longitudinal MPC: use reset() function instead of recreating the solver in (#24091)

* scons: add acados_template as dependency for lat and long mpc

* long MPC: use acados reset instead of recreating the solver

* long MPC: print timings and reset commented

* update acados x86_64

* update acados include folder

* update acados Python interface

* update acados reference commit to latest acados/master

* update x86 libs

* update comma two

* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584

* update comma two

* update comma three

* update x86

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: a9bac5acf8

pyextra/acados_template/acados_layout.json

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pyextra/acados_template/acados_ocp.py

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pyextra/acados_template/acados_ocp_solver.py

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pyextra/acados_template/acados_ocp_solver_pyx.pyx

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pyextra/acados_template/acados_sim.py

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pyextra/acados_template/acados_sim_solver.py

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-size 17417
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pyextra/acados_template/builders.py

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pyextra/acados_template/c_templates_tera/CMakeLists.in.txt

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+size 14199

pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h

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-size 4193
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pyextra/acados_template/c_templates_tera/acados_solver.in.c

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-size 98679
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pyextra/acados_template/c_templates_tera/acados_solver.in.h

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pyextra/acados_template/c_templates_tera/acados_solver.in.pxd

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pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c

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pyextra/acados_template/c_templates_tera/make_sfun.in.m

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pyextra/acados_template/generate_c_code_discrete_dynamics.py

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pyextra/acados_template/simulink_default_opts.json

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pyextra/acados_template/utils.py

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4e4cd82cf613ac671f5b5dde04063c8e2e556edfebdc34a0c971f9456a33a5cd
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-size 15987
+size 15953

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -44,11 +44,14 @@ generated_files = [
 ] + build_files
 
 acados_dir = '#third_party/acados'
+acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
+
 source_list = ['lat_mpc.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
   f'{acados_dir}/aarch64/lib/libacados.so',
   f'{acados_dir}/x86_64/lib/libacados.so',
   f'{acados_dir}/larch64/lib/libacados.so',
+  f'{acados_templates_dir}/acados_solver.in.c',
 ]
 
 lenv = env.Clone()

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -51,11 +51,14 @@ generated_files = [
 ] + build_files
 
 acados_dir = '#third_party/acados'
+acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
+
 source_list = ['long_mpc.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
   f'{acados_dir}/aarch64/lib/libacados.so',
   f'{acados_dir}/x86_64/lib/libacados.so',
   f'{acados_dir}/larch64/lib/libacados.so',
+  f'{acados_templates_dir}/acados_solver.in.c',
 ]
 
 lenv = env.Clone()

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -192,11 +192,14 @@ def gen_long_ocp():
 class LongitudinalMpc:
   def __init__(self, e2e=False):
     self.e2e = e2e
+    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
     self.source = SOURCES[2]
 
   def reset(self):
-    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
+    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
+    self.solver.reset()
+    # self.solver.options_set('print_level', 2)
     self.v_solution = np.zeros(N+1)
     self.a_solution = np.zeros(N+1)
     self.prev_a = np.array(self.a_solution)
@@ -352,6 +355,8 @@ class LongitudinalMpc:
     self.run()
 
   def run(self):
+    # t0 = sec_since_boot()
+    # reset = 0
     for i in range(N+1):
       self.solver.set(i, 'p', self.params[i])
     self.solver.constraints_set(0, "lbx", self.x0)
@@ -386,6 +391,8 @@ class LongitudinalMpc:
         self.last_cloudlog_t = t
         cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
+      # reset = 1
+    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
 
 
 if __name__ == "__main__":

third_party/acados/aarch64/lib/libacados.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a4d51bdef2544ba6c3b7cf119f464b29b48f4759f96490ec3561ae5fc1200cf9
+oid sha256:fa02515dd1229ea78c0354189112f1d5ca777f581803d4344f744e80e3b2aa91
-size 571865
+size 576129

third_party/acados/aarch64/lib/libblasfeo.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:802d85593bac49cbf325a7a05b3c2dd909f09843e462e4eea526faaad7cc33a8
+oid sha256:ed4929ed8af91c883a28d53e491eca6e970cebc09669a3499db4cd380c937a9a
-size 694257
+size 1200745

third_party/acados/build.sh

@@ -17,8 +17,8 @@ if [ ! -d acados_repo/ ]; then
   # git clone https://github.com/commaai/acados.git $DIR/acados_repo
 fi
 cd acados_repo
-git fetch
+git fetch --all
-git checkout 105e06df87f06ea02df4af825867c946b31defdd
+git checkout 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
 git submodule update --recursive --init
 
