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33 lines
1.1 KiB
33 lines
1.1 KiB
2 years ago
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#pragma once
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namespace drake {
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namespace solvers {
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namespace internal {
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namespace csdp {
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// Add CSDP's types into this namespace.
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extern "C" {
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#include <csdp/blockmat.h>
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#include <csdp/index.h>
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#include <csdp/parameters.h>
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} // extern C
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// Wrap CSDP's C functions with our own C++ functions, for error handling.
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int cpp_easy_sdp(const char* params_pathname, int n, int k,
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struct blockmatrix C, double* a,
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struct constraintmatrix* constraints, double constant_offset,
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struct blockmatrix* pX, double** py, struct blockmatrix* pZ,
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double* ppobj, double* pdobj);
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void cpp_free_mat(struct blockmatrix A);
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void cpp_free_prob(int n, int k, struct blockmatrix C, double* a,
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struct constraintmatrix* constraints, struct blockmatrix X,
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double* y, struct blockmatrix Z);
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void cpp_initsoln(int n, int k, struct blockmatrix C, double* a,
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struct constraintmatrix* constraints, struct blockmatrix* pX0,
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double** py0, struct blockmatrix* pZ0);
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} // namespace csdp
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} // namespace internal
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} // namespace solvers
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} // namespace drake
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