mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-03 08:41:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

acados support (#21319)

Browse Source 
* acados support

* add pyextra to python path

* x86 libs
This commit is contained in:
Adeeb Shihadeh
2021-06-17 16:40:00 -07:00
committed by GitHub
parent ea6f779b3e
commit 6e4c2aa4d2
234 changed files with 44565 additions and 212 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.pre-commit-config.yaml
+2 -1
View File
@@ -3,6 +3,7 @@ repos:
rev: v3.4.0
hooks:
- id: check-ast
exclude: '^(pyextra)/'
- id: check-json
- id: check-xml
- id: check-yaml
@@ -38,7 +39,7 @@ repos:
entry: cppcheck
language: system
types: [c++]
exclude: '^(phonelibs)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
exclude: '^(phonelibs)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
args:
- --error-exitcode=1
- --language=c++
Pipfile
+2
View File
@@ -74,6 +74,8 @@ parameterized = "*"
ft4222 = "*"
hypothesis = "*"
inputs = "*"
casadi = "*"
future-fstrings = "*" # for acados
[packages]
atomicwrites = "*"
Pipfile.lock
Generated
+190 -205
View File
@@ -1,7 +1,7 @@
{
"_meta": {
"hash": {
"sha256": "bcb10219e933221977adebc26dc3df243463dee3065f6e773fdc328d3c337583"
"sha256": "3cc3a94f113f2dda8a55f12941780f3b1275997852ffbcf2c3a89d19de862dfd"
},
"pipfile-spec": 6,
"requires": {
@@ -489,31 +489,31 @@
},
"protobuf": {
"hashes": [
"sha256:0b5a73fa43efda0df0191c162680ec40cef45463fa8ff69fbeaeeddda4c760f5",
"sha256:1e08da38d56b74962d9cb05d86ca5f25d2e5b78f05fd00db7900cad3faa6de00",
"sha256:38b2c6e2204731cfebdb2452ffb7addf0367172b35cff8ccda338ccea9e7c87a",
"sha256:42239d47f213f1ce12ddca62c0c70856efbac09797d715e5d606b3fbc3f16c44",
"sha256:45cc0197e9f9192693c8a4dbcba8c9227a53a2720fc3826dfe791113d9ff5e5e",
"sha256:4da073b6c1a83e4ff1294156844f21343c5094e295c194d8ecc94703c7a6f42a",
"sha256:4e62be28dcaab52c7e8e8e3fb9a7005dec6374e698f3b22d79276d95c13151e5",
"sha256:50c657a54592c1bec7b24521fdbbbd2f7b51325ba23ab505ed03e8ebf3a5aeff",
"sha256:557e16884d7276caf92c1fb188fe6dfbec47891d3507d4982db1e3d89ffd22de",
"sha256:5a3450acf046716e4a4f02a3f7adfb7b86f1b5b3ae392cec759915e79538d40d",
"sha256:6388e7f300010ea7ac77113c7491c5622645d2447fdf701cbfe026b832d728cd",
"sha256:744f5c9a3b9e7538c4c70f2b0e46f86858b684f5d17bf78643a19a6c21c7936f",
"sha256:751d71dc6559dd794d309811d8dcf179d6a128b38a1655ae7137530f33895cb4",
"sha256:816fe5e8b73c29adb13a57e1653da15f24cbb90e86ea92e6f08abe6d8c0cbdb4",
"sha256:89613ec119fdcad992f65d7a5bfe3170c17edc839982d0089fc0c9242fb8e517",
"sha256:993814b0199f22523a227696a8e20d2cd4b9cda60c76d2fb3969ce0c77eb9e0f",
"sha256:9dc01ddc3b195c4538942790c4b195cf17b52d3785a60c1f6f25b794f51e2071",
"sha256:b667ddbb77ff619fdbd18be75445d4448ee68493c9bddd1b4d0b177025e2f6f6",
"sha256:c2038dec269b65683f16057886c09ca7526471793029bdd43259282e1e0fb668",
"sha256:c303ce92c60d069237cfbd41790fde3d00066ca9500fac464454e20c2f12250c",
"sha256:c49e673436e24e925022c090a98905cfe88d056cb5dde67a8e20ae339acd8140",
"sha256:c5b512c1982f8b427a302db094cf79f8f235284014d01b23fba461aa2c1459a0",
"sha256:f3f057ad59cd4d5ea2b1bb88d36c6f009b8043007cf03d96cbd3b9c06859d4fa"
"sha256:13ee7be3c2d9a5d2b42a1030976f760f28755fcf5863c55b1460fd205e6cd637",
"sha256:145ce0af55c4259ca74993ddab3479c78af064002ec8227beb3d944405123c71",
"sha256:14c1c9377a7ffbeaccd4722ab0aa900091f52b516ad89c4b0c3bb0a4af903ba5",
"sha256:1556a1049ccec58c7855a78d27e5c6e70e95103b32de9142bae0576e9200a1b0",
"sha256:26010f693b675ff5a1d0e1bdb17689b8b716a18709113288fead438703d45539",
"sha256:2ae692bb6d1992afb6b74348e7bb648a75bb0d3565a3f5eea5bec8f62bd06d87",
"sha256:2bfb815216a9cd9faec52b16fd2bfa68437a44b67c56bee59bc3926522ecb04e",
"sha256:4ffbd23640bb7403574f7aff8368e2aeb2ec9a5c6306580be48ac59a6bac8bde",
"sha256:6902a1e4b7a319ec611a7345ff81b6b004b36b0d2196ce7a748b3493da3d226d",
"sha256:6ce4d8bf0321e7b2d4395e253f8002a1a5ffbcfd7bcc0a6ba46712c07d47d0b4",
"sha256:6d847c59963c03fd7a0cd7c488cadfa10cda4fff34d8bc8cba92935a91b7a037",
"sha256:72804ea5eaa9c22a090d2803813e280fb273b62d5ae497aaf3553d141c4fdd7b",
"sha256:7a4c97961e9e5b03a56f9a6c82742ed55375c4a25f2692b625d4087d02ed31b9",
"sha256:8727ee027157516e2c311f218ebf2260a18088ffb2d29473e82add217d196b1c",
"sha256:99938f2a2d7ca6563c0ade0c5ca8982264c484fdecf418bd68e880a7ab5730b1",
"sha256:9b7a5c1022e0fa0dbde7fd03682d07d14624ad870ae52054849d8960f04bc764",
"sha256:a22b3a0dbac6544dacbafd4c5f6a29e389a50e3b193e2c70dae6bbf7930f651d",
"sha256:a981222367fb4210a10a929ad5983ae93bd5a050a0824fc35d6371c07b78caf6",
"sha256:ab6bb0e270c6c58e7ff4345b3a803cc59dbee19ddf77a4719c5b635f1d547aa8",
"sha256:c56c050a947186ba51de4f94ab441d7f04fcd44c56df6e922369cc2e1a92d683",
"sha256:e76d9686e088fece2450dbc7ee905f9be904e427341d289acbe9ad00b78ebd47",
"sha256:f0e59430ee953184a703a324b8ec52f571c6c4259d496a19d1cabcdc19dabc62",
"sha256:ffea251f5cd3c0b9b43c7a7a912777e0bc86263436a87c2555242a348817221b"
],
"version": "==3.17.2"
"version": "==3.17.3"
},
"psutil": {
"hashes": [
@@ -826,11 +826,11 @@
},
"tqdm": {
"hashes": [
"sha256:736524215c690621b06fc89d0310a49822d75e599fcd0feb7cc742b98d692493",
"sha256:cd5791b5d7c3f2f1819efc81d36eb719a38e0906a7380365c556779f585ea042"
"sha256:24be966933e942be5f074c29755a95b315c69a91f839a29139bf26ffffe2d3fd",
"sha256:aa0c29f03f298951ac6318f7c8ce584e48fa22ec26396e6411e43d038243bdb2"
],
"index": "pypi",
"version": "==4.61.0"
"version": "==4.61.1"
},
"typing-extensions": {
"hashes": [
@@ -857,11 +857,11 @@
},
"websocket-client": {
"hashes": [
"sha256:3e2bf58191d4619b161389a95bdce84ce9e0b24eb8107e7e590db682c2d0ca81",
"sha256:abf306dc6351dcef07f4d40453037e51cc5d9da2ef60d0fc5d0fe3bcda255372"
"sha256:b68e4959d704768fa20e35c9d508c8dc2bbc041fd8d267c0d7345cffe2824568",
"sha256:e5c333bfa9fa739538b652b6f8c8fc2559f1d364243c8a689d7c0e1d41c2e611"
],
"index": "pypi",
"version": "==1.0.1"
"version": "==1.1.0"
},
"werkzeug": {
"hashes": [
@@ -1020,11 +1020,11 @@
},
"azure-cli-core": {
"hashes": [
"sha256:442762a13cb066155ef19aa483721ea81107a32331582d4c18af86cc0b42d2ec",
"sha256:9ceb8574525733171400e16cfdee279945343d27a348324b6798c5eac036681d"
"sha256:679fbaeab0224cb721d27070feaf61510c3628c4af463af518b59e30735335ae",
"sha256:a4bff7b9ff5e9e658208c712f75376035a482a80b5dae808b8c1489c982da58f"
],
"index": "pypi",
"version": "==2.24.2"
"version": "==2.25.0"
},
"azure-cli-telemetry": {
"hashes": [
@@ -1043,11 +1043,11 @@
},
"azure-core": {
"hashes": [
"sha256:2e3ade1b6d79229ad58d4ed8775a07a0c6323a00328ee202964200f299ba929a",
"sha256:f32bb64aabe61f496255c16dd6c555a027da628109460bf27311cee0caf78f96"
"sha256:197917b98fec661c35392e32abec4f690ac2117371a814e25e57c224ce23cf1f",
"sha256:74631dff314fd44419ac6a3a38e8af68418b08a1b6e6793128555db20501dd07"
],
"index": "pypi",
"version": "==1.14.0"
"version": "==1.15.0"
},
"azure-mgmt-core": {
"hashes": [
@@ -1142,19 +1142,63 @@
},
"boto3": {
"hashes": [
"sha256:52025e0af7935cb7036037978de190e41ad7f6716d1de1e3669976e99d084edf",
"sha256:612aa5dc27b87ae1dc695e194f97af7da0fcc9e97aa80d9740732d78ba117119"
"sha256:8e5af9c7ea16ce1c35b7c3220d073dea9735bb1790107820d475462500ae1eff",
"sha256:e61607211816c194dbe2701db48dcddc87cf19372e6f57a9ebe4dfe93dfe177c"
],
"index": "pypi",
"version": "==1.17.87"
"version": "==1.17.95"
},
"botocore": {
"hashes": [
"sha256:04a5594ae1886233cb15ab636b51aeecf6b5412231f72744405f11a54a8cda58",
"sha256:3dcc84855349073e0cb706e90a9e1180899deded4b8555698fb4a5a5b3357202"
"sha256:240a9ef007292e986a4e11662f9038435d9d4fd242e083db160c86eb5c24af30",
"sha256:dc215f59735a3abde6c66a61f43f10d95bc18754d310da4e2037b3b8c4d8aa2d"
],
"markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4, 3.5'",
"version": "==1.20.87"
"version": "==1.20.95"
},
"casadi": {
"hashes": [
"sha256:09e103bb597d46aa338fc57bc49270068a1f07be35f9494c9f796dea4b801aeb",
"sha256:13277151efc76b221de8ca6b5ab7b8bbdd2b0e139f282866840adf88dfe53bc9",
"sha256:1c451a07b2440c00d552e040b6285b6e79b677d2978212368b28b86f5d267669",
"sha256:2322748a8d5e88750fd2fc0abcdc56cfbad1a8cd538fe0e7d7b6d8ce0cb3fa62",
"sha256:24fbac649ee26572884029dcd0e108b4a2412cad003a84ed915c4e44a94ecae7",
"sha256:253569c85f881a6a8fe5e1c0758858edb1ecb4c3d8bce4aee4b52e5dc59fc091",
"sha256:292e2768280393bad406256e0ef9c30ddcd4867dbd42148b36f9d92a32d9e199",
"sha256:353a79e50aa84ac5e0d9f04bc3b2d78a2cc8edae3b842d757756449682778944",
"sha256:36db4c84d8f3aad328faaeaeaa454a633c95a854d78ea188791b147888379342",
"sha256:3aec6737c282e7fb5be41f6c7d0649e52ce49efb3508f30bada707e809bbbb5f",
"sha256:4086669280b2335d235c664373db46dcd7f6485dba4663ce1944ea01753c5e8b",
"sha256:4143803af909f284400c02f59de4d97e5ba9319de28366215ef55ef261914f9a",
"sha256:473bb86fa64ac9703d74a474514703b4665fa9a384221ced620b5025e64532a7",
"sha256:4932b2b5361013420189dbc8d30e970672d036b37cb382f1c09c3b6cfe651a37",
"sha256:49a8b713f0ff0bbc2f2af2e71c515cdced238786e25ef504f5982618c84c67a7",
"sha256:54d89442058271007ae8573dfa33360bea10e26603545481090b45e8b90c9d10",
"sha256:55df534d003efdd120c4ebfeb6b252c443d273cdc4b97a394eb0268367477795",
"sha256:5de5c3c1381ac303e71fdef75dace34af6e1d50b46ac081051cd209b8b933837",
"sha256:5f6eb8de31735c14ecc777e3ad77b57767b5f2dbea29265909ef696f51e8be92",
"sha256:6192e2ed81c15a7dab2554f5f69b134df8d1a982f8d9f13e57bdef93364d2120",
"sha256:643e48f92eaf65eb82964816bb7e7064ddb8239959210fa6168e8bce6fe6ef94",
"sha256:6ce7ac8a301a145f98d46db0bfd13bc8b3831a5bb92e8054d531a1f233bb4b93",
"sha256:7309a75b27c57f09b00a61815fb38c40da8e62e3004598e55ea1b8f713d96221",
"sha256:77f33cb95be6a49b93d8d6b81f05193676ae09857699cedf8f1a14a4285d077e",
"sha256:7a624d40c7b5ded7916f6cc65998af4585b4557c9ea65dc1e3a6273ebb2313ec",
"sha256:a06c0b96eb9d3bc88c627eec6e465726934ca0394347dc33efc742b8c91db83d",
"sha256:a4ce51e988570160af9ccfbbb1b9679546cbb1865d3a74ef0276f37fd94d91d9",
"sha256:ab6a600a9b2ea27453d56fd4464ad0db0ae69f5cea42595fcbdaabcd40396440",
"sha256:ab85c7cf772ba54f2718ebe366b836fffff868443f7c0c02389ed0a288cbde1f",
"sha256:ac45b91616e9b8afbe266ca08e80770b28e9e6d7a5852e3677fb37e42bde2047",
"sha256:adf20c34ba2cec1840a026023d93cc6d9b3581dfda6a044f434fc75b50c9a2ce",
"sha256:bd94048388b602fc30fdac2fecb986c034110ed8d2d17af7fd13b0de45c58bd7",
"sha256:c3440c90c31b61ae1df82f6c784643393f723354dc08013f9d5cedf25507c67c",
"sha256:cd630a2e6ec6df6a4977af63080fa8d63a0053ff8c06ea0200959b47ae75201c",
"sha256:d4e49cb46404cef61f83b30bb20ec9597c50ae7f55cfd6b89c17facc74675437",
"sha256:ec26244f9d9047f1bb401f1b86ff4775e1ddf638f4b4992bbc362a27a6f56673",
"sha256:f08a99e98b0a15083f06b1e221f064a29b3ed9e20617dc55aa8e823f2f732ace",
"sha256:fbf39dcd63f1d3b63c300fce59b7ea678bd5ea1d014e1e090a5226600a4132cb"
],
"index": "pypi",
"version": "==3.5.5"
},
"certifi": {
"hashes": [
@@ -1469,13 +1513,21 @@
"markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'",
"version": "==0.18.2"
},
"geoalchemy2": {
"future-fstrings": {
"hashes": [
"sha256:567e105e6b0d5fd94a5a869d358b0c47956570bb3f3d19e98086344b1abefed8",
"sha256:56dff13365ac2ea5ab828a697e240984f7ac448a32a3feba25356b4aa8e24d34"
"sha256:6cf41cbe97c398ab5a81168ce0dbb8ad95862d3caf23c21e4430627b90844089",
"sha256:90e49598b553d8746c4dc7d9442e0359d038c3039d802c91c0a55505da318c63"
],
"index": "pypi",
"version": "==0.8.5"
"version": "==1.2.0"
},
"geoalchemy2": {
"hashes": [
"sha256:5e54d979d49574e176b5eef6a9e7ab0d217a9f1098071dd578dbddc4b1f7ad9d",
"sha256:c32023bc2fb8fbb136f00a0e9c2feba21f3e1040af0f619c888661f6ee72dd28"
],
"index": "pypi",
"version": "==0.9.0"
},
"git-pylint-commit-hook": {
"hashes": [
@@ -1572,27 +1624,27 @@
},
"humanfriendly": {
"hashes": [
"sha256:066562956639ab21ff2676d1fda0b5987e985c534fc76700a19bd54bcb81121d",
"sha256:d5c731705114b9ad673754f3317d9fa4c23212f36b29bdc4272a892eafc9bc72"
"sha256:332da98c24cc150efcc91b5508b19115209272bfdf4b0764a56795932f854271",
"sha256:f7dba53ac7935fd0b4a2fc9a29e316ddd9ea135fb3052d3d0279d10c18ff9c48"
],
"markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
"version": "==9.1"
"version": "==9.2"
},
"hypothesis": {
"hashes": [
"sha256:cca0e54d769214849755f7a125a2f759615e0386844eb42bd30ca2633d249b61",
"sha256:eeb8311d1477de4974ed3dba5c8e758023c17bb4c804f2e5d5cc4f9a065cbeba"
"sha256:27aa2af763af06b8b61ce65c09626cf1da6d3a6ff155900f3c581837b453313a",
"sha256:9bdee01ae260329b16117e9b0229a839b4a77747a985922653f595bd2a6a541a"
],
"index": "pypi",
"version": "==6.13.12"
"version": "==6.14.0"
},
"identify": {
"hashes": [
"sha256:3a74cf41f1a0bde21e2f196a1727a608629339d9897226bad07b22e0bbde6faa",
"sha256:7d4a73d58869a484d4ba8892793c80e30aa699e77707f26c1049486ef9be415f"
"sha256:18d0c531ee3dbc112fa6181f34faa179de3f57ea57ae2899754f16a7e0ff6421",
"sha256:5b41f71471bc738e7b586308c3fca172f78940195cb3bf6734c1e66fdac49306"
],
"markers": "python_full_version >= '3.6.1'",
"version": "==2.2.8"
"version": "==2.2.10"
},
"idna": {
"hashes": [
@@ -1648,13 +1700,6 @@
],
"version": "==7.6.3"
},
"isodate": {
"hashes": [
"sha256:2e364a3d5759479cdb2d37cce6b9376ea504db2ff90252a2e5b7cc89cc9ff2d8",
"sha256:aa4d33c06640f5352aca96e4b81afd8ab3b47337cc12089822d6f322ac772c81"
],
"version": "==0.6.0"
},
"isort": {
"hashes": [
"sha256:0a943902919f65c5684ac4e0154b1ad4fac6dcaa5d9f3426b732f1c8b5419be6",
@@ -1969,20 +2014,6 @@
"index": "pypi",
"version": "==0.5.6"
},
"msrest": {
"hashes": [
"sha256:72661bc7bedc2dc2040e8f170b6e9ef226ee6d3892e01affd4d26b06474d68d8",
"sha256:c840511c845330e96886011a236440fafc2c9aff7b2df9c0a92041ee2dee3782"
],
"version": "==0.6.21"
},
"msrestazure": {
"hashes": [
"sha256:3de50f56147ef529b31e099a982496690468ecef33f0544cb0fa0cfe1e1de5b9",
"sha256:a06f0dabc9a6f5efe3b6add4bd8fb623aeadacf816b7a35b0f89107e0544d189"
],
"version": "==0.6.4"
},
"multidict": {
"hashes": [
"sha256:018132dbd8688c7a69ad89c4a3f39ea2f9f33302ebe567a879da8f4ca73f0d0a",
@@ -2028,31 +2059,32 @@
},
"mypy": {
"hashes": [
"sha256:0d0a87c0e7e3a9becdfbe936c981d32e5ee0ccda3e0f07e1ef2c3d1a817cf73e",
"sha256:25adde9b862f8f9aac9d2d11971f226bd4c8fbaa89fb76bdadb267ef22d10064",
"sha256:28fb5479c494b1bab244620685e2eb3c3f988d71fd5d64cc753195e8ed53df7c",
"sha256:2f9b3407c58347a452fc0736861593e105139b905cca7d097e413453a1d650b4",
"sha256:33f159443db0829d16f0a8d83d94df3109bb6dd801975fe86bacb9bf71628e97",
"sha256:3f2aca7f68580dc2508289c729bd49ee929a436208d2b2b6aab15745a70a57df",
"sha256:499c798053cdebcaa916eef8cd733e5584b5909f789de856b482cd7d069bdad8",
"sha256:4eec37370483331d13514c3f55f446fc5248d6373e7029a29ecb7b7494851e7a",
"sha256:552a815579aa1e995f39fd05dde6cd378e191b063f031f2acfe73ce9fb7f9e56",
"sha256:5873888fff1c7cf5b71efbe80e0e73153fe9212fafdf8e44adfe4c20ec9f82d7",
"sha256:61a3d5b97955422964be6b3baf05ff2ce7f26f52c85dd88db11d5e03e146a3a6",