 # build

third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h

@@ -118,6 +118,8 @@ int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, voi
 //
 void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
+void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
 void dense_qp_qpoases_config_initialize_default(void *config_);
 
 #ifdef __cplusplus

third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h

@@ -93,6 +93,7 @@ typedef struct ocp_nlp_config
                             char *field, int stage, int index, void *sens_nlp_out);
     // prepare memory
     int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
     // initalize this struct with default values
     void (*config_initialize_default)(void *config);
     // general getter
@@ -306,6 +307,7 @@ typedef struct ocp_nlp_res
     struct blasfeo_dvec *res_eq;  // dynamics
     struct blasfeo_dvec *res_ineq;  // inequality constraints
     struct blasfeo_dvec *res_comp;  // complementarity
+    struct blasfeo_dvec tmp;  // tmp
     double inf_norm_res_stat;
     double inf_norm_res_eq;
     double inf_norm_res_ineq;
@@ -402,7 +404,7 @@ ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims
 void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
 //
-void ocp_nlp_initialize_qp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
 //
 void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,

third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h

@@ -122,7 +122,9 @@ typedef struct
 acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
 //
 void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-
+//
+void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+    void *opts_, void *mem_, void *work_);
 
 
 /************************************************

third_party/acados/include/acados/ocp_qp/ocp_qp_common.h

@@ -72,6 +72,7 @@ typedef struct
     void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
     acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
     int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
     void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
 } qp_solver_config;
 #endif

third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h

@@ -63,6 +63,7 @@ typedef struct ocp_qp_hpipm_memory_
     struct d_ocp_qp_ipm_ws *hpipm_workspace;
     double time_qp_solver_call;
     int iter;
+    int status;
 
 } ocp_qp_hpipm_memory;
 
@@ -87,6 +88,8 @@ acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, vo
 //
 int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
+void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_);
+//
 void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
 //
 void ocp_qp_hpipm_config_initialize_default(void *config);

third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h

@@ -99,6 +99,7 @@ typedef struct ocp_qp_hpmpc_memory_
 
     double time_qp_solver_call;
     int iter;
+    int status;
 
 } ocp_qp_hpmpc_memory;
 

third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h

@@ -112,6 +112,7 @@ typedef struct ocp_qp_ooqp_memory_
     int nnz;  // max(nnzQ, nnzA, nnzC)
     double time_qp_solver_call;
     int iter;
+    int status;
 
 } ocp_qp_ooqp_memory;
 

third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h

@@ -75,6 +75,7 @@ typedef struct ocp_qp_osqp_memory_
 
     double time_qp_solver_call;
     int iter;
+    int status;
 
 } ocp_qp_osqp_memory;
 

third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h

@@ -71,6 +71,7 @@ typedef struct ocp_qp_qpdunes_memory_
     qpData_t qpData;
     double time_qp_solver_call;
     int iter;
+    int status;
 
 } ocp_qp_qpdunes_memory;
 

third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h

@@ -92,6 +92,7 @@ typedef struct
     acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
     void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
     void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
     acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
     int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
     void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);

third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h

@@ -96,6 +96,7 @@ typedef struct
     struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
 
     int update_sens;
+    // int init_K;
 
 	double time_sim;
 	double time_ad;

third_party/acados/include/acados/utils/types.h

@@ -35,6 +35,21 @@
 #ifndef ACADOS_UTILS_TYPES_H_
 #define ACADOS_UTILS_TYPES_H_
 
+/* Symbol visibility in DLLs */
+#ifndef ACADOS_SYMBOL_EXPORT
+  #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+    #if defined(STATIC_LINKED)
+      #define ACADOS_SYMBOL_EXPORT
+    #else
+      #define ACADOS_SYMBOL_EXPORT __declspec(dllexport)
+    #endif
+  #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
+    #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
+  #else
+    #define ACADOS_SYMBOL_EXPORT
+  #endif
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif

third_party/acados/include/acados_c/ocp_nlp_interface.h

@@ -46,6 +46,7 @@ extern "C" {
 #include "acados/sim/sim_irk_integrator.h"
 #include "acados/sim/sim_lifted_irk_integrator.h"
 #include "acados/sim/sim_gnsf.h"
+#include "acados/utils/types.h"
 // acados_c
 #include "acados_c/ocp_qp_interface.h"
 #include "acados_c/sim_interface.h"
@@ -151,46 +152,46 @@ typedef struct ocp_nlp_solver
 /// default/invalid state.
 ///
 /// \param N Horizon length
-ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
+ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *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_);
+ACADOS_SYMBOL_EXPORT 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_t plan);
+ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
 
