SUCCESS,
-    ACADOS_FAILURE,
+    ACADOS_NAN_DETECTED,
    ACADOS_MAXITER,
    ACADOS_MINSTEP,
    ACADOS_QP_FAILURE,
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -41,7 +38,7 @@ extern "C" {

 #include "acados/dense_qp/dense_qp_common.h"

-typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t;
+typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;

 typedef struct
 {
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -66,6 +63,7 @@ typedef enum
 {
    LINEAR_LS,
    NONLINEAR_LS,
+    CONVEX_OVER_NONLINEAR,
    EXTERNAL,
    INVALID_COST,
 } ocp_nlp_cost_t;
@@ -246,6 +244,10 @@ ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_
 ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
        ocp_nlp_in *in, int stage, const char *field, void *value);

+///
+ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in, int stage, const char *field, void *value);
+
 /* out */

 /// Constructs an output struct for the non-linear program.
@@ -297,7 +299,7 @@ ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *
 ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
        int stage, const char *field, int *dims_out);

-void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
        int stage, const char *field, int *dims_out);

 /* opts */
@@ -386,8 +388,6 @@ ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *
 /// \param nlp_out The output struct.
 ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);

-//
-void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);

 /// Computes the residuals.
 ///
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -87,6 +84,11 @@ typedef enum {
 #else
    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
 #endif
+#ifdef ACADOS_WITH_DAQP
+    FULL_CONDENSING_DAQP,
+#else
+    FULL_CONDENSING_DAQP_NOT_AVAILABLE,
+#endif
 #ifdef ACADOS_WITH_QORE
    FULL_CONDENSING_QORE,
 #else
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
 *
 * This file is part of acados.
 *
@@ -50,18 +50,20 @@
 #define BLASFEO_CBLAS_ENUM
 #ifdef FORTRAN_BLAS_API
 #ifndef CBLAS_H
-enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
 enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
 enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
 enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
 enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
 #endif // CBLAS_H
 #else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_ORDER {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
+enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
 enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
 enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
 enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
 enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
+#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
 #endif // FORTRAN_BLAS_API
 #endif // BLASFEO_CBLAS_ENUM
 #endif // CBLAS_API
@@ -151,15 +153,19 @@ void cblas_dswap(const int N, double *X, const int incX, double *Y, const int in
 //
 void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);

+// CBLAS 2
+//
+void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
+
 // CBLAS 3
 //
-void cblas_dgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
 //
-void cblas_dsyrk(const enum CBLAS_ORDER Order, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
 //
-void cblas_dtrmm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
 //
-void cblas_dtrsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);



@@ -240,15 +246,19 @@ void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, cons
 //
 void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);

+// CBLAS 2
+//
+void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
+
 // CBLAS 3
 //
-void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
 //
-void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
 //
-void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
 //
-void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);



@@ -1,13 +1,13 @@
-#ifndef TARGET_ARMV8A_ARM_CORTEX_A57
-#define TARGET_ARMV8A_ARM_CORTEX_A57
+#ifndef TARGET_X64_INTEL_HASWELL
+#define TARGET_X64_INTEL_HASWELL
 #endif

 #ifndef TARGET_NEED_FEATURE_AVX2
-/* #undef TARGET_NEED_FEATURE_AVX2 */
+#define TARGET_NEED_FEATURE_AVX2 1
 #endif

 #ifndef TARGET_NEED_FEATURE_FMA
-/* #undef TARGET_NEED_FEATURE_FMA */
+#define TARGET_NEED_FEATURE_FMA 1
 #endif

 #ifndef TARGET_NEED_FEATURE_SSE3
@@ -27,11 +27,11 @@
 #endif

 #ifndef TARGET_NEED_FEATURE_VFPv4
-#define TARGET_NEED_FEATURE_VFPv4 1
+/* #undef TARGET_NEED_FEATURE_VFPv4 */
 #endif

 #ifndef TARGET_NEED_FEATURE_NEONv2
-#define TARGET_NEED_FEATURE_NEONv2 1
+/* #undef TARGET_NEED_FEATURE_NEONv2 */
 #endif

 #ifndef LA_HIGH_PERFORMANCE