"sha256:674e822aa665b9fd75130c6c5f5ed9564a38c6cea6a6432ce47eafb68ee578c5",
"sha256:7ce3175801d0ae5fdfa79b4f0cfed08807af4d075b402b7e294e6aa72af9aa2a",
"sha256:9743c91088d396c1a5a3c9978354b61b0382b4e3c440ce83cf77994a43e8c521",
"sha256:9f94aac67a2045ec719ffe6111df543bac7874cee01f41928f6969756e030564",
"sha256:a26f8ec704e5a7423c8824d425086705e381b4f1dfdef6e3a1edab7ba174ec49",
"sha256:abf7e0c3cf117c44d9285cc6128856106183938c68fd4944763003decdcfeb66",
"sha256:b09669bcda124e83708f34a94606e01b614fa71931d356c1f1a5297ba11f110a",
"sha256:cd07039aa5df222037005b08fbbfd69b3ab0b0bd7a07d7906de75ae52c4e3119",
"sha256:d23e0ea196702d918b60c8288561e722bf437d82cb7ef2edcd98cfa38905d506",
"sha256:d65cc1df038ef55a99e617431f0553cd77763869eebdf9042403e16089fe746c",
"sha256:d7da2e1d5f558c37d6e8c1246f1aec1e7349e4913d8fb3cb289a35de573fe2eb"
"sha256:0190fb77e93ce971954c9e54ea61de2802065174e5e990c9d4c1d0f54fbeeca2",
"sha256:0756529da2dd4d53d26096b7969ce0a47997123261a5432b48cc6848a2cb0bd4",
"sha256:2f9fedc1f186697fda191e634ac1d02f03d4c260212ccb018fabbb6d4b03eee8",
"sha256:353aac2ce41ddeaf7599f1c73fed2b75750bef3b44b6ad12985a991bc002a0da",
"sha256:3f12705eabdd274b98f676e3e5a89f247ea86dc1af48a2d5a2b080abac4e1243",
"sha256:4efc67b9b3e2fddbe395700f91d5b8deb5980bfaaccb77b306310bd0b9e002eb",
"sha256:517e7528d1be7e187a5db7f0a3e479747307c1b897d9706b1c662014faba3116",
"sha256:68a098c104ae2b75e946b107ef69dd8398d54cb52ad57580dfb9fc78f7f997f0",
"sha256:746e0b0101b8efec34902810047f26a8c80e1efbb4fc554956d848c05ef85d76",
"sha256:8be7bbd091886bde9fcafed8dd089a766fa76eb223135fe5c9e9798f78023a20",
"sha256:9236c21194fde5df1b4d8ebc2ef2c1f2a5dc7f18bcbea54274937cae2e20a01c",
"sha256:9ef5355eaaf7a23ab157c21a44c614365238a7bdb3552ec3b80c393697d974e1",
"sha256:9f1d74eeb3f58c7bd3f3f92b8f63cb1678466a55e2c4612bf36909105d0724ab",
"sha256:a26d0e53e90815c765f91966442775cf03b8a7514a4e960de7b5320208b07269",
"sha256:ae94c31bb556ddb2310e4f913b706696ccbd43c62d3331cd3511caef466871d2",
"sha256:b5ba1f0d5f9087e03bf5958c28d421a03a4c1ad260bf81556195dffeccd979c4",
"sha256:b5dfcd22c6bab08dfeded8d5b44bdcb68c6f1ab261861e35c470b89074f78a70",
"sha256:cd01c599cf9f897b6b6c6b5d8b182557fb7d99326bcdf5d449a0fbbb4ccee4b9",
"sha256:e89880168c67cf4fde4506b80ee42f1537ad66ad366c101d388b3fd7d7ce2afd",
"sha256:ebe2bc9cb638475f5d39068d2dbe8ae1d605bb8d8d3ff281c695df1670ab3987",
"sha256:f89bfda7f0f66b789792ab64ce0978e4a991a0e4dd6197349d0767b0f1095b21",
"sha256:fc4d63da57ef0e8cd4ab45131f3fe5c286ce7dd7f032650d0fbc239c6190e167",
"sha256:fd634bc17b1e2d6ce716f0e43446d0d61cdadb1efcad5c56ca211c22b246ebc8"
],
"index": "pypi",
"version": "==0.812"
"version": "==0.902"
},
"mypy-extensions": {
"hashes": [
@@ -2146,35 +2178,31 @@
"index": "pypi",
"version": "==1.20.3"
},
"oauthlib": {
"hashes": [
"sha256:42bf6354c2ed8c6acb54d971fce6f88193d97297e18602a3a886603f9d7730cc",
"sha256:8f0215fcc533dd8dd1bee6f4c412d4f0cd7297307d43ac61666389e3bc3198a3"
],
"markers": "python_version >= '3.6'",
"version": "==3.1.1"
},
"opencv-python": {
"hashes": [
"sha256:1a9d6dd0b1d5cb6031c38b6acf2043b2ec1717093b39592c2a0b98f5b31c8d3e",
"sha256:2cc96b8a9011fa3451d71699069a6a8c3578d91d0158c559def997a1a049ae0c",
"sha256:31d6a413d459a18ef280d88e8d9257cc5e5009657022c88bb88694a94ccce3ba",
"sha256:35d4fccd1e339df1e38eb1938af36c1972ab818684a747160403c1562008d867",
"sha256:642ff6fe8d0a8297e248bf21676172381afbda767cd15ad51ab9d10201d99078",
"sha256:68f1baa789a1ae92642ad436d29088051471b2e5cea40705cb8c9f8c9fc3c050",
"sha256:71adc9f528d54fb41bfe275d7038ed4c9c5f1a4468419d4cac12dde6e938f3b8",
"sha256:72f4e4f28169ecb9282570c4a86e992a762ea35ff67b19c05aab2c84eee212ca",
"sha256:7e8e31b0e206c3567cb96408eb0e27314bb1526eb072f9e509db77af0262ecaf",
"sha256:950242774a367efc90e3bed89e6e2fab7ff2867e2eafa440e4775b1ae57ac9f8",
"sha256:a7aa72195cfd325a51fba287fadc61166367a3f89c57e7fe3e041132e192ac06",
"sha256:b236001a5bacd18622db037e581521b38cffae070f345e05a7dd837dc3b7f2ef",
"sha256:c8ee913a45aec73c4bb14c6c72c3c6ddbb0a1dd3ca45338b68bf169220396941",
"sha256:cd231e073579192a8e4c88739e263de23bdaee0be7d85daae3afbda77e477da7",
"sha256:dfa168f827561c52f746d5d80e3b10f31d6428bf6f72652765139129f189110b",
"sha256:fd2e9e70ce30bdfdba6beeffeab117b760e6390e6b606e4b9f4ff03ccd2d7d1f"
"sha256:0118a086fad8d77acdf46ac68df49d4167fbb85420f8bcf2615d7b74fc03aae0",
"sha256:050227e5728ea8316ec114aca8f43d56253cbb1c50983e3b136a988254a83118",
"sha256:08327a38564786bf73e387736f080e8ad4c110b394ca4af2ecec8277b305bf44",
"sha256:0a3aef70b7c53bbd22ade86a4318b8a2ad98d3c3ed3d0c315f18bf1a2d868709",
"sha256:10325c3fd571e33a11eb5f0e5d265d73baef22dbb34c977f28df7e22de47b0bc",
"sha256:2436b71346d1eed423577fac8cd3aa9c0832ea97452444dc7f856b2f09600dba",
"sha256:4b8814d3f0cf01e8b8624125f7dcfb095893abcc04083cb4968fa1629bc81161",
"sha256:4e6c2d8320168a4f76822fbb76df3b18688ac5e068d49ac38a4ce39af0f8e1a6",
"sha256:6b2573c6367ec0052b37e375d18638a885dd7a10a5ef8dd726b391969c227f23",
"sha256:6e2070e35f2aaca3d1259093c786d4e373004b36d89a94e81943247c6ed3d4e1",
"sha256:89a2b45429bf945988a17b0404431d9d8fdc9e04fb2450b56fa01f6f9477101d",
"sha256:8cf81f53ac5ad900ca443a8252c4e0bc1256f1c2cb2d8459df2ba1ac014dfa36",
"sha256:9680ab256ab31bdafd74f6cf55eb570e5629b5604d50fd69dd1bd2a8124f0611",
"sha256:a8020cc6145c6934192189058743a55189750df6dff894396edb8b35a380cc48",
"sha256:b3bef3f2a2ab3c201784d12ec6b5c9e61c920c15b6854d8d2f62fd019e3df846",
"sha256:b724a96eeb88842bd2371b1ffe2da73b6295063ba5c029aa34139d25b8315a3f",
"sha256:c446555cbbc4f5e809f9c15ac1b6200024032d9859f5ac5a2ca7669d09e4c91c",
"sha256:d9004e2cc90bb2862cdc1d062fac5163d3def55b200081d4520d3e90b4c7197b",
"sha256:ef3102b70aa59ab3fed69df30465c1b7587d681e963dfff5146de233c75df7ba",
"sha256:f12f39c1e5001e1c00df5873e3eee6f0232b7723a60b7ef438b1e23f1341df0e"
],
"index": "pypi",
"version": "==4.5.2.52"
"version": "==4.5.2.54"
},
"osmium": {
"hashes": [
@@ -2819,14 +2847,6 @@
"index": "pypi",
"version": "==2.25.1"
},
"requests-oauthlib": {
"hashes": [
"sha256:7f71572defaecd16372f9006f33c2ec8c077c3cfa6f5911a9a90202beb513f3d",
"sha256:b4261601a71fd721a8bd6d7aa1cc1d6a8a93b4a9f5e96626f8e4d91e8beeaa6a",
"sha256:fa6c47b933f01060936d87ae9327fead68768b69c6c9ea2109c48be30f2d4dbc"
],
"version": "==1.3.0"
},
"reverse-geocoder": {
"hashes": [
"sha256:2a2e781b5f69376d922b78fe8978f1350c84fce0ddb07e02c834ecf98b57c75c"
@@ -3008,39 +3028,39 @@
},
"sqlalchemy": {
"hashes": [
"sha256:196fb6bb2733834e506c925d7532f8eabad9d2304deef738a40846e54c31e236",
"sha256:1dd77acbc19bee9c0ba858ff5e4e5d5c60895495c83b4df9bcdf4ad5e9b74f21",
"sha256:216ff28fe803885ceb5b131dcee6507d28d255808dd5bcffcb3b5fa75be2e102",
"sha256:461a4ea803ce0834822f372617a68ac97f9fa1281f2a984624554c651d7c3ae1",
"sha256:4b09191ed22af149c07a880f309b7740f3f782ff13325bae5c6168a6aa57e715",
"sha256:4c5e20666b33b03bf7f14953f0deb93007bf8c1342e985bd7c7cf25f46fac579",
"sha256:4d93b62e98248e3e1ac1e91c2e6ee1e7316f704be1f734338b350b6951e6c175",
"sha256:5732858e56d32fa7e02468f4fd2d8f01ddf709e5b93d035c637762890f8ed8b6",
"sha256:58c02d1771bb0e61bc9ced8f3b36b5714d9ece8fd4bdbe2a44a892574c3bbc3c",
"sha256:651cdb3adcee13624ba22d5ff3e96f91e16a115d2ca489ddc16a8e4c217e8509",
"sha256:6fe1c8dc26bc0005439cb78ebc78772a22cccc773f5a0e67cb3002d791f53f0f",
"sha256:7222f3236c280fab3a2d76f903b493171f0ffc29667538cc388a5d5dd0216a88",
"sha256:7dc3d3285fb682316d580d84e6e0840fdd8ffdc05cb696db74b9dd746c729908",
"sha256:7e45043fe11d503e1c3f9dcf5b42f92d122a814237cd9af68a11dae46ecfcae1",
"sha256:7eb55d5583076c03aaf1510473fad2a61288490809049cb31028af56af7068ee",
"sha256:82922a320d38d7d6aa3a8130523ec7e8c70fa95f7ca7d0fd6ec114b626e4b10b",
"sha256:8e133e2551fa99c75849848a4ac08efb79930561eb629dd7d2dc9b7ee05256e6",
"sha256:949ac299903d2ed8419086f81847381184e2264f3431a33af4679546dcc87f01",
"sha256:a2d225c8863a76d15468896dc5af36f1e196b403eb9c7e0151e77ffab9e7df57",
"sha256:a5f00a2be7d777119e15ccfb5ba0b2a92e8a193959281089d79821a001095f80",
"sha256:b0ad951a6e590bbcfbfeadc5748ef5ec8ede505a8119a71b235f7481cc08371c",
"sha256:b59b2c0a3b1d93027f6b6b8379a50c354483fe1ebe796c6740e157bb2e06d39a",
"sha256:bc89e37c359dcd4d75b744e5e81af128ba678aa2ecea4be957e80e6e958a1612",
"sha256:bde055c019e6e449ebc4ec61abd3e08690abeb028c7ada2a3b95d8e352b7b514",
"sha256:c367ed95d41df584f412a9419b5ece85b0d6c2a08a51ae13ae47ef74ff9a9349",
"sha256:dde05ae0987e43ec84e64d6722ce66305eda2a5e2b7d6fda004b37aabdfbb909",
"sha256:ee6e7ca09ff274c55d19a1e15ee6f884fa0230c0d9b8d22a456e249d08dee5bf",
"sha256:f1c68f7bd4a57ffdb85eab489362828dddf6cd565a4c18eda4c446c1d5d3059d",
"sha256:f63e1f531a8bf52184e2afb53648511f3f8534decb7575b483a583d3cd8d13ed",
"sha256:fdad4a33140b77df61d456922b7974c1f1bb2c35238f6809f078003a620c4734"
"sha256:0653d444d52f2b9a0cba1ea5cd0fc64e616ee3838ee86c1863781b2a8670fc0c",
"sha256:146af9e67d0f821b28779d602372e65d019db01532d8f7101e91202d447c14ec",
"sha256:2129d33b54da4d4771868a3639a07f461adc5887dbd9e0a80dbf560272245525",
"sha256:284b6df04bc30e886998e0fdbd700ef9ffb83bcb484ffc54d4084959240dce91",
"sha256:3690fc0fc671419debdae9b33df1434ac9253155fd76d0f66a01f7b459d56ee6",
"sha256:3a6afb7a55374329601c8fcad277f0a47793386255764431c8f6a231a6947ee9",
"sha256:45bbb935b305e381bcb542bf4d952232282ba76881e3458105e4733ba0976060",
"sha256:495cce8174c670f1d885e2259d710b0120888db2169ea14fc32d1f72e7950642",
"sha256:4cdc91bb3ee5b10e24ec59303131b791f3f82caa4dd8b36064d1918b0f4d0de4",
"sha256:4f375c52fed5f2ecd06be18756f121b3167a1fdc4543d877961fba04b1713214",
"sha256:56958dd833145f1aa75f8987dfe0cf6f149e93aa31967b7004d4eb9cb579fefc",
"sha256:5b827d3d1d982b38d2bab551edf9893c4734b5db9b852b28d3bc809ea7e179f6",
"sha256:5c62fff70348e3f8e4392540d31f3b8c251dc8eb830173692e5d61896d4309d6",
"sha256:5d4b2c23d20acf631456e645227cef014e7f84a111118d530cfa1d6053fd05a9",
"sha256:60cfe1fb59a34569816907cb25bb256c9490824679c46777377bcc01f6813a81",
"sha256:664c6cc84a5d2bad2a4a3984d146b6201b850ba0a7125b2fcd29ca06cddac4b1",
"sha256:70674f2ff315a74061da7af1225770578d23f4f6f74dd2e1964493abd8d804bc",
"sha256:77549e5ae996de50ad9f69f863c91daf04842b14233e133335b900b152bffb07",
"sha256:8924d552decf1a50d57dca4984ebd0778a55ca2cb1c0ef16df8c1fed405ff290",
"sha256:93394d68f02ecbf8c0a4355b6452793000ce0ee7aef79d2c85b491da25a88af7",
"sha256:9a62b06ad450386a2e671d0bcc5cd430690b77a5cd41c54ede4e4bf46d7a4978",
"sha256:c824d14b52000597dfcced0a4e480fd8664b09fed606e746a2c67fe5fbe8dfd9",
"sha256:cc474d0c40cef94d9b68980155d686d5ad43a9ca0834a8729052d3585f289d57",
"sha256:d25210f5f1a6b7b6b357d8fa199fc1d5be828c67cc1af517600c02e5b2727e4c",
"sha256:d76abceeb6f7c564fdbc304b1ce17ec59664ca7ed0fe6dbc6fc6a960c91370e3",
"sha256:e2aa39fdf5bff1c325a8648ac1957a0320c66763a3fa5f0f4a02457b2afcf372",
"sha256:eba098a4962e1ab0d446c814ae67e30da82c446b382cf718306cc90d4e2ad85f",
"sha256:ee3428f6100ff2b07e7ecec6357d865a4d604c801760094883587ecdbf8a3533",
"sha256:f3357948fa439eb5c7241a8856738605d7ab9d9f276ca5c5cc3220455a5f8e6c",
"sha256:ffb18eb56546aa66640fef831e5d0fe1a8dfbf11cdf5b00803826a01dbbbf3b1"
],
"index": "pypi",
"version": "==1.4.17"
"version": "==1.4.18"
},
"subprocess32": {
"hashes": [
@@ -3068,11 +3088,11 @@
},
"terminado": {
"hashes": [
"sha256:048ce7b271ad1f94c48130844af1de163e54913b919f8c268c89b36a6d468d7c",
"sha256:46fd07c9dc7db7321922270d544a1f18eaa7a02fd6cd4438314f27a687cabbea"
"sha256:89d5dac2f4e2b39758a0ff9a3b643707c95a020a6df36e70583b88297cd59cbe",
"sha256:c89ace5bffd0e7268bdcf22526830eb787fd146ff9d78691a0528386f92b9ae3"
],
"markers": "python_version >= '3.6'",
"version": "==0.10.0"
"version": "==0.10.1"
},
"testpath": {
"hashes": [
@@ -3084,11 +3104,11 @@
},
"tifffile": {
"hashes": [
"sha256:1cfc55f5b728e200142580a7bf108b72775c4097d007b4111876559fa1fb7432",
"sha256:55aa8baad38e1567c9fe450fff52160e4a21294a612f241c5e414da80f87209b"
"sha256:3201f5ba297b94328954724bd48dbf1b36ec14c4ee4cd5a2ec1aa3f83c486200",
"sha256:a2f83d82800a8d83cbd04340f9d65a6873a970874947a6b823b1b1238e84cba6"
],
"markers": "python_version >= '3.7'",
"version": "==2021.4.8"
"version": "==2021.6.14"
},
"toml": {
"hashes": [
@@ -3153,41 +3173,6 @@
"markers": "python_version >= '3.7'",
"version": "==5.0.5"
},
"typed-ast": {
"hashes": [
"sha256:01ae5f73431d21eead5015997ab41afa53aa1fbe252f9da060be5dad2c730ace",
"sha256:067a74454df670dcaa4e59349a2e5c81e567d8d65458d480a5b3dfecec08c5ff",
"sha256:0fb71b8c643187d7492c1f8352f2c15b4c4af3f6338f21681d3681b3dc31a266",
"sha256:1b3ead4a96c9101bef08f9f7d1217c096f31667617b58de957f690c92378b528",
"sha256:2068531575a125b87a41802130fa7e29f26c09a2833fea68d9a40cf33902eba6",
"sha256:209596a4ec71d990d71d5e0d312ac935d86930e6eecff6ccc7007fe54d703808",
"sha256:2c726c276d09fc5c414693a2de063f521052d9ea7c240ce553316f70656c84d4",
"sha256:398e44cd480f4d2b7ee8d98385ca104e35c81525dd98c519acff1b79bdaac363",
"sha256:52b1eb8c83f178ab787f3a4283f68258525f8d70f778a2f6dd54d3b5e5fb4341",
"sha256:5feca99c17af94057417d744607b82dd0a664fd5e4ca98061480fd8b14b18d04",
"sha256:7538e495704e2ccda9b234b82423a4038f324f3a10c43bc088a1636180f11a41",
"sha256:760ad187b1041a154f0e4d0f6aae3e40fdb51d6de16e5c99aedadd9246450e9e",
"sha256:777a26c84bea6cd934422ac2e3b78863a37017618b6e5c08f92ef69853e765d3",
"sha256:95431a26309a21874005845c21118c83991c63ea800dd44843e42a916aec5899",
"sha256:9ad2c92ec681e02baf81fdfa056fe0d818645efa9af1f1cd5fd6f1bd2bdfd805",
"sha256:9c6d1a54552b5330bc657b7ef0eae25d00ba7ffe85d9ea8ae6540d2197a3788c",
"sha256:aee0c1256be6c07bd3e1263ff920c325b59849dc95392a05f258bb9b259cf39c",
"sha256:af3d4a73793725138d6b334d9d247ce7e5f084d96284ed23f22ee626a7b88e39",
"sha256:b36b4f3920103a25e1d5d024d155c504080959582b928e91cb608a65c3a49e1a",
"sha256:b9574c6f03f685070d859e75c7f9eeca02d6933273b5e69572e5ff9d5e3931c3",
"sha256:bff6ad71c81b3bba8fa35f0f1921fb24ff4476235a6e94a26ada2e54370e6da7",
"sha256:c190f0899e9f9f8b6b7863debfb739abcb21a5c054f911ca3596d12b8a4c4c7f",
"sha256:c907f561b1e83e93fad565bac5ba9c22d96a54e7ea0267c708bffe863cbe4075",
"sha256:cae53c389825d3b46fb37538441f75d6aecc4174f615d048321b716df2757fb0",
"sha256:dd4a21253f42b8d2b48410cb31fe501d32f8b9fbeb1f55063ad102fe9c425e40",
"sha256:dde816ca9dac1d9c01dd504ea5967821606f02e510438120091b84e852367428",
"sha256:f2362f3cb0f3172c42938946dbc5b7843c2a28aec307c49100c8b38764eb6927",
"sha256:f328adcfebed9f11301eaedfa48e15bdece9b519fb27e6a8c01aa52a17ec31b3",
"sha256:f8afcf15cc511ada719a88e013cec87c11aff7b91f019295eb4530f96fe5ef2f",
"sha256:fb1bbeac803adea29cedd70781399c99138358c26d05fcbd23c13016b7f5ec65"
],
"version": "==1.4.3"
},
"typing-extensions": {
"hashes": [
"sha256:0ac0f89795dd19de6b97debb0c6af1c70987fd80a2d62d1958f7e56fcc31b497",
README.md
+5 -5
View File
@@ -344,13 +344,13 @@ Directory Structure
.