 /// Desctructor of the nlp configuration.
 ///
 /// \param config_ The configuration struct.
-void ocp_nlp_config_destroy(void *config_);
+ACADOS_SYMBOL_EXPORT 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_);
+ACADOS_SYMBOL_EXPORT 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_);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in);
 
 
 /// Sets the sampling times for the given stage.
@@ -201,9 +202,12 @@ void ocp_nlp_in_destroy(void *in);
 /// \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,
+ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
         const char *field, void *value);
 
+///
+// void ocp_nlp_in_get(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.
 ///
@@ -214,7 +218,7 @@ void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
 /// \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,
+ACADOS_SYMBOL_EXPORT 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);
 
 
@@ -227,7 +231,7 @@ int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_n
 /// \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,
+ACADOS_SYMBOL_EXPORT 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);
 
 
@@ -239,7 +243,7 @@ int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_i
 /// \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,
+ACADOS_SYMBOL_EXPORT 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 */
@@ -248,12 +252,12 @@ int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
 ///
 /// \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);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out);
 
 
 /// Sets fields in the output struct of an nlp solver, used to initialize the solver.
@@ -264,7 +268,7 @@ void ocp_nlp_out_destroy(void *out);
 /// \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,
+ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
         int stage, const char *field, void *value);
 
 
@@ -276,21 +280,21 @@ void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *ou
 /// \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,
+ACADOS_SYMBOL_EXPORT 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,
+ACADOS_SYMBOL_EXPORT 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,
+ACADOS_SYMBOL_EXPORT 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,
+ACADOS_SYMBOL_EXPORT 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,
+ACADOS_SYMBOL_EXPORT 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);
 
 void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
@@ -302,12 +306,12 @@ void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *d
 ///
 /// \param config The configuration struct.
 /// \param dims The dimension struct.
-void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts);
 
 /// Sets an option.
 ///
@@ -315,10 +319,13 @@ void ocp_nlp_solver_opts_destroy(void *opts);
 /// \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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
+
+
+// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
 
 
 /// TBC
@@ -327,7 +334,7 @@ void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int s
 /// \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_);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
 
 
 /* solver */
@@ -338,12 +345,12 @@ void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void
 /// \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_);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver);
 
 /// Solves the optimal control problem. Call ocp_nlp_precompute before
 /// calling this functions (TBC).
@@ -351,7 +358,17 @@ void ocp_nlp_solver_destroy(void *solver);
 /// \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);
+ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+
+/// Resets the memory of the QP solver
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(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).
@@ -359,7 +376,7 @@ int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_o
 /// \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);
+ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
 
 
 /// Computes cost function value.
@@ -367,7 +384,7 @@ int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *
 /// \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);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
 
 //
 void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
@@ -377,18 +394,18 @@ void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_
 /// \param solver The solver struct.
 /// \param nlp_in The inputs struct.
 /// \param nlp_out The output struct.
-void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
 
 
 //
-void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
+ACADOS_SYMBOL_EXPORT 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,
+ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
         const char *field, void *return_value_);
 
 /* set */
@@ -399,7 +416,7 @@ void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
 /// \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,
+ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
         int stage, const char *field, void *value);
 
 

third_party/acados/include/acados_c/sim_interface.h

@@ -74,64 +74,64 @@ typedef struct
 
 /* config */
 //
-sim_config *sim_config_create(sim_solver_plan_t plan);
+ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan);
 //
-void sim_config_destroy(void *config);
+ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config);
 
 /* dims */
 //
-void *sim_dims_create(void *config_);
+ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_);
 //
-void sim_dims_destroy(void *dims);
+ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims);
 //
-void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims);
 //
-void sim_in_destroy(void *out);
+ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out);
 //
-int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims);
 //
-void sim_out_destroy(void *out);
+ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out);
 //
-int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims);
 //
-void sim_opts_destroy(void *opts);
+ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts);
 //
-void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT 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_);
+ACADOS_SYMBOL_EXPORT 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);
+ACADOS_SYMBOL_EXPORT 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_);
+ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
 //
-void sim_solver_destroy(void *solver);
+ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver);
 //
-int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
+ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
 //
-int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
+ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
 //
-int sim_solver_set(sim_solver *solver, const char *field, void *value);
+ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value);
 
