lin_sys.h

#ifndef LIN_SYS_H
#define LIN_SYS_H

/* KKT linear system definition and solution */

# ifdef __cplusplus
extern "C" {
# endif // ifdef __cplusplus

# include "types.h"

/**
 * Load linear system solver shared library
 * @param	linsys_solver  Linear system solver
 * @return Zero on success, nonzero on failure.
 */
c_int load_linsys_solver(enum linsys_solver_type linsys_solver);


/**
 * Unload linear system solver shared library
 * @param	linsys_solver  Linear system solver
 * @return Zero on success, nonzero on failure.
 */
c_int unload_linsys_solver(enum linsys_solver_type linsys_solver);


// NB: Only the upper triangular part of P is filled.

/**
 * Initialize linear system solver structure
 * @param   s               Pointer to linear system solver structure
 * @param   P               Cost function matrix
 * @param   A               Constraint matrix
 * @param   rho_vec         Algorithm parameter
 * @param   settings        Solver settings
 * @param   scaled_pri_res  Pointer to the scaled primal residual
 * @param   scaled_dua_res  Pointer to the scaled dual residual
 * @param   polish          0/1 depending whether we are allocating for polishing or not
 * @return                  Exitflag for error (0 if no errors)
 */
c_int init_linsys_solver(LinSysSolver      **s,
                         const OSQPMatrix   *P,
                         const OSQPMatrix   *A,
                         const OSQPVectorf  *rho_vec,
                         OSQPSettings       *settings,
                         c_float            *scaled_pri_res,
                         c_float            *scaled_dua_res,
                         c_int               polish);

# ifdef __cplusplus
}
# endif // ifdef __cplusplus

#endif // ifndef LIN_SYS_H