├── cereal # The messaging spec and libs used for all logs
├── common # Library like functionality we've developed here
├── installer/updater # Manages auto-updates of NEOS
├── installer/updater # Manages updates of NEOS
├── opendbc # Files showing how to interpret data from cars
├── panda # Code used to communicate on CAN
├── phonelibs # Libraries used on NEOS devices
├── pyextra # Libraries used on NEOS devices
├── phonelibs # External libraries
├── pyextra # Extra python packages not shipped in NEOS
└── selfdrive # Code needed to drive the car
├── assets # Fonts, images and sounds for UI
├── assets # Fonts, images, and sounds for UI
├── athena # Allows communication with the app
├── boardd # Daemon to talk to the board
├── camerad # Driver to capture images from the camera sensors
@@ -364,7 +364,7 @@ Directory Structure
├── modeld # Driving and monitoring model runners
├── proclogd # Logs information from proc
├── sensord # IMU interface code
├── test # Unit tests, system tests and a car simulator
├── test # Unit tests, system tests, and a car simulator
└── ui # The UI
Licensing
launch_chffrplus.sh
+1 -1
View File
@@ -211,7 +211,7 @@ function launch {
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD"
export PYTHONPATH="$PWD:$PWD/pyextra"
# hardware specific init
if [ -f /EON ]; then
phonelibs/acados/.gitignore
+1
View File
@@ -0,0 +1 @@
acados/
phonelibs/acados/build.sh
Executable
+40
View File
@@ -0,0 +1,40 @@
#!/usr/bin/bash -e
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
ARCHNAME="x86_64"
BLAS_TARGET="X64_AUTOMATIC"
if [ -f /TICI ]; then
ARCHNAME="larch64"
BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
elif [ -f /EON ]; then
ARCHNAME="aarch64"
BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
fi
if [ ! -d acados/ ]; then
#git clone https://github.com/acados/acados.git $DIR/acados
git clone https://github.com/commaai/acados.git $DIR/acados
fi
cd acados
git fetch
git checkout 9a1bab3f8fc4814a295fbf424fdc8125c63fdd08
git submodule update --recursive --init
# build
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
make -j4 install
INSTALL_DIR="$DIR/$ARCHNAME"
rm -rf $INSTALL_DIR
mkdir -p $INSTALL_DIR
rm $DIR/acados/lib/*.json
cp -r $DIR/acados/include $DIR
cp -r $DIR/acados/lib $INSTALL_DIR
cp -r $DIR/acados/interfaces/acados_template/acados_template $DIR/../../pyextra
#pip3 install -e $DIR/acados/interfaces/acados_template
phonelibs/acados/include/acados_c/condensing_interface.h
+84
View File
@@ -0,0 +1,84 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "acados/ocp_qp/ocp_qp_full_condensing.h"
#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
typedef enum {
PARTIAL_CONDENSING,
FULL_CONDENSING,
} condensing_t;
typedef struct
{
condensing_t condensing_type;
} condensing_plan;
typedef struct
{
ocp_qp_xcond_config *config;
void *dims;
void *opts;
void *mem;
void *work;
} condensing_module;
ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
//
void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
//
acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
//
condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
void *opts_, void *raw_memory);
//
condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
void *opts_);
//
int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
//
int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
phonelibs/acados/include/acados_c/dense_qp_interface.h
+94
View File
@@ -0,0 +1,94 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "acados/dense_qp/dense_qp_common.h"
typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t;
typedef struct
{
dense_qp_solver_t qp_solver;
} dense_qp_solver_plan;
typedef struct
{
qp_solver_config *config;
void *dims;
void *opts;
void *mem;
void *work;
} dense_qp_solver;
qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
//
dense_qp_dims *dense_qp_dims_create();
//
dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
//
dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
//
void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
//
acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
//
dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
void *raw_memory);
//
dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
//
int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
//
void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
double *res);
//
bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
//
bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
//
bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
//
bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
phonelibs/acados/include/acados_c/external_function_interface.h
+92
View File
@@ -0,0 +1,92 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "acados/utils/external_function_generic.h"
/************************************************
* generic external parametric function
************************************************/
//
void external_function_param_generic_create(external_function_param_generic *fun, int np);
//
void external_function_param_generic_free(external_function_param_generic *fun);
/************************************************
* casadi external function
************************************************/
//
void external_function_casadi_create(external_function_casadi *fun);
//
void external_function_casadi_free(external_function_casadi *fun);
//
void external_function_casadi_create_array(int size, external_function_casadi *funs);
//
void external_function_casadi_free_array(int size, external_function_casadi *funs);
/************************************************
* casadi external parametric function
************************************************/
//
void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
//
void external_function_param_casadi_free(external_function_param_casadi *fun);
//
void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
int np);
//
void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
phonelibs/acados/include/acados_c/ocp_nlp_interface.h
+399
View File
@@ -0,0 +1,399 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
// acados
#include "acados/ocp_nlp/ocp_nlp_common.h"
#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
#include "acados/sim/sim_erk_integrator.h"
#include "acados/sim/sim_irk_integrator.h"
#include "acados/sim/sim_lifted_irk_integrator.h"
#include "acados/sim/sim_gnsf.h"
// acados_c
#include "acados_c/ocp_qp_interface.h"
#include "acados_c/sim_interface.h"
/// Solution methods for optimal control problems.
typedef enum
{
SQP,
SQP_RTI,
INVALID_NLP_SOLVER,
} ocp_nlp_solver_t;
/// Types of the cost function.
typedef enum
{
LINEAR_LS,
NONLINEAR_LS,
EXTERNAL,
INVALID_COST,
} ocp_nlp_cost_t;
/// Types of the system dynamics, discrete or continuous time.
typedef enum
{
CONTINUOUS_MODEL,
DISCRETE_MODEL,
INVALID_DYNAMICS,
} ocp_nlp_dynamics_t;
/// Constraint types
typedef enum
{
/// Comprises simple bounds, polytopic constraints,
/// general non-linear constraints.
BGH,
/// Comprises simple bounds, polytopic constraints,
/// general non-linear constraints, and positive definite constraints.
BGP,
INVALID_CONSTRAINT,
} ocp_nlp_constraints_t;
/// Regularization types
typedef enum
{
NO_REGULARIZE,
MIRROR,
PROJECT,
PROJECT_REDUC_HESS,
CONVEXIFY,
INVALID_REGULARIZE,
} ocp_nlp_reg_t;
/// Structure to store the configuration of a non-linear program
typedef struct ocp_nlp_plan
{
/// QP solver configuration.
ocp_qp_solver_plan ocp_qp_solver_plan;
/// Simulation solver configuration for each stage.
sim_solver_plan *sim_solver_plan;
/// Nlp solver type.
ocp_nlp_solver_t nlp_solver;
/// Regularization type, defaults to no regularization.
ocp_nlp_reg_t regularization;
/// Cost type for each stage.
ocp_nlp_cost_t *nlp_cost;
/// Dynamics type for each stage.
ocp_nlp_dynamics_t *nlp_dynamics;
/// Constraints type for each stage.
ocp_nlp_constraints_t *nlp_constraints;
/// Horizon length.
int N;
} ocp_nlp_plan;
/// Structure to store the state/configuration for the non-linear programming solver
typedef struct ocp_nlp_solver
{
ocp_nlp_config *config;
void *dims;
void *opts;
void *mem;
void *work;
} ocp_nlp_solver;
/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
/// default/invalid state.
///
/// \param N Horizon length
ocp_nlp_plan *ocp_nlp_plan_create(int N);
/// Destructor for plan struct, frees memory.
///
/// \param plan_ The plan struct to destroy.
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);
/// Desctructor of the nlp configuration.
///
/// \param config_ The configuration struct.
void ocp_nlp_config_destroy(void *config_);
/// Constructs an struct that contains the dimensions of the variables.
///
/// \param config_ The configuration struct.
ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
/// Destructor of The dimension struct.
///
/// \param dims_ The dimension struct.
void ocp_nlp_dims_destroy(void *dims_);
/// Constructs an input struct for a non-linear programs.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
/// Destructor of the inputs struct.
///
/// \param in The inputs struct.
void ocp_nlp_in_destroy(void *in);
/// Sets the sampling times for the given stage.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param in The inputs struct.
/// \param stage Stage number.
/// \param field Has to be "Ts" (TBC other options).
/// \param value The sampling times (floating point).
void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
const char *field, void *value);
/// Sets the function pointers to the dynamics functions for the given stage.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param in The inputs struct.
/// \param stage Stage number.
/// \param fun_type The name of the function type, either impl_ode_fun,
/// impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
/// \param fun_ptr Function pointer to the dynamics function.
int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
int stage, const char *fun_type, void *fun_ptr);
/// Sets the function pointers to the cost functions for the given stage.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param in The inputs struct.
/// \param stage Stage number.
/// \param field The name of the field, either nls_res_jac,
/// y_ref, W (others TBC)
/// \param value Cost values.
int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
int stage, const char *field, void *value);
/// Sets the function pointers to the constraints functions for the given stage.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param in The inputs struct.
/// \param stage Stage number.
/// \param field The name of the field, either lb, ub (others TBC)
/// \param value Constraints function or values.
int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
ocp_nlp_in *in, int stage, const char *field, void *value);
/* out */
/// Constructs an output struct for the non-linear program.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
/// Destructor of the output struct.
///
/// \param out The output struct.
void ocp_nlp_out_destroy(void *out);
/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param out The output struct.
/// \param stage Stage number.
/// \param field The name of the field, either x, u, pi.
/// \param value Initialization values.
void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, void *value);
/// Gets values of fields in the output struct of an nlp solver.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param out The output struct.
/// \param stage Stage number.
/// \param field The name of the field, either x, u, z, pi.
/// \param value Pointer to the output memory.
void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, void *value);
//
void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
int stage, const char *field, void *value);
// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field);
void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, int *dims_out);
void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, int *dims_out);
/* opts */
/// Creates an options struct for the non-linear program.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
/// Destructor of the options.
///
/// \param opts The options struct.
void ocp_nlp_solver_opts_destroy(void *opts);
/// Sets an option.
///
/// \param config The configuration struct.
/// \param opts_ The options struct.
/// \param field Name of the option.
/// \param value Value of the option.
void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
/// TBC
/// Updates the options.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param opts_ The options struct.
void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
/* solver */
/// Creates an ocp solver.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param opts_ The options struct.
/// \return The solver.
ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
/// Destructor of the solver.
///
/// \param solver The solver struct.
void ocp_nlp_solver_destroy(void *solver);
/// Solves the optimal control problem. Call ocp_nlp_precompute before
/// calling this functions (TBC).
///
/// \param solver The solver struct.
/// \param nlp_in The inputs struct.
/// \param nlp_out The output struct.
int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
/// Performs precomputations for the solver. Needs to be called before
/// ocl_nlp_solve (TBC).
///
/// \param solver The solver struct.
/// \param nlp_in The inputs struct.
/// \param nlp_out The output struct.
int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
/// Computes cost function value.
///
/// \param solver The solver struct.
/// \param nlp_in The inputs struct.
/// \param nlp_out The output struct.
void ocp_nlp_eval_cost(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);
/* get */
/// \param config The configuration struct.
/// \param solver The solver struct.
/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
/// \param return_value_ Pointer to the output memory.
void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
const char *field, void *return_value_);
/* set */
/// Sets the initial guesses for the integrator for the given stage.
///
/// \param config The configuration struct.
/// \param solver The ocp_nlp_solver struct.
/// \param stage Stage number.
/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
int stage, const char *field, void *value);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
phonelibs/acados/include/acados_c/ocp_qp_interface.h
+261
View File
@@ -0,0 +1,261 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
/// QP solver types (Enumeration).
///
/// Full list of fields:
/// PARTIAL_CONDENSING_HPIPM
/// PARTIAL_CONDENSING_HPMPC
/// PARTIAL_CONDENSING_OOQP
/// PARTIAL_CONDENSING_OSQP
/// PARTIAL_CONDENSING_QPDUNES
/// FULL_CONDENSING_HPIPM
/// FULL_CONDENSING_QPOASES
/// FULL_CONDENSING_QORE
/// FULL_CONDENSING_OOQP
/// INVALID_QP_SOLVER
///
/// Note: In this enumeration the partial condensing solvers have to be
/// specified before the full condensing solvers.
typedef enum {
PARTIAL_CONDENSING_HPIPM,
#ifdef ACADOS_WITH_HPMPC
PARTIAL_CONDENSING_HPMPC,
#else
PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_OOQP
PARTIAL_CONDENSING_OOQP,
#else
PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_OSQP
PARTIAL_CONDENSING_OSQP,
#else
PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_QPDUNES
PARTIAL_CONDENSING_QPDUNES,
#else
PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
#endif
FULL_CONDENSING_HPIPM,
#ifdef ACADOS_WITH_QPOASES
FULL_CONDENSING_QPOASES,
#else
FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_QORE
FULL_CONDENSING_QORE,
#else
FULL_CONDENSING_QORE_NOT_AVAILABLE,
#endif
#ifdef ACADOS_WITH_OOQP
FULL_CONDENSING_OOQP,
#else
FULL_CONDENSING_OOQP_NOT_AVAILABLE,
#endif
INVALID_QP_SOLVER,
} ocp_qp_solver_t;
/// Struct containing qp solver
typedef struct
{
ocp_qp_solver_t qp_solver;
} ocp_qp_solver_plan;
/// Linear ocp configuration.
typedef struct
{
ocp_qp_xcond_solver_config *config;
ocp_qp_xcond_solver_dims *dims;
void *opts;
void *mem;
void *work;
} ocp_qp_solver;
/// Initializes the qp solver configuration.
/// TBC should this be private/static - no, used in ocp_nlp
void ocp_qp_xcond_solver_config_initialize_from_plan(
ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
/// 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);
/// Destructor for config struct, frees memory.
///
/// \param config The config object to destroy.
void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
/// Constructs a struct that contains the dimensions for the variables of the qp.
///
/// \param N The number of variables.
ocp_qp_dims *ocp_qp_dims_create(int N);
/// Destructor of The dimension struct.
///
/// \param dims The dimension struct.
void ocp_qp_dims_free(void *dims);
//
ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
//
ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
//
void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
int stage, const char *field, int* value);
/// Constructs an input object for the qp.
///
/// \param dims The dimension struct.
ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
int stage, char *field, void *value);
/// Destructor of the inputs struct.
///
/// \param in_ The inputs struct.
void ocp_qp_in_free(void *in_);
/// Constructs an outputs object for the qp.
///
/// \param dims The dimension struct.
ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
/// Destructor of the output struct.
///
/// \param out_ The output struct.
void ocp_qp_out_free(void *out_);
/// Getter of output struct
void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
/// Constructs an options object for the qp.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_dims *dims);
/// Destructor of the options struct.
///
/// \param opts The options struct to destroy.
void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
/// Setter of the options struct.
///
/// \param opts The options struct.
void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
/// TBC Should be private/static?
acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
/// TBC Reserves memory? TBC Should this be private?
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param opts_ The options struct.
/// \param raw_memory Pointer to raw memory to assign to qp solver.
ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
void *opts_, void *raw_memory);
/// Creates a qp solver. Reserves memory.
///
/// \param config The configuration struct.
/// \param dims The dimension struct.
/// \param opts_ The options struct.
ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_dims *dims, void *opts_);
/// Destroys a qp solver. Frees memory.
///
/// \param solver The qp solver
void ocp_qp_solver_destroy(ocp_qp_solver *solver);
void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
ocp_qp_xcond_solver_dims *dims, void *opts_);
/// Solves the qp.
///
/// \param solver The solver.
/// \param qp_in The inputs struct.
/// \param qp_out The output struct.
int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
/// Calculates the infinity norm of the residuals.
///
/// \param dims The dimension struct.
/// \param qp_in The inputs struct.
/// \param qp_out The output struct.