 #ifdef __cplusplus
 } /* extern "C" */

third_party/acados/include/blasfeo/include/blasfeo_block_size.h

@@ -53,6 +53,7 @@
 #define D_PS 8 // panel size
 #define D_PLD 8 // 4 // GCD of panel length
 #define D_M_KERNEL 24 // max kernel size
+#define D_N_KERNEL 8 // max kernel size
 #define D_KC 128 //256 // 192
 #define D_NC 144 //72 //96 //72 // 120 // 512
 #define D_MC 2400 // 6000
@@ -60,6 +61,7 @@
 #define S_PS 16 // panel size
 #define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
 #define S_M_KERNEL 32 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
 #define S_KC 128 //256
 #define S_NC 128 //144
 #define S_MC 3000
@@ -74,13 +76,15 @@
 #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_N_KERNEL 8 // max kernel size
 #define D_KC 256 // 192
-#define D_NC 72 //96 //72 // 120 // 512
+#define D_NC 64 //96 //72 // 120 // 512
-#define D_MC 1500 // 6000
+#define D_MC 1500
 // 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_N_KERNEL 8 // max kernel size
 #define S_KC 256
 #define S_NC 144
 #define S_MC 3000
@@ -95,6 +99,7 @@
 #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_N_KERNEL 4 // max kernel size
 #define D_KC 256 //320 //256 //320
 #define D_NC 72 //64 //72 //60 // 120
 #define D_MC 1000 // 800
@@ -102,6 +107,7 @@
 #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_N_KERNEL 8 // max kernel size
 #define S_KC 256
 #define S_NC 144
 #define S_MC 2000
@@ -114,6 +120,7 @@
 #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_N_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
@@ -121,6 +128,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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
@@ -133,6 +141,7 @@
 #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_N_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
@@ -140,6 +149,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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
@@ -153,6 +163,7 @@
 #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_N_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
@@ -160,6 +171,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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
@@ -173,6 +185,7 @@
 #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_N_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
@@ -180,11 +193,35 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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_APPLE_M1)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ?
+#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 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_N_KERNEL 4 // 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_N_KERNEL 8 // max kernel size
+#define S_KC 512
+#define S_NC 256
+#define S_MC 6000
+
+
 #elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
 // common
 #define CACHE_LINE_SIZE 64
@@ -194,6 +231,7 @@
 #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_N_KERNEL 4 // max kernel size
 #define D_KC 512 //256
 #define D_NC 128 //256
 #define D_MC 6000
@@ -201,6 +239,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 8 // max kernel size
+#define S_N_KERNEL 8 // max kernel size
 #define S_KC 512
 #define S_NC 256
 #define S_MC 6000
@@ -215,6 +254,7 @@
 #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_N_KERNEL 4 // max kernel size
 #define D_KC 320
 #define D_NC 256
 #define D_MC 6000
@@ -222,6 +262,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 8 // max kernel size
+#define S_N_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
@@ -236,13 +277,15 @@
 #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_N_KERNEL 4 // max kernel size
-#define D_NC 40 //36 //48
+#define D_KC 128 //224 //256 //192
-#define D_MC 512 //488 //600
+#define D_NC 72 //40 //36 //48
+#define D_MC (4*192) //512 //488 //600
 // single
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 8 // max kernel size
+#define S_N_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
@@ -257,6 +300,7 @@
 #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_N_KERNEL 4 // max kernel size
 #define D_KC 224
 #define D_NC 160
 #define D_MC 6000
@@ -264,6 +308,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 8 // max kernel size
+#define S_N_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
@@ -278,6 +323,7 @@
 #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_N_KERNEL 4 // max kernel size
 #define D_KC 160
 #define D_NC 128
 #define D_MC 6000
@@ -285,6 +331,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 8 // max kernel size
+#define S_N_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
@@ -298,6 +345,7 @@
 #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_N_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
@@ -305,6 +353,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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
@@ -318,6 +367,7 @@
 #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_N_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
@@ -325,6 +375,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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
@@ -338,6 +389,7 @@
 #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_N_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
@@ -345,6 +397,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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
@@ -358,6 +411,7 @@
 #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_N_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
@@ -366,6 +420,7 @@
 #define S_PS 4
 #define S_PLD 4 //2
 #define S_M_KERNEL 4 // max kernel size
+#define S_N_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

third_party/acados/include/blasfeo/include/blasfeo_common.h

@@ -198,6 +198,24 @@ struct blasfeo_pm_smat
 	int memsize; // size of needed memory
 	};
 
