sqp.hpp

// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <functional>
#include <span>
 
#include <Eigen/Core>
 
#include "sleipnir/autodiff/variable.hpp"
#include "sleipnir/optimization/solver/exit_status.hpp"
#include "sleipnir/optimization/solver/iteration_info.hpp"
#include "sleipnir/optimization/solver/options.hpp"
#include "sleipnir/util/symbol_exports.hpp"
 
namespace slp {
 
SLEIPNIR_DLLEXPORT ExitStatus
sqp(std::span<Variable> decision_variables,
    std::span<Variable> equality_constraints, Variable& f,
    std::span<std::function<bool(const IterationInfo& info)>> callbacks,
    const Options& options, Eigen::VectorXd& x);
 
}  // namespace slp