/// \param res Output array for the residuals.
void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
double *res);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
phonelibs/acados/include/acados_c/sim_interface.h
+140
View File
@@ -0,0 +1,140 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "acados/sim/sim_common.h"
typedef enum
{
ERK,
IRK,
GNSF,
LIFTED_IRK,
INVALID_SIM_SOLVER,
} sim_solver_t;
typedef struct
{
sim_solver_t sim_solver;
} sim_solver_plan;
typedef struct
{
sim_config *config;
void *dims;
void *opts;
void *mem;
void *work;
} sim_solver;
/* config */
//
sim_config *sim_config_create(sim_solver_plan plan);
//
void sim_config_destroy(void *config);
/* dims */
//
void *sim_dims_create(void *config_);
//
void sim_dims_destroy(void *dims);
//
void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
//
void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
//
void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
/* in */
//
sim_in *sim_in_create(sim_config *config, void *dims);
//
void sim_in_destroy(void *out);
//
int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
/* out */
//
sim_out *sim_out_create(sim_config *config, void *dims);
//
void sim_out_destroy(void *out);
//
int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
/* opts */
//
void *sim_opts_create(sim_config *config, void *dims);
//
void sim_opts_destroy(void *opts);
//
void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
//
void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
/* solver */
//
acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
//
sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
//
sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
//
void sim_solver_destroy(void *solver);
//
int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
//
int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
//
int sim_solver_set(sim_solver *solver, const char *field, void *value);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
phonelibs/acados/include/blasfeo/include/blasfeo.h
+52
View File
@@ -0,0 +1,52 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#include "blasfeo_processor_features.h"
#include "blasfeo_target.h"
#include "blasfeo_block_size.h"
#include "blasfeo_stdlib.h"
#include "blasfeo_common.h"
#include "blasfeo_d_aux.h"
#include "blasfeo_d_aux_ext_dep.h"
#include "blasfeo_d_kernel.h"
#include "blasfeo_d_blas.h"
#include "blasfeo_s_aux.h"
#include "blasfeo_s_aux_ext_dep.h"
#include "blasfeo_s_kernel.h"
#include "blasfeo_s_blas.h"
#include "blasfeo_i_aux_ext_dep.h"
#include "blasfeo_v_aux_ext_dep.h"
#include "blasfeo_timing.h"
#include "blasfeo_memory.h"
phonelibs/acados/include/blasfeo/include/blasfeo_block_size.h
+371
View File
@@ -0,0 +1,371 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_BLOCK_SIZE_H_
#define BLASFEO_BLOCK_SIZE_H_
#define D_EL_SIZE 8 // double precision
#define S_EL_SIZE 4 // single precision
#if defined( TARGET_X64_INTEL_HASWELL )
// common
#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 12 // max kernel size
#define D_KC 256 // 192
#define D_NC 72 //96 //72 // 120 // 512
#define D_MC 1500 // 6000
// single
#define S_PS 8 // panel size
#define S_PLD 4 // 2 // GCD of panel length
#define S_M_KERNEL 24 // max kernel size
#define S_KC 256
#define S_NC 144
#define S_MC 3000
#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
// common
#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 8 // max kernel size
#define D_KC 256 //320 //256 //320
#define D_NC 72 //64 //72 //60 // 120
#define D_MC 1000 // 800
// single
#define S_PS 8 // panel size
#define S_PLD 4 // 2 // GCD of panel length
#define S_M_KERNEL 16 // max kernel size
#define S_KC 256
#define S_NC 144
#define S_MC 2000
#elif defined( TARGET_X64_INTEL_CORE )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_X64_AMD_BULLDOZER )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_X86_AMD_JAGUAR )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_X86_AMD_BARCELONA )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 8 // max kernel size
#define D_KC 512 //256
#define D_NC 128 //256
#define D_MC 6000
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 8 // max kernel size
#define S_KC 512
#define S_NC 256
#define S_MC 6000
#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 8 // max kernel size
#define D_KC 320
#define D_NC 256
#define D_MC 6000
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 8 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 8 // max kernel size
#define D_KC 224 //256 //192
#define D_NC 40 //36 //48
#define D_MC 512 //488 //600
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 8 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 12 // max kernel size
#define D_KC 224
#define D_NC 160
#define D_MC 6000
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 8 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 12 // max kernel size
#define D_KC 160
#define D_NC 128
#define D_MC 6000
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 8 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
// common
#define CACHE_LINE_SIZE 32
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#elif defined( TARGET_GENERIC )
// common
#define CACHE_LINE_SIZE 64
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
// double
#define D_PS 4 // panel size
#define D_PLD 4 // 2 // GCD of panel length
#define D_M_KERNEL 4 // max kernel size
#define D_KC 256
#define D_NC 128 // TODO these are just dummy
#define D_MC 3000 // TODO these are just dummy
// single
#define S_PS 4
#define S_PLD 4 //2
#define S_M_KERNEL 4 // max kernel size
#define S_KC 256
#define S_NC 128 // TODO these are just dummy
#define S_MC 3000 // TODO these are just dummy
#else
#error "Unknown architecture"
#endif
#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
#endif // BLASFEO_BLOCK_SIZE_H_
phonelibs/acados/include/blasfeo/include/blasfeo_common.h
+236
View File
@@ -0,0 +1,236 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_COMMON_H_
#define BLASFEO_COMMON_H_
#include "blasfeo_target.h"
#ifdef __cplusplus
extern "C" {
#endif
#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
#elif defined (_MSC_VER)
#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
#else
#define ALIGNED(VEC, BYTES) VEC
#endif
#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
#include "blasfeo_block_size.h"
// matrix structure
struct blasfeo_dmat
{
double *mem; // pointer to passed chunk of memory
double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
double *dA; // pointer to a min(m,n) (or max???) array of doubles
int m; // rows
int n; // cols
int pm; // packed number or rows
int cn; // packed number or cols
int use_dA; // flag to tell if dA can be used
int memsize; // size of needed memory
};
struct blasfeo_smat
{
float *mem; // pointer to passed chunk of memory
float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
float *dA; // pointer to a min(m,n) (or max???) array of floats
int m; // rows
int n; // cols
int pm; // packed number or rows
int cn; // packed number or cols
int use_dA; // flag to tell if dA can be used
int memsize; // size of needed memory
};
// vector structure
struct blasfeo_dvec
{
double *mem; // pointer to passed chunk of memory
double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
int m; // size
int pm; // packed size
int memsize; // size of needed memory
};
struct blasfeo_svec
{
float *mem; // pointer to passed chunk of memory
float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
int m; // size
int pm; // packed size
int memsize; // size of needed memory
};
#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
// matrix structure
struct blasfeo_dmat
{
double *mem; // pointer to passed chunk of memory
double *pA; // pointer to a m*n array of doubles
double *dA; // pointer to a min(m,n) (or max???) array of doubles
int m; // rows
int n; // cols
int use_dA; // flag to tell if dA can be used
int memsize; // size of needed memory
};
struct blasfeo_smat
{
float *mem; // pointer to passed chunk of memory
float *pA; // pointer to a m*n array of floats
float *dA; // pointer to a min(m,n) (or max???) array of floats
int m; // rows
int n; // cols
int use_dA; // flag to tell if dA can be used
int memsize; // size of needed memory
};
// vector structure
struct blasfeo_dvec
{
double *mem; // pointer to passed chunk of memory
double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
int m; // size
int memsize; // size of needed memory
};
struct blasfeo_svec
{
float *mem; // pointer to passed chunk of memory
float *pa; // pointer to a m array of floats, the first is aligned to cache line size
int m; // size
int memsize; // size of needed memory
};
#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
#else
#error : wrong LA or MF choice
#endif
// Explicitly panel-major matrix structure
struct blasfeo_pm_dmat
{
double *mem; // pointer to passed chunk of memory
double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
double *dA; // pointer to a min(m,n) (or max???) array of doubles
int m; // rows
int n; // cols
int pm; // packed number or rows
int cn; // packed number or cols
int use_dA; // flag to tell if dA can be used
int ps; // panel size
int memsize; // size of needed memory
};
struct blasfeo_pm_smat
{
float *mem; // pointer to passed chunk of memory
float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
float *dA; // pointer to a min(m,n) (or max???) array of floats
int m; // rows
int n; // cols
int pm; // packed number or rows
int cn; // packed number or cols
int use_dA; // flag to tell if dA can be used
int ps; // panel size
int memsize; // size of needed memory
};
// Explicitly column-major matrix structure
struct blasfeo_cm_dmat
{
double *mem; // pointer to passed chunk of memory
double *pA; // pointer to a m*n array of doubles
double *dA; // pointer to a min(m,n) (or max???) array of doubles
int m; // rows
int n; // cols
int use_dA; // flag to tell if dA can be used
int memsize; // size of needed memory
};
struct blasfeo_cm_smat
{
float *mem; // pointer to passed chunk of memory
float *pA; // pointer to a m*n array of floats
float *dA; // pointer to a min(m,n) (or max???) array of floats
int m; // rows
int n; // cols
int use_dA; // flag to tell if dA can be used
int memsize; // size of needed memory
};
#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_COMMON_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_aux.h
+239
View File
@@ -0,0 +1,239 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
/*
* auxiliary algebra operations header
*
* include/blasfeo_aux_lib*.h
*
*/
#ifndef BLASFEO_D_AUX_H_
#define BLASFEO_D_AUX_H_
#include <stdlib.h>
#include "blasfeo_common.h"
#include "blasfeo_d_aux_old.h"
#ifdef __cplusplus
extern "C" {
#endif
// --- memory size calculations
//
// returns the memory size (in bytes) needed for a dmat
size_t blasfeo_memsize_dmat(int m, int n);
// returns the memory size (in bytes) needed for the diagonal of a dmat
size_t blasfeo_memsize_diag_dmat(int m, int n);
// returns the memory size (in bytes) needed for a dvec
size_t blasfeo_memsize_dvec(int m);
// --- creation
//
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
// --- packing
// pack the column-major matrix A into the matrix struct B
void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// pack the lower-triangular column-major matrix A into the matrix struct B
void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// pack the upper-triangular column-major matrix A into the matrix struct B
void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// transpose and pack the column-major matrix A into the matrix struct B
void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// pack the vector x into the vector structure y
void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
// unpack the matrix structure A into the column-major matrix B
void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
// transpose and unpack the matrix structure A into the column-major matrix B
void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
// pack the vector structure x into the vector y
void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y, int yi);
// --- cast
//
//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
// ge
// --- insert/extract
//
// sA[ai, aj] <= a
void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
// <= sA[ai, aj]
double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
// --- set
// A <= alpha
void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// --- copy / scale
// B <= A
void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// A <= alpha*A
void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// B <= alpha*A
void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// B <= A, A lower triangular
void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// --- sum
// B <= B + alpha*A
void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// y <= y + alpha*x
void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// --- traspositions
// B <= A'
void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// B <= A', A lower triangular
void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// B <= A', A upper triangular
void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// dia
// diag(A) += alpha
void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// diag(A) <= alpha*x
void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// diag(A)[idx] <= alpha*x
void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// x <= diag(A)
void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
// x <= diag(A)[idx]
void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
// diag(A) += alpha*x
void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// diag(A)[idx] += alpha*x
void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// diag(A)[idx] = y + alpha*x
void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// row
void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
// col
void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
// vec
// a <= alpha
void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
// sx[xi] <= a
void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
// <= sx[xi]
double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
// y <= x
void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// x <= alpha*x
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);
void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
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);
void blasfeo_dveccl(int m,
struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
void blasfeo_dveccl_mask(int m,
struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
struct blasfeo_dvec *sm, int mi);
void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
/*
* Explicitly panel-major matrix format
*/
// returns the memory size (in bytes) needed for a dmat
size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
// print
void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
/*
* Explicitly panel-major matrix format
*/
// returns the memory size (in bytes) needed for a dmat
size_t blasfeo_cm_memsize_dmat(int m, int n);
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_AUX_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
+145
View File
@@ -0,0 +1,145 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
/*
* auxiliary algebra operation external dependancies header
*
* include/blasfeo_d_aux_ext_dep.h
*
* - dynamic memory allocation
* - print
*
*/
#ifndef BLASFEO_D_AUX_EXT_DEP_H_
#define BLASFEO_D_AUX_EXT_DEP_H_
#include <stdio.h>
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef EXT_DEP
/* column-major matrices */
// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
void d_zeros(double **pA, int row, int col);
// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
void d_zeros_align(double **pA, int row, int col);
// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
void d_zeros_align_bytes(double **pA, int size);
// free the memory allocated by d_zeros
void d_free(double *pA);
// free the memory allocated by d_zeros_align or d_zeros_align_bytes
void d_free_align(double *pA);
// print a column-major matrix
void d_print_mat(int m, int n, double *A, int lda);
// print the transposed of a column-major matrix
void d_print_tran_mat(int row, int col, double *A, int lda);
// print to file a column-major matrix
void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
// print to file a column-major matrix in exponential format
void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
// print to string a column-major matrix
void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
// print to file the transposed of a column-major matrix
void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
// print to file the transposed of a column-major matrix in exponential format
void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
// print in exponential notation a column-major matrix
void d_print_exp_mat(int m, int n, double *A, int lda);
// print in exponential notation the transposed of a column-major matrix
void d_print_exp_tran_mat(int row, int col, double *A, int lda);
/* strmat and strvec */
// create a strmat for a matrix of size m*n by dynamically allocating memory
void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
// create a strvec for a vector of size m by dynamically allocating memory
void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
// free the memory allocated by blasfeo_allocate_dmat
void blasfeo_free_dmat(struct blasfeo_dmat *sA);
// free the memory allocated by blasfeo_allocate_dvec
void blasfeo_free_dvec(struct blasfeo_dvec *sa);
// print a strmat
void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
// print in exponential notation a strmat
void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
// print to file a strmat
void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
// print to file a strmat in exponential format
void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
// print to string a strmat
void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
// print the transposed of a strmat
void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
// print a strvec
void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
// print in exponential notation a strvec
void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
// print to file a strvec
void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
// print to string a strvec
void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
// print the transposed of a strvec
void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
// print in exponential notation the transposed of a strvec
void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
// print to file the transposed of a strvec
void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
// print to string the transposed of a strvec
void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
#endif // EXT_DEP
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_AUX_EXT_DEP_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
+84
View File
@@ -0,0 +1,84 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
/*
* auxiliary algebra operation external dependancies header
*
* include/blasfeo_d_aux_ext_dep.h
*
* - dynamic memory allocation
* - print
*
*/
#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
#define BLASFEO_D_AUX_EXT_DEP_REF_H_
#include <stdio.h>
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
// expose reference BLASFEO for testing
// see blasfeo_d_aux_exp_dep.h for help
void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_AUX_EXT_DEP_REF_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_aux_old.h
+75
View File
@@ -0,0 +1,75 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
/*
* ----------- TOMOVE
*
* expecting column major matrices
*
*/
#include "blasfeo_common.h"
void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
// TODO remove ???