+struct blasfeo_pm_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_pm_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
+	};
+
 // Explicitly column-major matrix structure
 struct blasfeo_cm_dmat
 	{
@@ -221,11 +239,31 @@ struct blasfeo_cm_smat
 	int memsize; // size of needed memory
 	};
 
+struct blasfeo_cm_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_cm_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_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_PM_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
 #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])
+#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
 
 
 

third_party/acados/include/blasfeo/include/blasfeo_d_aux.h

@@ -237,6 +237,17 @@ void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memo
 
 
 
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// aux
+void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
+#endif
+
+
+
 #ifdef __cplusplus
 }
 #endif

third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h

@@ -44,6 +44,30 @@
 
 
 
+#ifdef BLAS_API
+#ifdef CBLAS_API
+#ifndef BLASFEO_CBLAS_ENUM
+#define BLASFEO_CBLAS_ENUM
+#ifdef FORTRAN_BLAS_API
+#ifndef CBLAS_H
+enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
+enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
+enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
+enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#endif // CBLAS_H
+#else // FORTRAN_BLAS_API
+enum BLASFEO_CBLAS_ORDER {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
+enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
+enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
+enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
+enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
+#endif // FORTRAN_BLAS_API
+#endif // BLASFEO_CBLAS_ENUM
+#endif // CBLAS_API
+#endif // BLAS_API
+
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -66,6 +90,14 @@ 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 2
+//
+void dgemv_(char *tran, 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 *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
+
 // 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);
@@ -75,6 +107,8 @@ void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int
 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);
+//
+void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
 
 
 
@@ -100,49 +134,125 @@ void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int
 
 
 
+// aux
+void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
+//
+void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
+//
+void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
+
+// CBLAS 3
+//
+void cblas_dgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+//
+void cblas_dsyrk(const enum CBLAS_ORDER Order, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+//
+void cblas_dtrmm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+//
+void cblas_dtrsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+
+
+
+#endif // CBLAS_API
+
+
+
 #else // BLASFEO_API
 
 
 
 // BLAS 1
 //
-void blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+void blasfeo_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);
+double blasfeo_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);
+void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 2
+//
+void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+//
+void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
 
 // 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 blasfeo_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 blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, 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 blasfeo_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_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+void blasfeo_blas_dtrsm(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);
+void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
 
 
 
 // LAPACK
 //
-void blas_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+void blasfeo_lapack_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 blasfeo_lapack_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 blasfeo_lapack_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 blasfeo_lapack_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 blasfeo_lapack_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 blasfeo_lapack_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 blasfeo_lapack_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 blasfeo_lapack_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);
+void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+// aux
+void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
+//
+void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
+//
+void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
+
+// CBLAS 3
+//
+void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+//
+void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+//
+void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+//
+void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+
+
+
+#endif // CBLAS_API
 
 
 

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h

@@ -119,6 +119,10 @@ void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasf
 // 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);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_dsymv_u(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);
+// D = C + alpha * x * y^T
+void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
 
 // diagonal
 
@@ -227,6 +231,14 @@ void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int
 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);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
+void blasfeo_dsyr2k_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);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
+void blasfeo_dsyr2k_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 + alpha * B * A^T; C, D upper triangular
+void blasfeo_dsyr2k_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 + alpha * B^T * A; C, D upper triangular
+void blasfeo_dsyr2k_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);
 
 // diagonal
 
@@ -327,6 +339,16 @@ void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *s
 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);
+void blasfeo_cm_dsyr2k_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_dsyr2k_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_dsyr2k_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_dsyr2k_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);
+// BLAS 2
+void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
+void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, 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);

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h

@@ -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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_HP_API_H_
+#define BLASFEO_D_BLASFEO_HP_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+
+// D <= beta * C + alpha * A^T * B
+void blasfeo_hp_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 * B^T; C, D lower triangular
+void blasfeo_hp_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);
+// D <= beta * C + alpha * A * A^T ; C, D lower triangular
+void blasfeo_hp_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);
+// D <= alpha * B * A^{-T} , with A lower triangular
+void blasfeo_hp_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);
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_hp_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);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_HP_API_H_
+

third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h

@@ -119,6 +119,10 @@ void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct b
 // 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, 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_ref_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);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_ref_dsymv_u(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);
+// D = C + alpha * x * y^T
+void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
 
