Upstreamed and update acados (#23927)

* change acados version to finalized PR https://github.com/acados/acados/pull/791 * acados: update include and x86_64 build * acados: update pyextra * adapt mpc files to updated acados * acados buid: clear acados_template and include dir before updating * update acados again * acados MPC: only generate solver, building is done via scons * update acados to latest acados/master * c3 libs * c2 libs * acados scons files: add acados build script as a dependency * acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common * update acados * adapts long & lat MPC file * update acados reference commit to acados/master Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: d653dd843a
2026-08-08 09:45:54 +08:00 · 2022-03-11 11:49:27 +01:00
parent 7f819d7c39
commit 3bd71500bd
51 changed files with 167 additions and 125 deletions
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@@ -43,11 +43,19 @@ generated_files = [
  f'{gen}/lat_cost/lat_cost_y_0_fun.h',
 ] + build_files

+acados_dir = '#third_party/acados'
+source_list = ['lat_mpc.py',
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_dir}/aarch64/lib/libacados.so',
+  f'{acados_dir}/x86_64/lib/libacados.so',
+  f'{acados_dir}/larch64/lib/libacados.so',
+]
+
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))

 lenv.Command(generated_files,
-             ["lat_mpc.py"],
+             source_list,
             f"cd {Dir('.').abspath} && python3 lat_mpc.py")

 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
@@ -11,18 +11,19 @@ from selfdrive.modeld.constants import T_IDXS
 if __name__ == '__main__':  # generating code
  from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  # from pyextra.acados_template import AcadosOcpSolverFast
-  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error

 LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
-JSON_FILE = "acados_ocp_lat.json"
+JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
 X_DIM = 4
 P_DIM = 2
+MODEL_NAME = 'lat'
+ACADOS_SOLVER_TYPE = 'SQP_RTI'

 def gen_lat_model():
  model = AcadosModel()
-  model.name = 'lat'
+  model.name = MODEL_NAME

  # set up states & controls
  x_ego = SX.sym('x_ego')
@@ -58,7 +59,7 @@ def gen_lat_model():
  return model


-def gen_lat_mpc_solver():
+def gen_lat_ocp():
  ocp = AcadosOcp()
  ocp.model = gen_lat_model()

@@ -103,7 +104,7 @@ def gen_lat_mpc_solver():
  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
  ocp.solver_options.integrator_type = 'ERK'
-  ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
  ocp.solver_options.qp_solver_iter_max = 1
  ocp.solver_options.qp_solver_cond_N = 1

@@ -117,7 +118,7 @@ def gen_lat_mpc_solver():

 class LateralMpc():
  def __init__(self, x0=np.zeros(X_DIM)):
-    self.solver = AcadosOcpSolverFast('lat', N)
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset(x0)

  def reset(self, x0=np.zeros(X_DIM)):
@@ -173,5 +174,6 @@ class LateralMpc():


 if __name__ == "__main__":
-  ocp = gen_lat_mpc_solver()
-  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
+  ocp = gen_lat_ocp()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
@@ -50,11 +50,19 @@ generated_files = [
  f'{gen}/long_cost/long_cost_y_0_fun.h',
 ] + build_files

+acados_dir = '#third_party/acados'
+source_list = ['long_mpc.py',
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_dir}/aarch64/lib/libacados.so',
+  f'{acados_dir}/x86_64/lib/libacados.so',
+  f'{acados_dir}/larch64/lib/libacados.so',
+]
+
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))

 lenv.Command(generated_files,
-             ["long_mpc.py"],
+             source_list,
             f"cd {Dir('.').abspath} && python3 long_mpc.py")

 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
@@ -11,14 +11,14 @@ from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
 if __name__ == '__main__':  # generating code
  from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  # from pyextra.acados_template import AcadosOcpSolver as AcadosOcpSolverFast
-  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error

 from casadi import SX, vertcat

+MODEL_NAME = 'long'
 LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
-JSON_FILE = "acados_ocp_long.json"
+JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")

 SOURCES = ['lead0', 'lead1', 'cruise']

@@ -38,6 +38,7 @@ A_CHANGE_COST = 200.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .5
 LIMIT_COST = 1e6
+ACADOS_SOLVER_TYPE = 'SQP_RTI'


 # Fewer timestamps don't hurt performance and lead to
@@ -65,7 +66,7 @@ def desired_follow_distance(v_ego, v_lead):

 def gen_long_model():
  model = AcadosModel()
-  model.name = 'long'
+  model.name = MODEL_NAME

  # set up states & controls
  x_ego = SX.sym('x_ego')
@@ -97,7 +98,7 @@ def gen_long_model():
  return model


-def gen_long_mpc_solver():
+def gen_long_ocp():
  ocp = AcadosOcp()
  ocp.model = gen_long_model()

@@ -172,7 +173,7 @@ def gen_long_mpc_solver():
  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
  ocp.solver_options.integrator_type = 'ERK'
-  ocp.solver_options.nlp_solver_type = 'SQP_RTI'
+  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
  ocp.solver_options.qp_solver_cond_N = 1