void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
// TODO ddiaad1
void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
void drowin_lib(int kmax, double alpha, double *x, double *pD);
void drowex_lib(int kmax, double alpha, double *pD, double *x);
void drowad_lib(int kmax, double alpha, double *x, double *pD);
void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
void dvecin_libsp(int kmax, int *idx, double *x, double *y);
void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
phonelibs/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
+206
View File
@@ -0,0 +1,206 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_AUX_REF_H_
#define BLASFEO_D_AUX_REF_H_
#include <stdlib.h>
#include "blasfeo_common.h"
#include "blasfeo_d_aux_old.h"
#ifdef __cplusplus
extern "C" {
#endif
// --- memory calculations
//
// returns the memory size (in bytes) needed for a dmat
size_t blasfeo_ref_memsize_dmat(int m, int n);
// returns the memory size (in bytes) needed for the diagonal of a dmat
size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
// returns the memory size (in bytes) needed for a dvec
size_t blasfeo_ref_memsize_dvec(int m);
// --- creation
//
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
// --- packing
// pack the column-major matrix A into the matrix struct B
void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// pack the lower-triangular column-major matrix A into the matrix struct B
void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// pack the upper-triangular column-major matrix A into the matrix struct B
void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// transpose and pack the column-major matrix A into the matrix struct B
void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
// pack the vector x into the vector structure y
void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
// unpack the matrix structure A into the column-major matrix B
void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
// transpose and unpack the matrix structure A into the column-major matrix B
void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
// pack the vector structure x into the vector y
void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y, int yi);
// --- cast
//
void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
// ge
// --- insert/extract
//
// sA[ai, aj] <= a
void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
// <= sA[ai, aj]
double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
// --- set
// A <= alpha
void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// --- copy / scale
// B <= A
void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// A <= alpha*A
void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// B <= alpha*A
void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// B <= A, A lower triangular
void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// --- sum
// B <= B + alpha*A
void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
// y <= y + alpha*x
void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// --- traspositions
// B <= A'
void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// B <= A', A lower triangular
void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// B <= A', A upper triangular
void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
// dia
// diag(A) += alpha
void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// diag(A) <= alpha*x
void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// diag(A)[idx] <= alpha*x
void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// x <= diag(A)
void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
// x <= diag(A)[idx]
void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
// diag(A) += alpha*x
void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// diag(A)[idx] += alpha*x
void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// diag(A)[idx] = y + alpha*x
void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// row
void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
// col
void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
// vec
// a <= alpha
void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
// sx[xi] <= a
void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
// <= sx[xi]
double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
// y <= x
void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// x <= alpha*x
void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
// y <= alpha*x
void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
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);
void blasfeo_ref_dveccl(int m,
struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
void blasfeo_ref_dveccl_mask(int m,
struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
struct blasfeo_dvec *sm, int mi);
void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_AUX_REF_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_aux_test.h
+226
View File
@@ -0,0 +1,226 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
/*
* auxiliary algebra operations header
*
* include/blasfeo_aux_lib*.h
*
*/
#ifndef BLASFEO_D_AUX_TEST_H_
#define BLASFEO_D_AUX_TEST_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
// --- memory calculations
int test_blasfeo_memsize_dmat(int m, int n);
int test_blasfeo_memsize_diag_dmat(int m, int n);
int test_blasfeo_memsize_dvec(int m);
// --- creation
void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
// --- conversion
void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
// --- cast
void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
// ------ copy / scale
// B <= A
void test_blasfeo_dgecp(int m, int n,
struct blasfeo_dmat *sA, int ai, int aj,
struct blasfeo_dmat *sB, int bi, int bj);
// A <= alpha*A
void test_blasfeo_dgesc(int m, int n,
double alpha,
struct blasfeo_dmat *sA, int ai, int aj);
// B <= alpha*A
void test_blasfeo_dgecpsc(int m, int n,
double alpha,
struct blasfeo_dmat *sA, int ai, int aj,
struct blasfeo_dmat *sB, int bi, int bj);
// // --- insert/extract
// //
// // <= sA[ai, aj]
// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
// // <= sA[ai, aj]
// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
// // sx[xi] <= a
// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
// // <= sx[xi]
// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
// // A <= alpha
// // --- set
// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// // a <= alpha
// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
// // B <= A
// // --- vector
// // y <= x
// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
// // x <= alpha*x
// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
// // TODO
// // x <= alpha*x
// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
// // B <= A, A lower triangular
// void test_blasfeo_dtrcp_l(int m,
// struct blasfeo_dmat *sA, int ai, int aj,
// struct blasfeo_dmat *sB, int bi, int bj);
// void test_blasfeo_dtrcpsc_l(int m, double alpha,
// struct blasfeo_dmat *sA, int ai, int aj,
// struct blasfeo_dmat *sB, int bi, int bj);
// void test_blasfeo_dtrsc_l(int m, double alpha,
// struct blasfeo_dmat *sA, int ai, int aj);
// // B <= B + alpha*A
// void test_blasfeo_dgead(int m, int n, double alpha,
// struct blasfeo_dmat *sA, int ai, int aj,
// struct blasfeo_dmat *sC, int ci, int cj);
// // y <= y + alpha*x
// void test_blasfeo_dvecad(int m, double alpha,
// struct blasfeo_dvec *sa, int ai,
// struct blasfeo_dvec *sc, int ci);
// // --- traspositions
// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
// void test_drowsw_lib(int kmax, double *pA, double *pC);
// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
// ext_dep
void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_AUX_TEST_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_blas.h
+46
View File
@@ -0,0 +1,46 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_BLAS_H_
#define BLASFEO_D_BLAS_H_
#include "blasfeo_d_blasfeo_api.h"
#include "blasfeo_d_blas_api.h"
#endif // BLASFEO_D_BLAS_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_blas_api.h
+161
View File
@@ -0,0 +1,161 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_BLAS_API_H_
#define BLASFEO_D_BLAS_API_H_
#include "blasfeo_target.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef BLAS_API
#ifdef FORTRAN_BLAS_API
// BLAS 1
//
void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
//
void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
//
double ddot_(int *n, double *x, int *incx, double *y, int *incy);
// BLAS 3
//
void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
//
void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
//
void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
//
void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
// LAPACK
//
void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
//
void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
//
void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
//
void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
//
void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
#else // BLASFEO_API
// BLAS 1
//
void blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
//
double blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
//
void blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
// BLAS 3
//
void blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
//
void blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
//
void blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
//
void blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
// LAPACK
//
void blas_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void blas_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
//
void blas_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
//
void blas_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void blas_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
//
void blas_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void blas_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
//
void blas_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void blas_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
#endif // BLASFEO_API
#endif // BLAS_API
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_BLAS_API_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
+342
View File
@@ -0,0 +1,342 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_BLASFEO_API_H_
#define BLASFEO_D_BLASFEO_API_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
//
// level 1 BLAS
//
// z = y + alpha*x
// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
// NB: Different arguments semantic compare to equivalent standard BLAS routine
void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z = beta*y + alpha*x
void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z = x .* y
void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z += x .* y
void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z = x .* y, return sum(z) = x^T * y
double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// return x^T * y
double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// construct givens plane rotation
void blasfeo_drotg(double a, double b, double *c, double *s);
// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
//
// level 2 BLAS
//
// dense
// z <= beta * y + alpha * A * x
void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z <= beta * y + alpha * A^T * x
void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A ) * x, A (m)x(n)
void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A^T ) * x, A (m)x(n)
void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A upper triangular
void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_dtrmv_lnn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A lower triangular
void blasfeo_dtrmv_ltn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_dtrmv_lnu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A lower triangular, unit diagonal
void blasfeo_dtrmv_ltu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A^T * x_t
void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// diagonal
// z <= beta * y + alpha * A * x, A diagonal
void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
//
// level 3 BLAS
//
// dense
// D <= beta * C + alpha * A * B
void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T
void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B
void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B^T
void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D lower triangular
void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#endif
// D <= beta * C + alpha * A^T * B ; C, D lower triangular
void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#endif
// D <= beta * C + alpha * A * B^T ; C, D upper triangular
void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#endif
// D <= beta * C + alpha * A^T * B ; C, D upper triangular
void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
#endif
// D <= alpha * A * B ; A lower triangular
void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A lower triangular
void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A lower triangular
void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A lower triangular
void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A upper triangular
void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A upper triangular
void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A upper triangular
void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A upper triangular
void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A lower triangular
void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A lower triangular
void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A lower triangular
void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A lower triangular
void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A upper triangular
void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A upper triangular
void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A upper triangular
void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A upper triangular
void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// diagonal
// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
//
// LAPACK
//
// D <= chol( C ) ; C, D lower triangular
void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= chol( C ) ; C, D upper triangular
void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= chol( C + A * B' ) ; C, D lower triangular
// D <= chol( C + A * B^T ) ; C, D lower triangular
void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= lu( C ) ; no pivoting
void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= lu( C ) ; row pivoting
void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
// D <= qr( C )
int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
// D <= Q factor, where C is the output of the LQ factorization
int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
// D <= lq( C )
void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
int blasfeo_dgelqf_worksize(int m, int n); // in bytes
// D <= lq( C ), positive diagonal elements
void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
//
// BLAS API helper functions
//
#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
// BLAS 3
void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
// LAPACK
void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
#endif
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_BLASFEO_API_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
+147
View File
@@ -0,0 +1,147 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_BLASFEO_API_REF_H_
#define BLASFEO_D_BLASFEO_API_REF_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
// expose reference BLASFEO for testing
// --- level 1
void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
void blasfeo_drotg_ref(double a, double b, double *c, double *s);
void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
// --- level 2
// dense
void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
// diagonal
void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
// --- level 3
// dense
void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
// diagonal
void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
// --- lapack
void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_BLASFEO_API_REF_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
+270
View File
@@ -0,0 +1,270 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_BLASFEO_REF_API_H_
#define BLASFEO_D_BLASFEO_REF_API_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
//
// level 1 BLAS
//
// z = y + alpha*x
// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
// NB: Different arguments semantic compare to equivalent standard BLAS routine
void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z = beta*y + alpha*x
void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z = x .* y
void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z += x .* y
void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z = x .* y, return sum(z) = x^T * y
double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// return x^T * y
double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// construct givens plane rotation
void blasfeo_ref_drotg(double a, double b, double *c, double *s);
// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
//
// level 2 BLAS
//
// dense
// z <= beta * y + alpha * A * x
void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z <= beta * y + alpha * A' * x
void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A ) * x, A (m)x(n)
void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(n)
void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A upper triangular
void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_ref_dtrmv_lnn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_ref_dtrmv_ltn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_ref_dtrmv_lnu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A lower triangular, unit diagonal
void blasfeo_ref_dtrmv_ltu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A' * x_t
void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
void blasfeo_ref_dsymv_l(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
// diagonal
// z <= beta * y + alpha * A * x, A diagonal
void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
//
// level 3 BLAS
//
// dense
// D <= beta * C + alpha * A * B
void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T
void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B
void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B^T
void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D lower triangular
void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B ; C, D lower triangular
void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D upper triangular
void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B ; C, D upper triangular
void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A lower triangular
void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A lower triangular
void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A lower triangular
void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A lower triangular
void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A upper triangular
void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B ; A upper triangular
void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A upper triangular
void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^T * B ; A upper triangular
void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A lower triangular
void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A lower triangular
void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A lower triangular
void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A lower triangular
void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A upper triangular
void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A ; A upper triangular
void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A upper triangular
void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^T ; A upper triangular
void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
// diagonal
// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
//
// LAPACK
//
// D <= chol( C ) ; C, D lower triangular
void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= chol( C ) ; C, D upper triangular
void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= chol( C + A * B' ) ; C, D lower triangular
void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= lu( C ) ; no pivoting
void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
// D <= lu( C ) ; row pivoting
void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
// D <= qr( C )
int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
// D <= Q factor, where C is the output of the LQ factorization
int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
// D <= lq( C )
void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
// D <= lq( C ), positive diagonal elements
void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_BLASFEO_REF_API_H_
phonelibs/acados/include/blasfeo/include/blasfeo_d_kernel.h
+1048
View File
File diff suppressed because it is too large Load Diff
phonelibs/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
+69
View File
@@ -0,0 +1,69 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_I_AUX_EXT_DEP_H_
#define BLASFEO_I_AUX_EXT_DEP_H_
#include "blasfeo_target.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef EXT_DEP
// i_aux_extern_depend_lib
void int_zeros(int **pA, int row, int col);
void int_zeros_align(int **pA, int row, int col);
void int_free(int *pA);
void int_free_align(int *pA);
void int_print_mat(int row, int col, int *A, int lda);
int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
#endif // EXT_DEP
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_I_AUX_EXT_DEP_H_
phonelibs/acados/include/blasfeo/include/blasfeo_m_aux.h
+57
View File
@@ -0,0 +1,57 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_M_AUX_H_
#define BLASFEO_M_AUX_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_M_AUX_H_
phonelibs/acados/include/blasfeo/include/blasfeo_memory.h
+62
View File
@@ -0,0 +1,62 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2020 by Gianluca Frison. *
* All rights reserved. *
* *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_MEMORY_H_
#define BLASFEO_MEMORY_H_
#ifdef __cplusplus
extern "C" {
#endif
//
int blasfeo_is_init();
//
void blasfeo_init();
//
void blasfeo_quit();
//
void *blasfeo_get_buffer();
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_MEMORY_H_
phonelibs/acados/include/blasfeo/include/blasfeo_naming.h
+77
View File
@@ -0,0 +1,77 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
/*
* ----------- Naming conventions
*
* (precision)(data)
*
* 1) d(double)
* s(single)
*
* 2) ge(general)
* tr(triangular)
* vec(vector)
* row(row)
* col(column)
* dia(diagonal)
*
* 3) se(set)
* cp(copy)
* sc(scale)
* ad(add)
* tr(transpose)
* in(insert)
* ex(extract)
* pe(premute)
* sw(swap)
*
* f(factorization)
*
* lqf(LQ factorization)
* qrf (factorization)
* trf (LU factorization using partial pivoting with row interchanges.)
*
* 4) _l(lower) / _u(upper)
* _lib8 (hp implementation, 8 rows kernel)
* _lib4 (hp implementation, 4 rows kernel)
* _lib0 (hp interface with reference implentation)
* _lib (reference implementation)
* _libref (reference implementation with dedicated namespace)
*
* 5) _sp(sparse)
* _exp(exponential format)
*/
phonelibs/acados/include/blasfeo/include/blasfeo_processor_features.h
+88
View File
@@ -0,0 +1,88 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Ian McInerney *
* *
**************************************************************************************************/
#ifndef BLASFEO_PROCESSOR_FEATURES_H_
#define BLASFEO_PROCESSOR_FEATURES_H_
/**
* Flags to indicate the different processor features
*/
enum
{
// x86-64 CPU features
BLASFEO_PROCESSOR_FEATURE_AVX = 0x0001, /// AVX instruction set
BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002, /// AVX2 instruction set
BLASFEO_PROCESSOR_FEATURE_FMA = 0x0004, /// FMA instruction set
BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008, /// SSE3 instruction set
// ARM CPU features
BLASFEO_PROCESSOR_FEATURE_VFPv3 = 0x0100, /// VFPv3 instruction set
BLASFEO_PROCESSOR_FEATURE_NEON = 0x0100, /// NEON instruction set
BLASFEO_PROCESSOR_FEATURE_VFPv4 = 0x0100, /// VFPv4 instruction set
BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100, /// NEONv2 instruction set
} BLASFEO_PROCESSOR_FEATURES;
/**
* Test the features that this processor provides against what the library was compiled with.
*
* @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
* @return 0 if current processor doesn't support all features required for this library, 1 otherwise
*/
int blasfeo_processor_cpu_features( int* features );
/**
* Test the features that this processor provides against what the library was compiled with.
*
* @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
* @return 0 if current processor doesn't support all features required for this library, 1 otherwise
*/
void blasfeo_processor_library_features( int* features );
/**
* Create a string listing the features the current processor supports.
*
* @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
* @param featureString - Character array to store the feature string in
*/
void blasfeo_processor_feature_string( int features, char* featureString );
/**
* Get a string listing the processor features that this library version needs to run.
*
* @param featureString - Character array to store the feature string in
*/
void blasfeo_processor_library_string( char* featureString );
#endif // BLASFEO_PROCESSOR_FEATURES_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_aux.h
+166
View File
@@ -0,0 +1,166 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_AUX_H_
#define BLASFEO_S_AUX_H_
#include <stdlib.h>
#include "blasfeo_s_aux_old.h"
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
/************************************************
* d_aux_lib.c
************************************************/
// returns the memory size (in bytes) needed for a smat
size_t blasfeo_memsize_smat(int m, int n);
size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
// returns the memory size (in bytes) needed for the diagonal of a smat
size_t blasfeo_memsize_diag_smat(int m, int n);
// returns the memory size (in bytes) needed for a svec
size_t blasfeo_memsize_svec(int m);
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
// ge
void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// tr
void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// dia
void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
// row
void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
// col
void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
// vec
void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
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);
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);
void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
/*
* Explicitly panel-major matrix format
*/
// returns the memory size (in bytes) needed for a dmat
size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
/*
* Explicitly column-major matrix format
*/
// returns the memory size (in bytes) needed for a dmat
size_t blasfeo_cm_memsize_smat(int m, int n);
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_AUX_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
+141
View File
@@ -0,0 +1,141 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_AUX_EXT_DEP_H_
#define BLASFEO_S_AUX_EXT_DEP_H_
#include <stdio.h>
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef EXT_DEP
/************************************************
* s_aux_extern_depend_lib.c
************************************************/
/* column-major matrices */
// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
void s_zeros(float **pA, int row, int col);
// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
void s_zeros_align(float **pA, int row, int col);
// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
void s_zeros_align_bytes(float **pA, int size);
// free the memory allocated by d_zeros
void s_free(float *pA);
// free the memory allocated by d_zeros_align or d_zeros_align_bytes
void s_free_align(float *pA);
// print a column-major matrix
void s_print_mat(int m, int n, float *A, int lda);
// print the transposed of a column-major matrix
void s_print_tran_mat(int row, int col, float *A, int lda);
// print to file a column-major matrix
void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
// print to file a column-major matrix in exponential format
void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
// print to string a column-major matrix
void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
// print to file the transposed of a column-major matrix
void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
// print to file the transposed of a column-major matrix in exponential format
void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
// print in exponential notation a column-major matrix
void s_print_exp_mat(int m, int n, float *A, int lda);
// print in exponential notation the transposed of a column-major matrix
void s_print_exp_tran_mat(int row, int col, float *A, int lda);
/* strmat and strvec */
// create a strmat for a matrix of size m*n by dynamically allocating memory
void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
// create a strvec for a vector of size m by dynamically allocating memory
void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
// free the memory allocated by blasfeo_allocate_dmat
void blasfeo_free_smat(struct blasfeo_smat *sA);
// free the memory allocated by blasfeo_allocate_dvec
void blasfeo_free_svec(struct blasfeo_svec *sa);
// print a strmat
void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
// print in exponential notation a strmat
void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
// print to file a strmat
void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
// print to file a strmat in exponential format
void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
// print to string a strmat
void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
// print the transpose of a strmat
void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
// print a strvec
void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
// print in exponential notation a strvec
void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
// print to file a strvec
void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
// print to string a strvec
void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
// print the transposed of a strvec
void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
// print in exponential notation the transposed of a strvec
void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
// print to file the transposed of a strvec
void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
// print to string the transposed of a strvec
void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
#endif // EXT_DEP
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_AUX_EXT_DEP_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
+82
View File
@@ -0,0 +1,82 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
#define BLASFEO_S_AUX_EXT_DEP_REF_H_
#if defined(EXT_DEP)
#include <stdio.h>
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
// expose reference BLASFEO for testing
// see blasfeo_s_aux_exp_dep.h for help
void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
#ifdef __cplusplus
}
#endif
#endif // EXT_DEP
#endif // BLASFEO_S_AUX_EXT_DEP_REF_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_aux_old.h
+64
View File
@@ -0,0 +1,64 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
// TODO remove
//
void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
void srowin_lib(int kmax, float alpha, float *x, float *pD);
void srowex_lib(int kmax, float alpha, float *pD, float *x);
void srowad_lib(int kmax, float alpha, float *x, float *pD);
void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
void srowsw_lib(int kmax, float *pA, float *pC);
void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
void svecin_libsp(int kmax, int *idx, float *x, float *y);
void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
phonelibs/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
+145
View File
@@ -0,0 +1,145 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_AUX_REF_H_
#define BLASFEO_S_AUX_REF_H_
#include <stdlib.h>
#include "blasfeo_s_aux_old.h"
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
/************************************************
* d_aux_lib.c
************************************************/
// returns the memory size (in bytes) needed for a smat
size_t blasfeo_ref_memsize_smat(int m, int n);
size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
// returns the memory size (in bytes) needed for the diagonal of a smat
size_t blasfeo_ref_memsize_diag_smat(int m, int n);
// returns the memory size (in bytes) needed for a svec
size_t blasfeo_ref_memsize_svec(int m);
// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
// ge
void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// tr
void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// dia
void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
// row
void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
// col
void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
// vec
void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
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);
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);
void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_AUX_REF_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_aux_test.h
+177
View File
