SQP.hpp

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// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <span>
 
#include <Eigen/Core>
 
#include "sleipnir/autodiff/Variable.hpp"
#include "sleipnir/optimization/SolverConfig.hpp"
#include "sleipnir/optimization/SolverIterationInfo.hpp"
#include "sleipnir/optimization/SolverStatus.hpp"
#include "sleipnir/util/FunctionRef.hpp"
#include "sleipnir/util/SymbolExports.hpp"
 
namespace sleipnir {
 
SLEIPNIR_DLLEXPORT void SQP(
    std::span<Variable> decisionVariables,
    std::span<Variable> equalityConstraints, Variable& f,
    function_ref<bool(const SolverIterationInfo& info)> callback,
    const SolverConfig& config, Eigen::VectorXd& x, SolverStatus* status);
 
}  // namespace sleipnir