  # More iterations take too much time and less lead to inaccurate convergence in
@@ -195,7 +196,7 @@ class LongitudinalMpc:
    self.source = SOURCES[2]

  def reset(self):
-    self.solver = AcadosOcpSolverFast('long', N)
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.v_solution = np.zeros(N+1)
    self.a_solution = np.zeros(N+1)
    self.prev_a = np.array(self.a_solution)
@@ -388,5 +389,6 @@ class LongitudinalMpc:


 if __name__ == "__main__":
-  ocp = gen_long_mpc_solver()
-  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
+  ocp = gen_long_ocp()
+  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
@@ -1,3 +1,3 @@
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+size 694257
@@ -13,19 +13,19 @@ elif [ -f /EON ]; then
 fi

 if [ ! -d acados_repo/ ]; then
-  #git clone https://github.com/acados/acados.git $DIR/acados
-  git clone https://github.com/commaai/acados.git $DIR/acados_repo
+  git clone https://github.com/acados/acados.git $DIR/acados_repo
+  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
 fi
 cd acados_repo
 git fetch
-git checkout 92b85c61f7358a1b08b7cd30aeb9d32ad15942e8
+git checkout 105e06df87f06ea02df4af825867c946b31defdd
 git submodule update --recursive --init

 # build
 mkdir -p build
 cd build
 cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
-make -j4 install
+make -j20 install

 INSTALL_DIR="$DIR/$ARCHNAME"
 rm -rf $INSTALL_DIR
@@ -33,8 +33,10 @@ mkdir -p $INSTALL_DIR

 rm $DIR/acados_repo/lib/*.json

+rm -rf $DIR/include
 cp -r $DIR/acados_repo/include $DIR
 cp -r $DIR/acados_repo/lib $INSTALL_DIR
+rm -rf $DIR/../../pyextra/acados_template
 cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/../../pyextra
 #pip3 install -e $DIR/acados/interfaces/acados_template

@@ -234,11 +234,7 @@ typedef struct ocp_nlp_out

    // NOTE: the inequalities are internally organized in the following order:
    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-    int sqp_iter;
-    int qp_iter;
    double inf_norm_res;
-    double total_time;

    void *raw_memory; // Pointer to allocated memory, to be used for freeing

@@ -274,11 +270,16 @@ typedef struct ocp_nlp_opts
    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
    int reuse_workspace;
    int num_threads;
+    int print_level;

    // TODO: move to separate struct?
    ocp_nlp_globalization_t globalization;
+    int full_step_dual;
+    int line_search_use_sufficient_descent;
+    int globalization_use_SOC;
    double alpha_min;
    double alpha_reduction;
+    double eps_sufficient_descent;
 } ocp_nlp_opts;

 //
@@ -316,6 +317,8 @@ typedef struct ocp_nlp_res
 acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
 //
 ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
+//
+void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);

 /************************************************
 * memory
@@ -351,7 +354,7 @@ typedef struct ocp_nlp_memory
    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
    struct blasfeo_dvec *sim_guess;

-	int *sqp_iter; // pointer to iteration number
+    int *sqp_iter; // pointer to iteration number

 } ocp_nlp_memory;

@@ -375,8 +378,12 @@ typedef struct ocp_nlp_workspace
    void **cost;         // cost_workspace
    void **constraints;  // constraints_workspace

-	ocp_nlp_out *tmp_nlp_out;
-	ocp_nlp_out *weight_merit_fun;
+    // for globalization: -> move to module?!
+    ocp_nlp_out *tmp_nlp_out;
+    ocp_nlp_out *weight_merit_fun;
+    struct blasfeo_dvec tmp_nxu;
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dvec dxnext_dy;

 } ocp_nlp_workspace;

@@ -392,6 +399,8 @@ ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims
 * function
 ************************************************/

+void ocp_nlp_alias_memory_to_submodules(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);
 //
 void ocp_nlp_initialize_qp(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);
@@ -409,7 +418,8 @@ void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, oc
           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
 //
 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);
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
+            int check_early_termination);
 //
 double ocp_nlp_evaluate_merit_fun(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);
@@ -84,6 +84,7 @@ typedef struct
    /* memory */
    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
@@ -65,11 +65,6 @@ extern "C" {
 * options
 ************************************************/

-typedef struct
-{
-    int dummy;
-} ocp_nlp_reg_noreg_opts;
-
 //
 acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
 //
@@ -84,12 +79,6 @@ void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opt
 /************************************************
 * memory
 ************************************************/
-
-typedef struct
-{
-    int dummy;
-} ocp_nlp_reg_noreg_memory;
-
 //
 acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
 //
@@ -68,7 +68,6 @@ typedef struct
    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
    bool warm_start_first_qp; // to set qp_warm_start in first iteration
    int rti_phase;       // only phase 0 at the moment 
-    int print_level;     // verbosity
    int initialize_t_slacks;  // 0-false or 1-true