@@ -0,0 +1,177 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_AUX_TEST_H_
#define BLASFEO_S_AUX_TEST_H_
#include <stdio.h>
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
/************************************************
* d_aux_lib.c
************************************************/
int test_blasfeo_memsize_smat(int m, int n);
int test_blasfeo_memsize_diag_smat(int m, int n);
int test_blasfeo_memsize_svec(int m);
void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
// copy and scale
void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
// // A <= alpha
// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
// // a <= alpha
// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
// void test_srowsw_lib(int kmax, float *pA, float *pC);
// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
// void test_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 test_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 test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
// ext_dep
void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
void test_blasfeo_free_smat(struct blasfeo_smat *sA);
void test_blasfeo_free_svec(struct blasfeo_svec *sa);
void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_AUX_TEST_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_blas.h
+46
View File
@@ -0,0 +1,46 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_BLAS_H_
#define BLASFEO_S_BLAS_H_
#include "blasfeo_s_blasfeo_api.h"
#include "blasfeo_s_blas_api.h"
#endif // BLASFEO_S_BLAS_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_blas_api.h
+117
View File
@@ -0,0 +1,117 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_BLAS_API_H_
#define BLASFEO_S_BLAS_API_H_
#include "blasfeo_target.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef BLAS_API
#ifdef FORTRAN_BLAS_API
// BLAS 1
//
void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
//
float sdot_(int *n, float *x, int *incx, float *y, int *incy);
// BLAS 3
//
void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
//
void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
// LAPACK
//
void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
#else // BLASFEO_API
// BLAS 1
//
void blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
//
float blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
// BLAS 3
//
void blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
//
void blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
// LAPACK
//
void blas_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
#endif // BLASFEO_API
#endif // BLAS_API
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_BLAS_API_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
+268
View File
@@ -0,0 +1,268 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_BLASFEO_API_H_
#define BLASFEO_S_BLASFEO_API_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
//
// level 1 BLAS
//
// z = y + alpha*x
void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z = beta*y + alpha*x
void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z = x .* y
void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z += x .* y
void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z = x .* y, return sum(z) = x^T * y
float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// return x^T * y
float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
// construct givens plane rotation
void blasfeo_srotg(float a, float b, float *c, float *s);
// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
//
// level 2 BLAS
//
// dense
// z <= beta * y + alpha * A * x
void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z <= beta * y + alpha * A' * x
void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z <= inv( A ) * x, A (m)x(n)
void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(n)
void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A upper triangular
void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A' * x_t
void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// diagonal
// z <= beta * y + alpha * A * x, A diagonal
void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
//
// level 3 BLAS
//
// dense
// D <= beta * C + alpha * A * B
void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T
void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B
void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B
void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D lower triangular
void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B ; C, D lower triangular
void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D upper triangular
void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B ; C, D upper triangular
void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^T ; B upper triangular
void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A ; A lower triangular
void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// diagonal
// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
//
// LAPACK
//
// D <= chol( C ) ; C, D lower triangular
void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= chol( C ) ; C, D upper triangular
void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= chol( C + A * B' ) ; C, D lower triangular
void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= lu( C ) ; no pivoting
void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= lu( C ) ; row pivoting
void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
// D <= qr( C )
void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
// D <= Q factor, where C is the output of the LQ factorization
int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
// D <= lq( C )
void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
int blasfeo_sgelqf_worksize(int m, int n); // in bytes
// D <= lq( C ), positive diagonal elements
void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
//
// BLAS API helper functions
//
#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
// BLAS 3
void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
// LAPACK
void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
#endif
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_BLASFEO_API_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
+135
View File
@@ -0,0 +1,135 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_BLASFEO_API_REF_H_
#define BLASFEO_S_BLASFEO_API_REF_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
// expose reference BLASFEO for testing
// --- level 1
void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
void blasfeo_srotg_ref(float a, float b, float *c, float *s);
void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
// --- level 2
// dense
void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
// diagonal
void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
// --- level 3
// dense
void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
// diagonal
void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
// --- lapack
void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_BLASFEO_API_REF_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
+235
View File
@@ -0,0 +1,235 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_BLASFEO_REF_API_H_
#define BLASFEO_S_BLASFEO_REF_API_H_
#include "blasfeo_common.h"
#ifdef __cplusplus
extern "C" {
#endif
//
// level 1 BLAS
//
// z = y + alpha*x
void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z = beta*y + alpha*x
void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z = x .* y
void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z += x .* y
void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z = x .* y, return sum(z) = x^T * y
float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// return x^T * y
float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
// construct givens plane rotation
void blasfeo_ref_srotg(float a, float b, float *c, float *s);
// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
//
// level 2 BLAS
//
// dense
// z <= beta * y + alpha * A * x
void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z <= beta * y + alpha * A' * x
void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// z <= inv( A ) * x, A (m)x(n)
void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(n)
void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A upper triangular
void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_ref_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_ref_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A' * x_t
void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
void blasfeo_ref_ssymv_l(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
// diagonal
// z <= beta * y + alpha * A * x, A diagonal
void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
//
// level 3 BLAS
//
// dense
// D <= beta * C + alpha * A * B
void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T
void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B
void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B
void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D lower triangular
void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B ; C, D lower triangular
void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A * B^T ; C, D upper triangular
void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= beta * C + alpha * A^T * B ; C, D upper triangular
void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^T ; B upper triangular
void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A ; A lower triangular
void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
// diagonal
// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
//
// LAPACK
//
// D <= chol( C ) ; C, D lower triangular
void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= chol( C ) ; C, D upper triangular
void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= chol( C + A * B' ) ; C, D lower triangular
void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= lu( C ) ; no pivoting
void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
// D <= lu( C ) ; row pivoting
void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
// D <= qr( C )
void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
// D <= Q factor, where C is the output of the LQ factorization
int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
// D <= lq( C )
void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
// D <= lq( C ), positive diagonal elements
void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
// L lower triangular, of size (m)x(m)
// A full, of size (m)x(n1)
void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_BLASFEO_REF_API_H_
phonelibs/acados/include/blasfeo/include/blasfeo_s_kernel.h
+682
View File
@@ -0,0 +1,682 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_S_KERNEL_H_
#define BLASFEO_S_KERNEL_H_
#ifdef __cplusplus
extern "C" {
#endif
// utils
void blasfeo_align_2MB(void *ptr, void **ptr_align);
void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
void blasfeo_align_64_byte(void *ptr, void **ptr_align);
//
// lib8
//
// 24x4
void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
// 16x8
void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
// 16x4
void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
// 8x8
void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
// 8x4
void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
// 4x8
void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
// 8
void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
// -------- aux
// ---- copy
// lib4
//
void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
// lib8
//
void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
// transpose
//
void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
// add
//
void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
//
// lib4
//
// level 2 BLAS
// 4
void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
// level 3 BLAS
// 12x4
void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
// 12x4
void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
// 8x8
void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
// 8x4
void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
// 4x4
void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
// diag
void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
// LAPACK
// 16x4
void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
// 12x4
void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
// 8x4
void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
// 4x4
void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
// merged routines
// 4x4
void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
// auxiliary routines
void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
// TODO
void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
void kernel_strset_4_lib4(int kmax, float alpha, float *A);
void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
// pack
// 24 lib 8
void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
// 16 lib 8
void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
// 8 lib 8
void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
// 8 lib 4
void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
// 4
void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
// unpack
// 8
void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
// 4
void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
// panel copy
// 4
void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
/************************************************
* BLAS API kernels
************************************************/
//#if defined(BLAS_API)
// A, B panel-major bs=8; C, D column-major
// 24x4
void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 16x4
void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 8x8
void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
// 8x4
void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// A, B panel-major bs=4; C, D column-major
// 8x8
void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
// 8x4
void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
// 4x4
void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
// B panel-major bs=8; A, C, D column-major
// 8x8
void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 4x8
void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// B panel-major bs=4; A, C, D column-major
// 8x8
void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 4x8
void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 4x4
void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// A panel-major bs=8; B, C, D column-major
// 24x4
void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 16x4
void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 8x8
void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 8x4
void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// A panel-major bs=4; B, C, D column-major
// 8x8
void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
// 8x4
void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 4x4
void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
// A, C, D panel-major; B, E column-major
// TODO merge with above
// 4x4
void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
// A, B, C, D column-major
void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// vector
void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
//#endif // BLAS_API
// larger kernels
// 24
void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_S_KERNEL_H_
phonelibs/acados/include/blasfeo/include/blasfeo_stdlib.h
+62
View File
@@ -0,0 +1,62 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_STDLIB_H_
#define BLASFEO_STDLIB_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <stdlib.h>
//
void blasfeo_malloc(void **ptr, size_t size);
//
void blasfeo_malloc_align(void **ptr, size_t size);
//
void blasfeo_free(void *ptr);
//
void blasfeo_free_align(void *ptr);
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_STDLIB_H_
phonelibs/acados/include/blasfeo/include/blasfeo_target.h
+73
View File
@@ -0,0 +1,73 @@
#ifndef TARGET_X64_INTEL_HASWELL
#define TARGET_X64_INTEL_HASWELL
#endif
#ifndef TARGET_NEED_FEATURE_AVX2
#define TARGET_NEED_FEATURE_AVX2 1
#endif
#ifndef TARGET_NEED_FEATURE_FMA
#define TARGET_NEED_FEATURE_FMA 1
#endif
#ifndef TARGET_NEED_FEATURE_SSE3
/* #undef TARGET_NEED_FEATURE_SSE3 */
#endif
#ifndef TARGET_NEED_FEATURE_AVX
/* #undef TARGET_NEED_FEATURE_AVX */
#endif
#ifndef TARGET_NEED_FEATURE_VFPv3
/* #undef TARGET_NEED_FEATURE_VFPv3 */
#endif
#ifndef TARGET_NEED_FEATURE_NEON
/* #undef TARGET_NEED_FEATURE_NEON */
#endif
#ifndef TARGET_NEED_FEATURE_VFPv4
/* #undef TARGET_NEED_FEATURE_VFPv4 */
#endif
#ifndef TARGET_NEED_FEATURE_NEONv2
/* #undef TARGET_NEED_FEATURE_NEONv2 */
#endif
#ifndef LA_HIGH_PERFORMANCE
#define LA_HIGH_PERFORMANCE
#endif
#ifndef MF_PANELMAJ
#define MF_PANELMAJ
#endif
#ifndef EXT_DEP
#define ON 1
#define OFF 0
#if ON==ON
#define EXT_DEP
#endif
#undef ON
#undef OFF
#endif
#ifndef BLAS_API
#define ON 1
#define OFF 0
#if OFF==ON
#define BLAS_API
#endif
#undef ON
#undef OFF
#endif
#ifndef FORTRAN_BLAS_API
#define ON 1
#define OFF 0
#if OFF==ON
#define FORTRAN_BLAS_API
#endif
#undef ON
#undef OFF
#endif
phonelibs/acados/include/blasfeo/include/blasfeo_timing.h
+114
View File
@@ -0,0 +1,114 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_TIMING_H_
#define BLASFEO_TIMING_H_
//#include <stdbool.h>
#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
/* Use Windows QueryPerformanceCounter for timing. */
#include <Windows.h>
/** A structure for keeping internal timer data. */
typedef struct blasfeo_timer_ {
LARGE_INTEGER tic;
LARGE_INTEGER toc;
LARGE_INTEGER freq;
} blasfeo_timer;
#elif(defined __APPLE__)
#include <mach/mach_time.h>
/** A structure for keeping internal timer data. */
typedef struct blasfeo_timer_ {
uint64_t tic;
uint64_t toc;
mach_timebase_info_data_t tinfo;
} blasfeo_timer;
#elif(defined __DSPACE__)
#include <brtenv.h>
typedef struct blasfeo_timer_ {
double time;
} blasfeo_timer;
#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
#include "xtime_l.h"
typedef struct blasfeo_timer_ {
uint64_t tic;
uint64_t toc;
} blasfeo_timer;
#else
/* Use POSIX clock_gettime() for timing on non-Windows machines. */
#include <time.h>
#if __STDC_VERSION__ >= 199901L // C99 Mode
#include <sys/stat.h>
#include <sys/time.h>
typedef struct blasfeo_timer_ {
struct timeval tic;
struct timeval toc;
} blasfeo_timer;
#else // ANSI C Mode
/** A structure for keeping internal timer data. */
typedef struct blasfeo_timer_ {
struct timespec tic;
struct timespec toc;
} blasfeo_timer;
#endif // __STDC_VERSION__ >= 199901L
#endif // (defined _WIN32 || defined _WIN64)
/** A function for measurement of the current time. */
void blasfeo_tic(blasfeo_timer* t);
/** A function which returns the elapsed time. */
double blasfeo_toc(blasfeo_timer* t);
#endif // BLASFEO_TIMING_H_
phonelibs/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
+83
View File
@@ -0,0 +1,83 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_V_AUX_EXT_DEP_H_
#define BLASFEO_V_AUX_EXT_DEP_H_
#include "blasfeo_target.h"
#ifdef __cplusplus
extern "C" {
#endif
/************************************************
* d_aux_extern_depend_lib.c
************************************************/
#ifdef EXT_DEP
void v_zeros(void **ptrA, int size);
// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
void v_zeros_align(void **ptrA, int size);
// free the memory allocated by v_zeros
void v_free(void *ptrA);
// free the memory allocated by v_zeros_aligned
void v_free_align(void *ptrA);
// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
void c_zeros(char **ptrA, int size);
// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
void c_zeros_align(char **ptrA, int size);
// free the memory allocated by c_zeros
void c_free(char *ptrA);
// free the memory allocated by c_zeros_aligned
void c_free_align(char *ptrA);
#endif // EXT_DEP
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_V_AUX_EXT_DEP_H_
phonelibs/acados/include/blasfeo/include/d_blas.h
+77
View File
@@ -0,0 +1,77 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
// level 1
double ddot_(int *m, double *x, int *incx, double *y, int *incy);
void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
void dscal_(int *m, double *alpha, double *x, int *incx);
void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
void drotg_(double *a, double *b, double *c, double *s);
// level 2
void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
// level 3
void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
// lapack
void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
#ifdef __cplusplus
}
#endif
phonelibs/acados/include/blasfeo/include/d_blas_64.h
+73
View File
@@ -0,0 +1,73 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
// level 1
double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
void dscal_(long long *m, double *alpha, double *x, long long *incx);
// level 2
void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
// level 3
void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
// lapack
void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
#ifdef __cplusplus
}
#endif
phonelibs/acados/include/blasfeo/include/s_blas.h
+77
View File
@@ -0,0 +1,77 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
// level 1
float sdot_(int *m, float *x, int *incx, float *y, int *incy);
void scopy_(int *m, float *x, int *incx, float *y, int *incy);
void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
void sscal_(int *m, float *alpha, float *x, int *incx);
void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
void srotg_(float *a, float *b, float *c, float *s);
// level 2
void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
// level 3
void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
// lapack
void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
#ifdef __cplusplus
}
#endif
phonelibs/acados/include/blasfeo/include/s_blas_64.h
+73
View File
@@ -0,0 +1,73 @@
/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
// level 1
float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
void sscal_(long long *m, float *alpha, float *x, long long *incx);
// level 2
void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
// level 3
void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
// lapack
void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
#ifdef __cplusplus
}
#endif
phonelibs/acados/include/hpipm/include/hpipm_aux_mem.h
+52
View File
@@ -0,0 +1,52 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_AUX_MEM_H_
#define HPIPM_AUX_MEM_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_AUX_MEM_H_
phonelibs/acados/include/hpipm/include/hpipm_aux_string.h
+50
View File
@@ -0,0 +1,50 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_AUX_STRING_H_
#define HPIPM_AUX_STRING_H_
#ifdef __cplusplus
extern "C" {
#endif
#define MAX_STR_LEN 5
int hpipm_strcmp(char *str1, char *str2);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_AUX_STRING_H_
phonelibs/acados/include/hpipm/include/hpipm_common.h
+76
View File
@@ -0,0 +1,76 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_COMMON_H_
#define HPIPM_COMMON_H_
#include <stddef.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef size_t hpipm_size_t;
enum hpipm_mode
{
SPEED_ABS, // focus on speed, absolute IPM formulation
SPEED, // focus on speed, relative IPM formulation
BALANCE, // balanced mode, relative IPM formulation
ROBUST, // focus on robustness, relative IPM formulation
};
enum hpipm_status
{
SUCCESS, // found solution satisfying accuracy tolerance
MAX_ITER, // maximum iteration number reached
MIN_STEP, // minimum step length reached
NAN_SOL, // NaN in solution detected
INCONS_EQ, // unconsistent equality constraints
};
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_COMMON_H_
phonelibs/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
+71
View File
@@ -0,0 +1,71 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_CAST_QCQP_H_
#define HPIPM_D_CAST_QCQP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qcqp.h"
#include "hpipm_d_dense_qcqp_sol.h"
#include "hpipm_d_ocp_qcqp.h"
#include "hpipm_d_ocp_qcqp_dim.h"
#include "hpipm_d_ocp_qcqp_sol.h"
#ifdef __cplusplus
extern "C" {
#endif
//
void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
//
void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_CAST_QCQP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_cond.h
+135
View File
@@ -0,0 +1,135 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_COND_H_
#define HPIPM_D_COND_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qp.h"
#include "hpipm_d_dense_qp_sol.h"
#include "hpipm_d_ocp_qp.h"
#include "hpipm_d_ocp_qp_dim.h"
#include "hpipm_d_ocp_qp_sol.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_cond_qp_arg
{
int cond_last_stage; // condense last stage
int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
int comp_prim_sol; // primal solution (v)
int comp_dual_sol_eq; // dual solution equality constr (pi)
int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
int square_root_alg; // square root algorithm (faster but requires RSQ>0)
hpipm_size_t memsize;
};
struct d_cond_qp_ws
{
struct blasfeo_dmat *Gamma;
struct blasfeo_dmat *GammaQ;
struct blasfeo_dmat *L;
struct blasfeo_dmat *Lx;
struct blasfeo_dmat *AL;
struct blasfeo_dvec *Gammab;
struct blasfeo_dvec *l;
struct blasfeo_dvec *tmp_nbgM;
struct blasfeo_dvec *tmp_nuxM;
int bs; // block size
hpipm_size_t memsize;
};
//
hpipm_size_t d_cond_qp_arg_memsize();
//
void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
//
void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
// condensing algorithm: 0 N2-nx3, 1 N3-nx2
void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
// set riccati-like algorithm: 0 classical, 1 square-root
void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
// condense last stage: 0 last stage disregarded, 1 last stage condensed too
void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
//
void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
//
void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
//
void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
//
void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
//
hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
//
void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
//
void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
// TODO remove
void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_COND_H_
phonelibs/acados/include/hpipm/include/hpipm_d_cond_aux.h
+92
View File
@@ -0,0 +1,92 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_COND_AUX_H_
#define HPIPM_D_COND_AUX_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#ifdef __cplusplus
extern "C" {
#endif
//
void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
//
void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_COND_AUX_H_
phonelibs/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
+129
View File
@@ -0,0 +1,129 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_COND_QCQP_H_
#define HPIPM_D_COND_QCQP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qcqp.h"
#include "hpipm_d_dense_qcqp_sol.h"
#include "hpipm_d_ocp_qcqp.h"
#include "hpipm_d_ocp_qcqp_dim.h"
#include "hpipm_d_ocp_qcqp_sol.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_cond_qcqp_arg
{
struct d_cond_qp_arg *qp_arg;
int cond_last_stage; // condense last stage
// int cond_variant; // TODO
int comp_prim_sol; // primal solution (v)
int comp_dual_sol_eq; // dual solution equality constr (pi)
int comp_dual_sol_ineq; // dual solution equality constr (lam t)
int square_root_alg; // square root algorithm (faster but requires RSQ>0)
hpipm_size_t memsize;
};
struct d_cond_qcqp_ws
{
struct d_cond_qp_ws *qp_ws;
struct blasfeo_dmat *hess_array; // TODO remove
struct blasfeo_dmat *zero_hess; // TODO remove
struct blasfeo_dvec *grad_array; // TODO remove
struct blasfeo_dvec *zero_grad; // TODO remove
struct blasfeo_dvec *tmp_nvc;
struct blasfeo_dvec *tmp_nuxM;
struct blasfeo_dmat *GammaQ;
struct blasfeo_dmat *tmp_DCt;
struct blasfeo_dmat *tmp_nuM_nxM;
// struct blasfeo_dvec *d_qp;
// struct blasfeo_dvec *d_mask_qp;
hpipm_size_t memsize;
};
//
hpipm_size_t d_cond_qcqp_arg_memsize();
//
void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
//
void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
// set riccati-like algorithm: 0 classical, 1 square-root
void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
// condense last stage: 0 last stage disregarded, 1 last stage condensed too
void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
//
void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
//
hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
//
void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
//
void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
//
void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
//
void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
//
void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
//
void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
//
void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
//
void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_COND_QCQP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
+101
View File
@@ -0,0 +1,101 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_CORE_QP_IPM_
#define HPIPM_D_CORE_QP_IPM_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_core_qp_ipm_workspace
{
double *v; // primal variables
double *pi; // equality constraints multipliers
double *lam; // inequality constraints multipliers
double *t; // inequality constraints slacks
double *t_inv; // inverse of t
double *v_bkp; // backup of primal variables
double *pi_bkp; // backup of equality constraints multipliers
double *lam_bkp; // backup of inequality constraints multipliers
double *t_bkp; // backup of inequality constraints slacks
double *dv; // step in v
double *dpi; // step in pi
double *dlam; // step in lam
double *dt; // step in t
double *res_g; // q-residuals
double *res_b; // b-residuals
double *res_d; // d-residuals
double *res_m; // m-residuals
double *res_m_bkp; // m-residuals
double *Gamma; // Hessian update
double *gamma; // gradient update
double alpha; // step length
double alpha_prim; // step length
double alpha_dual; // step length
double sigma; // centering XXX
double mu; // duality measuere
double mu_aff; // affine duality measuere
double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
double nc_mask_inv; // 1.0/nc_mask
double lam_min; // min value in lam vector
double t_min; // min value in t vector
double t_min_inv; // inverse of min value in t vector
double tau_min; // min value of barrier parameter
int nv; // number of primal variables
int ne; // number of equality constraints
int nc; // (twice the) number of (two-sided) inequality constraints
int nc_mask; // total number of ineq constr after masking
int split_step; // use different step for primal and dual variables
int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
hpipm_size_t memsize; // memory size (in bytes) of workspace
};
//
hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
//
void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
//
void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_CORE_QP_IPM_
phonelibs/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
+68
View File
@@ -0,0 +1,68 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_S_CORE_QP_IPM_AUX_
#define HPIPM_S_CORE_QP_IPM_AUX_
#ifdef __cplusplus
extern "C" {
#endif
//
void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
//
void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
//
void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
//
void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
//
void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
//
void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
//
void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
//
void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
//
void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
//
void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_S_CORE_QP_IPM_AUX_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
+199
View File
@@ -0,0 +1,199 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QCQP_H_
#define HPIPM_D_DENSE_QCQP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qcqp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qcqp
{
struct d_dense_qcqp_dim *dim;
struct blasfeo_dmat *Hv; // hessian of cost & vector work space
struct blasfeo_dmat *A; // equality constraint matrix
struct blasfeo_dmat *Ct; // inequality constraints matrix
struct blasfeo_dmat *Hq; // hessians of quadratic constraints
struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
struct blasfeo_dvec *b; // equality constraint vector
struct blasfeo_dvec *d; // inequality constraints vector
struct blasfeo_dvec *d_mask; // inequality constraints mask vector
struct blasfeo_dvec *m; // rhs of complementarity condition
struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
int *idxb; // indices of box constrained variables within [u; x]
int *idxs_rev; // index of soft constraints (reverse storage)
int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
//
void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
// getters (COLMAJ)
void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
//
void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
//
void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
//
void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
//
void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
//
void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
//
void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
//
void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
//
void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
//
void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
//
void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
//
void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
//
void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
//
void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
//
void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
//
void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
//
void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
//
void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
//
void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
//
void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
//
void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
//
void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
//
void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
//
void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QCQP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
+98
View File
@@ -0,0 +1,98 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
#define HPIPM_D_DENSE_QCQP_DIM_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qcqp_dim
{
struct d_dense_qp_dim *qp_dim; // dim of qp approximation
int nv; // number of variables
int ne; // number of equality constraints
int nb; // number of box constraints
int ng; // number of general constraints
int nq; // number of quadratic constraints
int nsb; // number of softened box constraints
int nsg; // number of softened general constraints
int nsq; // number of softened quadratic constraints
int ns; // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
hpipm_size_t memsize;
};
//
hpipm_size_t d_dense_qcqp_dim_memsize();
//
void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
//
void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_DENSE_QCQP_DIM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
+193
View File
@@ -0,0 +1,193 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
#define HPIPM_D_DENSE_QCQP_IPM_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_dense_qcqp_dim.h>
#include <hpipm_d_dense_qcqp.h>
#include <hpipm_d_dense_qcqp_res.h>
#include <hpipm_d_dense_qcqp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qcqp_ipm_arg
{
struct d_dense_qp_ipm_arg *qp_arg;
double mu0; // initial value for duality measure
double alpha_min; // exit cond on step length
double res_g_max; // exit cond on inf norm of residuals
double res_b_max; // exit cond on inf norm of residuals
double res_d_max; // exit cond on inf norm of residuals
double res_m_max; // exit cond on inf norm of residuals
double reg_prim; // reg of primal hessian
double reg_dual; // reg of dual hessian
double lam_min; // min value in lam vector
double t_min; // min value in t vector
int iter_max; // exit cond in iter number
int stat_max; // iterations saved in stat
int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
int cond_pred_corr; // conditional Mehrotra's predictor-corrector
int scale; // scale hessian
int itref_pred_max; // max number of iterative refinement steps for predictor step
int itref_corr_max; // max number of iterative refinement steps for corrector step
int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
int abs_form; // absolute IPM formulation
int comp_res_exit; // compute residuals on exit (only for abs_form==1)
int comp_res_pred; // compute residuals of prediction
int split_step; // use different step for primal and dual variables
int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
int mode;
hpipm_size_t memsize;
};
struct d_dense_qcqp_ipm_ws
{
struct d_dense_qp_ipm_ws *qp_ws;
struct d_dense_qp *qp;
struct d_dense_qp_sol *qp_sol;
struct d_dense_qcqp_res_ws *qcqp_res_ws;
struct d_dense_qcqp_res *qcqp_res;
struct blasfeo_dvec *tmp_nv;
int iter; // iteration number
int status;
hpipm_size_t memsize; // memory size (in bytes) of workspace
};
//
hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
//
void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
//
hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
//
void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
//
void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
//
void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
//
void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
//
void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
//
void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
//
void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
//
void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
//
void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
//
void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
//
void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
#if 0
//
void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
//
void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
#endif
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QCQP_IPM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
+107
View File
@@ -0,0 +1,107 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QCQP_RES_H_
#define HPIPM_D_DENSE_QCQP_RES_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_d_dense_qcqp_dim.h>
#include <hpipm_d_dense_qcqp.h>
#include <hpipm_d_dense_qcqp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qcqp_res
{
struct d_dense_qcqp_dim *dim;
struct blasfeo_dvec *res_g; // q-residuals
struct blasfeo_dvec *res_b; // b-residuals
struct blasfeo_dvec *res_d; // d-residuals
struct blasfeo_dvec *res_m; // m-residuals
double res_max[4]; // infinity norm of residuals
double res_mu; // mu-residual
hpipm_size_t memsize;
};
struct d_dense_qcqp_res_ws
{
struct blasfeo_dvec *tmp_nv; // work space of size nv
struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
struct blasfeo_dvec *tmp_ns; // work space of size nsM
struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
int use_q_fun; // reuse cached value for evaluation of quadr constr
int use_q_adj; // reuse cached value for adjoint of quadr constr
hpipm_size_t memsize;
};
//
hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
//
hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
//
void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
//
void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_DENSE_QCQP_RES_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
+85
View File
@@ -0,0 +1,85 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
#define HPIPM_D_DENSE_QCQP_SOL_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qcqp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qcqp_sol
{
struct d_dense_qcqp_dim *dim;
struct blasfeo_dvec *v;
struct blasfeo_dvec *pi;
struct blasfeo_dvec *lam;
struct blasfeo_dvec *t;
void *misc;
hpipm_size_t memsize;
};
//
hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
//
void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
//
void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QCQP_SOL_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
+82
View File
@@ -0,0 +1,82 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
#define HPIPM_D_DENSE_QCQP_UTILS_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qcqp_dim.h"
#include "hpipm_d_dense_qcqp.h"
#include "hpipm_d_dense_qcqp_sol.h"
//#include "hpipm_d_dense_qcqp_ipm.h"
#ifdef __cplusplus
extern "C" {
#endif
//
void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
//
//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
//
void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
//
//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
//
void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
//
//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
//
void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp.h
+207
View File
@@ -0,0 +1,207 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_H_
#define HPIPM_D_DENSE_QP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qp
{
struct d_dense_qp_dim *dim;
struct blasfeo_dmat *Hv; // hessian of cost & vector work space
struct blasfeo_dmat *A; // equality constraint matrix
struct blasfeo_dmat *Ct; // inequality constraints matrix
struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
struct blasfeo_dvec *b; // equality constraint vector
struct blasfeo_dvec *d; // inequality constraints vector
struct blasfeo_dvec *d_mask; // inequality constraints mask vector
struct blasfeo_dvec *m; // rhs of complementarity condition
struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
int *idxb; // indices of box constrained variables within [u; x]
int *idxs_rev; // index of soft constraints (reverse storage)
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
//
void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
// setters - colmaj
//
void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
//
void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
//
void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
//
void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
//
void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
//
void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
//
void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
//
void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
//
void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
//
void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
//
void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
//
void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
//
void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
//
void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
//
void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
//
void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
//
void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
//
void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
//
void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
//
void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
//
void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
//
void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
//
void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
//
void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
//
void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
//
void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
//
void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
//
void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
//
void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
//
void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
// getters - colmaj
//
void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
//
void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
//
void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
//
void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
//
void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
//
void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
//
void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
//
void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
//
void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
//
void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
//
void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
//
void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
//
void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
//
void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
//
void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
//
void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
//
void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
//
void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
//
void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
//
void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
//
void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
//
void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
//
void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
//
void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
// setters - rowmaj
//
void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
// getters - rowmaj
//
void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
+92
View File
@@ -0,0 +1,92 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_DIM_H_
#define HPIPM_D_DENSE_QP_DIM_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qp_dim
{
int nv; // number of variables
int ne; // number of equality constraints
int nb; // number of box constraints
int ng; // number of general constraints
int nsb; // number of softened box constraints
int nsg; // number of softened general constraints
int ns; // number of softened constraints (nsb+nsg)
hpipm_size_t memsize;
};
//
hpipm_size_t d_dense_qp_dim_memsize();
//
void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
//
void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
//
void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_DENSE_QP_DIM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
+260
View File
@@ -0,0 +1,260 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_IPM_H_
#define HPIPM_D_DENSE_QP_IPM_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_dense_qp_dim.h>
#include <hpipm_d_dense_qp.h>
#include <hpipm_d_dense_qp_res.h>
#include <hpipm_d_dense_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qp_ipm_arg
{
double mu0; // initial value for duality measure
double alpha_min; // exit cond on step length
double res_g_max; // exit cond on inf norm of residuals
double res_b_max; // exit cond on inf norm of residuals
double res_d_max; // exit cond on inf norm of residuals
double res_m_max; // exit cond on inf norm of residuals
double reg_prim; // reg of primal hessian
double reg_dual; // reg of dual hessian
double lam_min; // min value in lam vector
double t_min; // min value in t vector
double tau_min; // min value of barrier parameter
int iter_max; // exit cond in iter number
int stat_max; // iterations saved in stat
int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
int cond_pred_corr; // conditional Mehrotra's predictor-corrector
int scale; // scale hessian
int itref_pred_max; // max number of iterative refinement steps for predictor step
int itref_corr_max; // max number of iterative refinement steps for corrector step
int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
int abs_form; // absolute IPM formulation
int comp_res_exit; // compute residuals on exit (only for abs_form==1)
int comp_res_pred; // compute residuals of prediction
int kkt_fact_alg; // 0 null-space, 1 schur-complement
int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
int compute_obj; // compute obj on exit
int split_step; // use different steps for primal and dual variables
int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
int mode;
hpipm_size_t memsize;
};
struct d_dense_qp_ipm_ws
{
struct d_core_qp_ipm_workspace *core_workspace;
struct d_dense_qp_res_ws *res_ws;
struct d_dense_qp_sol *sol_step;
struct d_dense_qp_sol *sol_itref;
struct d_dense_qp *qp_step;
struct d_dense_qp *qp_itref;
struct d_dense_qp_res *res;
struct d_dense_qp_res *res_itref;
struct d_dense_qp_res *res_step;
struct blasfeo_dvec *Gamma; //
struct blasfeo_dvec *gamma; //
struct blasfeo_dvec *Zs_inv; //
struct blasfeo_dmat *Lv; //
struct blasfeo_dmat *AL; //
struct blasfeo_dmat *Le; //
struct blasfeo_dmat *Ctx; //
struct blasfeo_dvec *lv; //
struct blasfeo_dvec *sv; // scale for Lv
struct blasfeo_dvec *se; // scale for Le
struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
struct blasfeo_dvec *tmp_ns; // work space of size ns
struct blasfeo_dmat *lq0;
struct blasfeo_dmat *lq1;
struct blasfeo_dvec *tmp_m;
struct blasfeo_dmat *A_LQ;
struct blasfeo_dmat *A_Q;
struct blasfeo_dmat *Zt;
struct blasfeo_dmat *ZtH;
struct blasfeo_dmat *ZtHZ;
struct blasfeo_dvec *xy;
struct blasfeo_dvec *Yxy;
struct blasfeo_dvec *xz;
struct blasfeo_dvec *tmp_nv;
struct blasfeo_dvec *tmp_2ns;
struct blasfeo_dvec *tmp_nv2ns;
struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
struct blasfeo_dmat *A_bkp; // pointer to backup A
struct blasfeo_dvec *b_bkp; // pointer to backup b
struct blasfeo_dmat *Ab_LU;
double *stat; // convergence statistics
int *ipiv_v;
int *ipiv_e;
int *ipiv_e1;
void *lq_work0;
void *lq_work1;
void *lq_work_null;
void *orglq_work_null;
int iter; // iteration number
int stat_max; // iterations saved in stat
int stat_m; // numer of recorded stat per ipm iter
int scale;
int use_hess_fact;
int use_A_fact;
int status;
int lq_fact; // cache from arg
int mask_constr; // use constr mask
int ne_li; // number of linearly independent equality constraints
int ne_bkp; // ne backup
hpipm_size_t memsize; // memory size (in bytes) of workspace
};
//
hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
//
void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
//
void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
//
hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
//
void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
//
void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
//
void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
//
void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
//
void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
//
void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
//
void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
//
void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
//
void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
//
void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QP_IPM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
+72
View File
@@ -0,0 +1,72 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_KKT_H_
#define HPIPM_D_DENSE_QP_KKT_H_
#ifdef __cplusplus
extern "C" {
#endif
//
void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
//
void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QP_KKT_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
+105
View File
@@ -0,0 +1,105 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_RES_H_
#define HPIPM_D_DENSE_QP_RES_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_d_dense_qp_dim.h>
#include <hpipm_d_dense_qp.h>
#include <hpipm_d_dense_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qp_res
{
struct d_dense_qp_dim *dim;
struct blasfeo_dvec *res_g; // q-residuals
struct blasfeo_dvec *res_b; // b-residuals
struct blasfeo_dvec *res_d; // d-residuals
struct blasfeo_dvec *res_m; // m-residuals
double res_max[4]; // max of residuals
double res_mu; // mu-residual
hpipm_size_t memsize;
};
struct d_dense_qp_res_ws
{
struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
struct blasfeo_dvec *tmp_ns; // work space of size nsM
hpipm_size_t memsize;
};
//
hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
//
void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
//
hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
//
void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
//
void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
//
void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
//
void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
//
void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_DENSE_QP_RES_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
+94
View File
@@ -0,0 +1,94 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_SOL_H_
#define HPIPM_D_DENSE_QP_SOL_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_dense_qp_sol
{
struct d_dense_qp_dim *dim;
struct blasfeo_dvec *v;
struct blasfeo_dvec *pi;
struct blasfeo_dvec *lam;
struct blasfeo_dvec *t;
void *misc;
double obj;
int valid_obj;
hpipm_size_t memsize;
};
//
hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
//
void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
//
void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
//
void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
//
void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
//
void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
//
void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_DENSE_QP_SOL_H_
phonelibs/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
+83
View File
@@ -0,0 +1,83 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_DENSE_QP_UTILS_H_
#define HPIPM_D_DENSE_QP_UTILS_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_dense_qp_dim.h"
#include "hpipm_d_dense_qp.h"
#include "hpipm_d_dense_qp_sol.h"
#include "hpipm_d_dense_qp_ipm.h"
#ifdef __cplusplus
extern "C" {
#endif
//
void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
//
//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
//
void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
//
//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
//
void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
//
//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
//
void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
//
void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_DENSE_QP_UTILS_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
+303
View File
@@ -0,0 +1,303 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QCQP_H_
#define HPIPM_D_OCP_QCQP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_ocp_qcqp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qcqp
{
struct d_ocp_qcqp_dim *dim;
struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
struct blasfeo_dmat *DCt; // inequality constraints matrix
struct blasfeo_dmat **Hq; // hessians of quadratic constraints
struct blasfeo_dvec *b; // dynamics vector
struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
struct blasfeo_dvec *d; // inequality constraints vector
struct blasfeo_dvec *d_mask; // inequality constraints mask vector
struct blasfeo_dvec *m; // rhs of complementarity condition
struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
int **idxb; // indices of box constrained variables within [u; x]
int **idxs_rev; // index of soft constraints (reverse storage)
int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_ocp_qcqp_strsize();
//
hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
//
void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
// setters
//
void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
// getters
//
void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
//
void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
//
//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
//
//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
//
//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
//
//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
//
void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
//
void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
// XXX only valid if there is one slack per softed constraint !!!
void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
//
void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
//
//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
//
//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
//
//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QCQP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
+118
View File
@@ -0,0 +1,118 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QCQP_DIM_H_
#define HPIPM_D_OCP_QCQP_DIM_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qcqp_dim
{
struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
int *nx; // number of states
int *nu; // number of inputs
int *nb; // number of box constraints
int *nbx; // number of (two-sided) state box constraints
int *nbu; // number of (two-sided) input box constraints
int *ng; // number of (two-sided) general constraints
int *nq; // number of (upper) quadratic constraints
int *ns; // number of soft constraints
int *nsbx; // number of (two-sided) soft state box constraints
int *nsbu; // number of (two-sided) soft input box constraints
int *nsg; // number of (two-sided) soft general constraints
int *nsq; // number of (upper) soft quadratic constraints
int N; // horizon length
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qcqp_dim_strsize();
//
hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
//
void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
//
void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
//
void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
//
void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
//
void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
//
void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QCQP_DIM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
+190
View File
@@ -0,0 +1,190 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QCQP_IPM_H_
#define HPIPM_D_OCP_QCQP_IPM_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_ocp_qcqp_dim.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qcqp_res.h>
#include <hpipm_d_ocp_qcqp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qcqp_ipm_arg
{
struct d_ocp_qp_ipm_arg *qp_arg;
double mu0; // initial value for complementarity slackness
double alpha_min; // exit cond on step length
double res_g_max; // exit cond on inf norm of residuals
double res_b_max; // exit cond on inf norm of residuals
double res_d_max; // exit cond on inf norm of residuals
double res_m_max; // exit cond on inf norm of residuals
double reg_prim; // reg of primal hessian
double lam_min; // min value in lam vector
double t_min; // min value in t vector
int iter_max; // exit cond in iter number
int stat_max; // iterations saved in stat
int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
int cond_pred_corr; // conditional Mehrotra's predictor-corrector
int itref_pred_max; // max number of iterative refinement steps for predictor step
int itref_corr_max; // max number of iterative refinement steps for corrector step
int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
int abs_form; // absolute IPM formulation
int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
int comp_res_pred; // compute residuals of prediction
int split_step; // use different step for primal and dual variables
int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
int mode;
hpipm_size_t memsize;
};
struct d_ocp_qcqp_ipm_ws
{
struct d_ocp_qp_ipm_ws *qp_ws;
struct d_ocp_qp *qp;
struct d_ocp_qp_sol *qp_sol;
struct d_ocp_qcqp_res_ws *qcqp_res_ws;
struct d_ocp_qcqp_res *qcqp_res;
struct blasfeo_dvec *tmp_nuxM;
int iter; // iteration number
int status;
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
//
hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
//
void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
//
void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
//
void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
// set maximum number of iterations
void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// set minimum step lenght
void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set initial value of barrier parameter
void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on stationarity condition
void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on equality constr
void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on inequality constr
void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on complementarity condition
void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set regularization of primal variables
void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// set warm start: 0 no warm start, 1 primal var
void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// set riccati algorithm: 0 classic, 1 square-root
void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// compute residuals after solution
void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// compute residuals of prediction
void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// min value of lam in the solution
void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// min value of t in the solution
void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
// use different step for primal and dual variables
void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
//
hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
//
hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
//
void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
//
void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
//
void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
//
void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
//
void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
//
void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
//
void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
//
void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
//
void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
//
void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
//
void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
//
void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QCQP_IPM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
+114
View File
@@ -0,0 +1,114 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QCQP_RES_H_
#define HPIPM_D_OCP_QCQP_RES_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_ocp_qcqp_dim.h>
#include <hpipm_d_ocp_qcqp.h>
#include <hpipm_d_ocp_qcqp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qcqp_res
{
struct d_ocp_qcqp_dim *dim;
struct blasfeo_dvec *res_g; // q-residuals
struct blasfeo_dvec *res_b; // b-residuals
struct blasfeo_dvec *res_d; // d-residuals
struct blasfeo_dvec *res_m; // m-residuals
double res_max[4]; // max of residuals
double res_mu; // mu-residual
hpipm_size_t memsize;
};
struct d_ocp_qcqp_res_ws
{
struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
struct blasfeo_dvec *tmp_nsM; // work space of size nsM
struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
int use_q_fun; // reuse cached value for evaluation of quadr constr
int use_q_adj; // reuse cached value for adjoint of quadr constr
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
//
void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
//
hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
//
void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
//
void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
//
void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
//
void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
//
void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
//
void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
//
void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QCQP_RES_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
+114
View File
@@ -0,0 +1,114 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QCQP_SOL_H_
#define HPIPM_D_OCP_QCQP_SOL_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_ocp_qcqp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qcqp_sol
{
struct d_ocp_qcqp_dim *dim;
struct blasfeo_dvec *ux;
struct blasfeo_dvec *pi;
struct blasfeo_dvec *lam;
struct blasfeo_dvec *t;
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_ocp_qcqp_sol_strsize();
//
hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
//
void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
//
void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
//
void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
//
void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
//
void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
//
void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
//
void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QCQP_SOL_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
+81
View File
@@ -0,0 +1,81 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
#define HPIPM_D_OCP_QCQP_UTILS_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_ocp_qcqp_dim.h"
#include "hpipm_d_ocp_qp.h"
#include "hpipm_d_ocp_qcqp_sol.h"
#include "hpipm_d_ocp_qcqp_ipm.h"
#ifdef __cplusplus
extern "C" {
#endif
//
void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
//
void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
//
void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
//
void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
//
void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
//
void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QCQP_UTILS_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp.h
+306
View File
@@ -0,0 +1,306 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_H_
#define HPIPM_D_OCP_QP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_ocp_qp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp
{
struct d_ocp_qp_dim *dim;
struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
struct blasfeo_dmat *DCt; // inequality constraints matrix
struct blasfeo_dvec *b; // dynamics vector
struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
struct blasfeo_dvec *d; // inequality constraints vector
struct blasfeo_dvec *d_mask; // inequality constraints mask vector
struct blasfeo_dvec *m; // rhs of complementarity condition
struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
int **idxb; // indices of box constrained variables within [u; x]
int **idxs_rev; // index of soft constraints (reverse storage)
int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
int *diag_H_flag; // flag the fact that Hessian is diagonal
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_ocp_qp_strsize();
//
hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
//
void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
// setters
//
void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
//
void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
//
void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
//
void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
//
void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
// getters
//
void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
//
void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
//
//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
//
//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
//
//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
//
//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
//
void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
//
void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
// XXX only valid if there is one slack per softed constraint !!!