 } ocp_nlp_sqp_opts;
@@ -107,6 +106,7 @@ typedef struct
    double time_sim;
    double time_sim_la;
    double time_sim_ad;
+    double time_solution_sensitivities;

    // statistics
    double *stat;
@@ -64,7 +64,6 @@ typedef struct
    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
    bool warm_start_first_qp; // to set qp_warm_start in first iteration
    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
-    int print_level;     // verbosity

 } ocp_nlp_sqp_rti_opts;

@@ -100,6 +99,7 @@ typedef struct
    double time_reg;
    double time_tot;
    double time_glob;
+    double time_solution_sensitivities;

    // statistics
    double *stat;
@@ -69,28 +69,32 @@ void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
 void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);

 // ocp qp
+// TODO: move printing routines below that print qp structures to HPIPM!
 void print_ocp_qp_dims(ocp_qp_dims *dims);

 // void print_dense_qp_dims(dense_qp_dims *dims);

 void print_ocp_qp_in(ocp_qp_in *qp_in);

+void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
+
 void print_ocp_qp_out(ocp_qp_out *qp_out);

+void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
+
+void print_ocp_qp_res(ocp_qp_res *qp_res);
+
+void print_dense_qp_in(dense_qp_in *qp_in);
 // void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);

 // void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);

-void print_ocp_qp_res(ocp_qp_res *qp_res);
-
 // void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);

 // void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);

 // void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);

-void print_dense_qp_in(dense_qp_in *qp_in);
-
 void print_qp_info(qp_info *info);

 // void acados_warning(char warning_string[]);
@@ -107,13 +107,13 @@ typedef enum


 /// Structure to store the configuration of a non-linear program
-typedef struct ocp_nlp_plan
+typedef struct ocp_nlp_plan_t
 {
    /// QP solver configuration.
-    ocp_qp_solver_plan ocp_qp_solver_plan;
+    ocp_qp_solver_plan_t ocp_qp_solver_plan;

    /// Simulation solver configuration for each stage.
-    sim_solver_plan *sim_solver_plan;
+    sim_solver_plan_t *sim_solver_plan;

    /// Nlp solver type.
    ocp_nlp_solver_t nlp_solver;
@@ -133,7 +133,7 @@ typedef struct ocp_nlp_plan
    /// Horizon length.
    int N;

-} ocp_nlp_plan;
+} ocp_nlp_plan_t;


 /// Structure to store the state/configuration for the non-linear programming solver
@@ -151,7 +151,7 @@ typedef struct ocp_nlp_solver
 /// default/invalid state.
 ///
 /// \param N Horizon length
-ocp_nlp_plan *ocp_nlp_plan_create(int N);
+ocp_nlp_plan_t *ocp_nlp_plan_create(int N);

 /// Destructor for plan struct, frees memory.
 ///
@@ -162,7 +162,7 @@ void ocp_nlp_plan_destroy(void* plan_);
 /// Constructs an nlp configuration struct from a plan.
 ///
 /// \param plan The plan (user nlp configuration).
-ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan plan);
+ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);

 /// Desctructor of the nlp configuration.
 ///
@@ -372,6 +372,14 @@ void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *
 //
 void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);

+/// Computes the residuals.
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
 //
 void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);

@@ -105,7 +105,7 @@ typedef enum {
 typedef struct
 {
    ocp_qp_solver_t qp_solver;
-} ocp_qp_solver_plan;
+} ocp_qp_solver_plan_t;


 /// Linear ocp configuration.
@@ -127,7 +127,7 @@ void ocp_qp_xcond_solver_config_initialize_from_plan(
 /// Constructs a qp solver config and Initializes with default values.
 ///
 /// \param plan The qp solver plan struct.
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan plan);
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);

 /// Destructor for config struct, frees memory.
 ///
@@ -57,7 +57,7 @@ typedef enum
 typedef struct
 {
    sim_solver_t sim_solver;
-} sim_solver_plan;
+} sim_solver_plan_t;



@@ -74,7 +74,7 @@ typedef struct

 /* config */
 //
-sim_config *sim_config_create(sim_solver_plan plan);
+sim_config *sim_config_create(sim_solver_plan_t plan);
 //
 void sim_config_destroy(void *config);

@@ -185,9 +185,14 @@ void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec
 void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
 // y <= alpha*x
 void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// z[idx] += alpha * x
 void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// z[idx] <= alpha * x
 void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// z <= alpha * x[idx]
+void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);

 void blasfeo_dveccl(int m,
 	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
@@ -182,6 +182,8 @@ void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi,
 void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
 void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
 void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);

 void blasfeo_ref_dveccl(int m,
 	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
@@ -127,6 +127,8 @@ float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
 void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
 void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
 void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
 void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
@@ -128,6 +128,8 @@ float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
 void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
 void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
 void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
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