void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
//
void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
//
//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
//
//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
//
//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
+142
View File
@@ -0,0 +1,142 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_DIM_H_
#define HPIPM_D_OCP_QP_DIM_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp_dim
{
int *nx; // number of states
int *nu; // number of inputs
int *nb; // number of box constraints
int *nbx; // number of state box constraints
int *nbu; // number of input box constraints
int *ng; // number of general constraints
int *ns; // number of soft constraints
int *nsbx; // number of soft state box constraints
int *nsbu; // number of soft input box constraints
int *nsg; // number of soft general constraints
int *nbxe; // number of state box constraints which are equality
int *nbue; // number of input box constraints which are equality
int *nge; // number of general constraints which are equality
int N; // horizon length
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qp_dim_strsize();
//
hpipm_size_t d_ocp_qp_dim_memsize(int N);
//
void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
//
void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
//
void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
//
void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
//
void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
//
void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_DIM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
+250
View File
@@ -0,0 +1,250 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_IPM_H_
#define HPIPM_D_OCP_QP_IPM_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_ocp_qp_dim.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_res.h>
#include <hpipm_d_ocp_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp_ipm_arg
{
double mu0; // initial value for complementarity slackness
double alpha_min; // exit cond on step length
double res_g_max; // exit cond on inf norm of residuals
double res_b_max; // exit cond on inf norm of residuals
double res_d_max; // exit cond on inf norm of residuals
double res_m_max; // exit cond on inf norm of residuals
double reg_prim; // reg of primal hessian
double lam_min; // min value in lam vector
double t_min; // min value in t vector
double tau_min; // min value of barrier parameter
int iter_max; // exit cond in iter number
int stat_max; // iterations saved in stat
int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
int cond_pred_corr; // conditional Mehrotra's predictor-corrector
int itref_pred_max; // max number of iterative refinement steps for predictor step
int itref_corr_max; // max number of iterative refinement steps for corrector step
int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
int abs_form; // absolute IPM formulation
int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
int comp_res_pred; // compute residuals of prediction
int split_step; // use different steps for primal and dual variables
int var_init_scheme; // variables initialization scheme
int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
int mode;
hpipm_size_t memsize;
};
struct d_ocp_qp_ipm_ws
{
double qp_res[4]; // infinity norm of residuals
struct d_core_qp_ipm_workspace *core_workspace;
struct d_ocp_qp_dim *dim; // cache dim
struct d_ocp_qp_res_ws *res_workspace;
struct d_ocp_qp_sol *sol_step;
struct d_ocp_qp_sol *sol_itref;
struct d_ocp_qp *qp_step;
struct d_ocp_qp *qp_itref;
struct d_ocp_qp_res *res_itref;
struct d_ocp_qp_res *res;
struct blasfeo_dvec *Gamma; // hessian update
struct blasfeo_dvec *gamma; // hessian update
struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
struct blasfeo_dvec *tmp_nsM; // work space of size nsM
struct blasfeo_dvec *Pb; // Pb
struct blasfeo_dvec *Zs_inv;
struct blasfeo_dvec *tmp_m;
struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
struct blasfeo_dmat *L;
struct blasfeo_dmat *Ls;
struct blasfeo_dmat *P;
struct blasfeo_dmat *Lh;
struct blasfeo_dmat *AL;
struct blasfeo_dmat *lq0;
struct blasfeo_dmat *tmp_nxM_nxM;
double *stat; // convergence statistics
int *use_hess_fact;
void *lq_work0;
int iter; // iteration number
int stat_max; // iterations saved in stat
int stat_m; // number of recorded stat per IPM iter
int use_Pb;
int status; // solver status
int square_root_alg; // cache from arg
int lq_fact; // cache from arg
int mask_constr; // use constr mask
int valid_ric_vec; // meaningful riccati vectors
int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qp_ipm_arg_strsize();
//
hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
//
void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
//
void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
//
void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
// set maximum number of iterations
void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
// set minimum step lenght
void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
// set initial value of barrier parameter
void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
// set exit tolerance on stationarity condition
void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
// set exit tolerance on equality constr
void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
// set exit tolerance on inequality constr
void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
// set exit tolerance on complementarity condition
void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
// set regularization of primal variables
void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
// set warm start: 0 no warm start, 1 primal var
void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
// set riccati algorithm: 0 classic, 1 square-root
void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
// dual solution of equality constraints (only for abs_form==1)
void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
// compute residuals after solution
void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
// compute residuals of prediction
void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
// min value of lam in the solution
void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
// min value of t in the solution
void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
// min value of tau in the solution
void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
// set split step: 0 same step, 1 different step for primal and dual variables
void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
// variables initialization scheme
void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
//
hpipm_size_t d_ocp_qp_ipm_ws_strsize();
//
hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
//
void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
//
void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
//
void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
//
void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
//
void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
//
void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
//
void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
//
void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
//
void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
//
void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
//
void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
//
void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
//
void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
//
void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
//
void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
// feedback control gain in the form u = K x + k
void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
// feedback control gain in the form u = K x + k
void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
//
void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_IPM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
+66
View File
@@ -0,0 +1,66 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_KKT_H_
#define HPIPM_D_OCP_QP_KKT_H_
#include <hpipm_common.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
//
void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
//
void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_OCP_QP_KKT_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
+117
View File
@@ -0,0 +1,117 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_RED_H_
#define HPIPM_D_OCP_QP_RED_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_d_ocp_qp_dim.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp_reduce_eq_dof_arg
{
double lam_min;
double t_min;
int alias_unchanged; // do not keep copy unchanged stage
int comp_prim_sol; // primal solution (v)
int comp_dual_sol_eq; // dual solution equality constr (pi)
int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
hpipm_size_t memsize; // memory size in bytes
};
struct d_ocp_qp_reduce_eq_dof_ws
{
struct blasfeo_dvec *tmp_nuxM;
struct blasfeo_dvec *tmp_nbgM;
int *e_imask_ux;
int *e_imask_d;
hpipm_size_t memsize; // memory size in bytes
};
//
void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
//
hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
//
void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
//
void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
//
void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
//
void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
//
void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
//
void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
//
hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
//
void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
//
void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
//
void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
//
void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_RED_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
+112
View File
@@ -0,0 +1,112 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_RES_H_
#define HPIPM_D_OCP_QP_RES_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_ocp_qp_dim.h>
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp_res
{
struct d_ocp_qp_dim *dim;
struct blasfeo_dvec *res_g; // q-residuals
struct blasfeo_dvec *res_b; // b-residuals
struct blasfeo_dvec *res_d; // d-residuals
struct blasfeo_dvec *res_m; // m-residuals
double res_max[4]; // max of residuals
double res_mu; // mu-residual
hpipm_size_t memsize;
};
struct d_ocp_qp_res_ws
{
struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
struct blasfeo_dvec *tmp_nsM; // work space of size nsM
hpipm_size_t memsize;
};
//
hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
//
void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
//
hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
//
void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
//
void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
//
void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
//
void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
//
void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
//
void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
//
void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
//
void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
//
void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_RES_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
+128
View File
@@ -0,0 +1,128 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_SOL_H_
#define HPIPM_D_OCP_QP_SOL_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_ocp_qp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_ocp_qp_sol
{
struct d_ocp_qp_dim *dim;
struct blasfeo_dvec *ux;
struct blasfeo_dvec *pi;
struct blasfeo_dvec *lam;
struct blasfeo_dvec *t;
void *misc;
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_ocp_qp_sol_strsize();
//
hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
//
void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
//
void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
//
void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
//
void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
//
void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
//
void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
//
void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
//
void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
//
void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
//
void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
//
void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_SOL_H_
phonelibs/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
+82
View File
@@ -0,0 +1,82 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_OCP_QP_UTILS_H_
#define HPIPM_D_OCP_QP_UTILS_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_ocp_qp_dim.h"
#include "hpipm_d_ocp_qp.h"
#include "hpipm_d_ocp_qp_sol.h"
#include "hpipm_d_ocp_qp_ipm.h"
#ifdef __cplusplus
extern "C" {
#endif
//
void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
//
void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
//
void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
//
void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
//
void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
//
void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
//
void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
//
void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_OCP_QP_UTILS_H_
phonelibs/acados/include/hpipm/include/hpipm_d_part_cond.h
+115
View File
@@ -0,0 +1,115 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_PART_COND_H_
#define HPIPM_D_PART_COND_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_common.h"
#include "hpipm_d_cond.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_part_cond_qp_arg
{
struct d_cond_qp_arg *cond_arg;
int N2;
hpipm_size_t memsize;
};
struct d_part_cond_qp_ws
{
struct d_cond_qp_ws *cond_workspace;
hpipm_size_t memsize;
};
//
hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
//
void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
//
void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
// set riccati-like algorithm: 0 classical, 1 squre-root
void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
//
void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
//
void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
//
void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
//
void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
//
void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
//
hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
//
void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
//
void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
//
void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
//
void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
//
void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
//
void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_PART_COND_H_
phonelibs/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
+106
View File
@@ -0,0 +1,106 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_PART_COND_QCQP_H_
#define HPIPM_D_PART_COND_QCQP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_cond_qcqp.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_part_cond_qcqp_arg
{
struct d_cond_qcqp_arg *cond_arg;
int N2;
hpipm_size_t memsize;
};
struct d_part_cond_qcqp_ws
{
struct d_cond_qcqp_ws *cond_ws;
hpipm_size_t memsize;
};
//
hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
//
void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
//
void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
// set riccati-like algorithm: 0 classical, 1 squre-root
void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
//
void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
//
void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
//
hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
//
void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
//
void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
//
void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
//
void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
//
void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_PART_COND_H_
phonelibs/acados/include/hpipm/include/hpipm_d_sim_erk.h
+122
View File
@@ -0,0 +1,122 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_SIM_ERK_H_
#define HPIPM_D_SIM_ERK_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_sim_erk_arg
{
struct d_sim_rk_data *rk_data; // integrator data
double h; // step size
int steps; // number of steps
// int for_sens; // compute adjoint sensitivities
// int adj_sens; // compute adjoint sensitivities
hpipm_size_t memsize;
};
struct d_sim_erk_ws
{
void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
void *ode_args; // pointer to ode args
struct d_sim_erk_arg *erk_arg; // erk arg
double *K; // internal variables
double *x_for; // states and forward sensitivities
double *x_traj; // states at all steps
double *l; // adjoint sensitivities
double *p; // parameter
double *x_tmp; // temporary states and forward sensitivities
double *adj_in;
double *adj_tmp;
int nx; // number of states
int np; // number of parameters
int nf; // number of forward sensitivities
int na; // number of adjoint sensitivities
int nf_max; // max number of forward sensitivities
int na_max; // max number of adjoint sensitivities
hpipm_size_t memsize;
};
//
hpipm_size_t d_sim_erk_arg_memsize();
//
void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
//
void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
//
hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
//
void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
//
void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
// number of directions for forward sensitivities
void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
// parameters (e.g. inputs)
void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
// state
void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
// forward sensitivities
void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
// ode funtion
void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
// forward vde function
void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
// ode_args, passed straight to the ode/vde_for/vde_adj functions
void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
// state
void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
// forward sensitivities
void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
//
void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_SIM_ERK_H_
phonelibs/acados/include/hpipm/include/hpipm_d_sim_rk.h
+71
View File
@@ -0,0 +1,71 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_SIM_RK_H_
#define HPIPM_D_SIM_RK_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_sim_rk_data
{
double *A_rk; // A in butcher tableau
double *B_rk; // b in butcher tableau
double *C_rk; // c in butcher tableau
int expl; // erk vs irk
int ns; // number of stages
hpipm_size_t memsize;
};
//
hpipm_size_t d_sim_rk_data_memsize(int ns);
//
void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
//
void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
//
void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_SIM_RK_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
+213
View File
@@ -0,0 +1,213 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QCQP_H_
#define HPIPM_D_TREE_OCP_QCQP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_common.h"
#include "hpipm_d_tree_ocp_qcqp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_tree_ocp_qcqp
{
struct d_tree_ocp_qcqp_dim *dim;
struct blasfeo_dmat *BAbt; // Nn-1
struct blasfeo_dmat *RSQrq; // Nn
struct blasfeo_dmat *DCt; // Nn
struct blasfeo_dmat **Hq; // Nn
struct blasfeo_dvec *b; // Nn-1
struct blasfeo_dvec *rqz; // Nn
struct blasfeo_dvec *d; // Nn
struct blasfeo_dvec *d_mask; // Nn
struct blasfeo_dvec *m; // Nn
struct blasfeo_dvec *Z; // Nn
int **idxb; // indices of box constrained variables within [u; x] // Nn
int **idxs_rev; // index of soft constraints
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
//
void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_TREE_OCP_QCQP_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
+117
View File
@@ -0,0 +1,117 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
#include "hpipm_common.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_tree_ocp_qcqp_dim
{
struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
struct tree *ttree; // tree describing node conndection
int *nx; // number of states // Nn
int *nu; // number of inputs // Nn
int *nb; // number of box constraints // Nn
int *nbx; // number of state box constraints // Nn
int *nbu; // number of input box constraints // Nn
int *ng; // number of general constraints // Nn
int *nq; // number of (upper) quadratic constraints
int *ns; // number of soft constraints // Nn
int *nsbx; // number of soft state box constraints
int *nsbu; // number of soft input box constraints
int *nsg; // number of soft general constraints
int *nsq; // number of (upper) soft quadratic constraints
int Nn; // number of nodes
hpipm_size_t memsize;
};
//
hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
//
hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
//
void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
//
void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
//
//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
+191
View File
@@ -0,0 +1,191 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_tree_ocp_qcqp_dim.h>
#include <hpipm_d_tree_ocp_qp.h>
#include <hpipm_d_tree_ocp_qcqp_res.h>
#include <hpipm_d_tree_ocp_qcqp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_tree_ocp_qcqp_ipm_arg
{
struct d_tree_ocp_qp_ipm_arg *qp_arg;
double mu0; // initial value for complementarity slackness
double alpha_min; // exit cond on step length
double res_g_max; // exit cond on inf norm of residuals
double res_b_max; // exit cond on inf norm of residuals
double res_d_max; // exit cond on inf norm of residuals
double res_m_max; // exit cond on inf norm of residuals
double reg_prim; // reg of primal hessian
double lam_min; // min value in lam vector
double t_min; // min value in t vector
int iter_max; // exit cond in iter number
int stat_max; // iterations saved in stat
int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
int cond_pred_corr; // conditional Mehrotra's predictor-corrector
int itref_pred_max; // max number of iterative refinement steps for predictor step
int itref_corr_max; // max number of iterative refinement steps for corrector step
int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
// int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
int abs_form; // absolute IPM formulation
int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
// int comp_res_pred; // compute residuals of prediction
int split_step; // use different step for primal and dual variables
int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
int mode;
hpipm_size_t memsize;
};
struct d_tree_ocp_qcqp_ipm_ws
{
struct d_tree_ocp_qp_ipm_ws *qp_ws;
struct d_tree_ocp_qp *qp;
struct d_tree_ocp_qp_sol *qp_sol;
struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
struct d_tree_ocp_qcqp_res *qcqp_res;
struct blasfeo_dvec *tmp_nuxM;
int iter; // iteration number
int status;
hpipm_size_t memsize;
};
//
hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
//
hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
//
void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
//
void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
//
void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set maximum number of iterations
void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set minimum step lenght
void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set initial value of barrier parameter
void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on stationarity condition
void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on equality constr
void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on inequality constr
void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set exit tolerance on complementarity condition
void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set regularization of primal variables
void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set warm start: 0 no warm start, 1 primal var
void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// set riccati algorithm: 0 classic, 1 square-root
//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// compute residuals after solution
void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// compute residuals of prediction
//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// min value of lam in the solution
void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// min value of t in the solution
void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// use different step for primal and dual variables
void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
//
hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
//
hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
//
void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
//
void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
//
void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
//
void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
//
void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
//
void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
//
void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
//
void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
//
void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
//
void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
//
void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
//
void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
+108
View File
@@ -0,0 +1,108 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
#define HPIPM_D_TREE_OCP_QCQP_RES_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include <hpipm_common.h>
#include <hpipm_d_tree_ocp_qcqp_dim.h>
#include <hpipm_d_tree_ocp_qcqp.h>
#include <hpipm_d_tree_ocp_qcqp_sol.h>
#ifdef __cplusplus
extern "C" {
#endif
struct d_tree_ocp_qcqp_res
{
struct d_tree_ocp_qcqp_dim *dim;
struct blasfeo_dvec *res_g; // q-residuals
struct blasfeo_dvec *res_b; // b-residuals
struct blasfeo_dvec *res_d; // d-residuals
struct blasfeo_dvec *res_m; // m-residuals
double res_max[4]; // max of residuals
double res_mu; // mu-residual
hpipm_size_t memsize;
};
struct d_tree_ocp_qcqp_res_ws
{
struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
struct blasfeo_dvec *tmp_nsM; // work space of size nsM
struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
int use_q_fun; // reuse cached value for evaluation of quadr constr
int use_q_adj; // reuse cached value for adjoint of quadr constr
hpipm_size_t memsize;
};
//
hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
//
void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
//
hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
//
void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
//
void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
//
void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
+99
View File
@@ -0,0 +1,99 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_tree_ocp_qcqp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_tree_ocp_qcqp_sol
{
struct d_tree_ocp_qcqp_dim *dim;
struct blasfeo_dvec *ux;
struct blasfeo_dvec *pi;
struct blasfeo_dvec *lam;
struct blasfeo_dvec *t;
void *misc;
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
//
void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
//
void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
//
void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
+84
View File
@@ -0,0 +1,84 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
#define HPIPM_D_TREE_OCP_QP_UTILS_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_tree_ocp_qcqp_dim.h"
#include "hpipm_d_tree_ocp_qcqp.h"
#include "hpipm_d_tree_ocp_qcqp_sol.h"
#include "hpipm_d_tree_ocp_qcqp_ipm.h"
#ifdef __cplusplus
extern "C" {
#endif
//
void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
//
//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
//
void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
//
//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
//
void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
//
void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
//
//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
//
void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
#ifdef __cplusplus
} // #extern "C"
#endif
#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
phonelibs/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
+195
View File
@@ -0,0 +1,195 @@
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef HPIPM_D_TREE_OCP_QP_H_
#define HPIPM_D_TREE_OCP_QP_H_
#include <blasfeo_target.h>
#include <blasfeo_common.h>
#include "hpipm_d_tree_ocp_qp_dim.h"
#ifdef __cplusplus
extern "C" {
#endif
struct d_tree_ocp_qp
{
struct d_tree_ocp_qp_dim *dim;
struct blasfeo_dmat *BAbt; // Nn-1
struct blasfeo_dmat *RSQrq; // Nn
struct blasfeo_dmat *DCt; // Nn
struct blasfeo_dvec *b; // Nn-1
struct blasfeo_dvec *rqz; // Nn
struct blasfeo_dvec *d; // Nn
struct blasfeo_dvec *d_mask; // Nn
struct blasfeo_dvec *m; // Nn
struct blasfeo_dvec *Z; // Nn
int **idxb; // indices of box constrained variables within [u; x] // Nn
// int **idxs; // index of soft constraints
int **idxs_rev; // index of soft constraints
hpipm_size_t memsize; // memory size in bytes
};
//
hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
//
void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
//
void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
//
void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
//
//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif // HPIPM_D_TREE_OCP_QP_H_

Some files were not shown because too many files have changed in this diff Show More