 // diagonal
 
@@ -214,6 +218,14 @@ void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA,
 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);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
+void blasfeo_ref_dsyr2k_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);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
+void blasfeo_ref_dsyr2k_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 + alpha * B * A^T ; C, D upper triangular
+void blasfeo_ref_dsyr2k_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 + alpha * B^T * A ; C, D upper triangular
+void blasfeo_ref_dsyr2k_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);
 
 // diagonal
 

third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h

@@ -728,14 +728,22 @@ void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda,
 void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
 void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
 void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
 void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
@@ -751,6 +759,7 @@ void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B,
 // 4x12
 void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p);
 void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
 void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
@@ -764,6 +773,10 @@ void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda,
 void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
 void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
 // 8x4
@@ -775,14 +788,22 @@ void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda,
 void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
 void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
 void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
 void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
@@ -813,6 +834,10 @@ void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B
 void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
@@ -821,6 +846,8 @@ void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, doub
 void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
 void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
@@ -829,6 +856,8 @@ void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, doub
 void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
 void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
 void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
 void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
 void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
@@ -852,6 +881,8 @@ void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, d
 void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
@@ -868,6 +899,8 @@ void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda
 void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
 void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
 void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
 void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
@@ -920,6 +953,8 @@ void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, do
 void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
@@ -936,6 +971,8 @@ void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda,
 void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
 void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
 void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
 void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
@@ -986,6 +1023,8 @@ void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B,
 void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
 void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
@@ -1018,6 +1057,8 @@ void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, doub
 void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
 void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
 void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
 void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
 void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
@@ -1181,6 +1222,7 @@ void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
 // 12
 void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
 void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
 // 8
 void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
 
@@ -1232,11 +1274,43 @@ void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, do
 void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
 
 
+// level 2 BLAS
+void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
+void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
+void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km);
+void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
+void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
+void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
+void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
+void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd);
+void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km);
+
+
 
 // aux
 void kernel_dvecld_inc1(int kmax, double *x);
 void kernel_dveccp_inc1(int kmax, double *x, double *y);
 
+//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
+//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc);
+//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc);
+void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
+void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc);
+void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc);
+void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1);
+
+
+// building blocks for blocked algorithms
+//
+void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
+void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
+//
+void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda);
+void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda);
+void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda);
+void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda);
+void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda);
 
 
 

third_party/acados/include/blasfeo/include/blasfeo_processor_features.h

@@ -39,20 +39,20 @@
 /**
  * Flags to indicate the different processor features
  */
-enum
+//enum
-{
+//{
-    // x86-64 CPU features
+//    // x86-64 CPU features
-    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
+//    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
-    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
-    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
+//    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
-    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
-
+//
-    // ARM CPU features
+//    // ARM CPU features
-    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
-    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
+//    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
-    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
-    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
+//    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
-} BLASFEO_PROCESSOR_FEATURES;
+//} BLASFEO_PROCESSOR_FEATURES;
 
 /**
  * Test the features that this processor provides against what the library was compiled with.

third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h

@@ -44,6 +44,31 @@
 
 
 
+#ifdef BLAS_API
+#ifdef CBLAS_API
+#ifndef BLASFEO_CBLAS_ENUM
+#define BLASFEO_CBLAS_ENUM
+#ifdef FORTRAN_BLAS_API
+#ifndef CBLAS_H
+enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
+enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
+enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
+enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#endif // CBLAS_H
+#else // FORTRAN_BLAS_API
+enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
+enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122};
+enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
+enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#endif // FORTRAN_BLAS_API
+#endif // BLASFEO_CBLAS_ENUM
+#endif // CBLAS_API
+#endif // BLAS_API
+
+
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -78,27 +103,67 @@ void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
 
 
 
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
+
+// CBLAS 3
+//
+void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
+//
+void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
+
+
+
+#endif // CBLAS_API
+
+
+
 #else // BLASFEO_API
 
 
 
 // BLAS 1
 //
-void blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+void blasfeo_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);
+float blasfeo_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 blasfeo_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);
+void blasfeo_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);
+void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#ifdef CBLAS_API
+
+
+
+// CBLAS 1
+//
+void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
+
+// CBLAS 3
+//
+void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
+//
+void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
+
+
+
+#endif // CBLAS_API
 
 
 

third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h

@@ -115,6 +115,10 @@ void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo
 // 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);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_ssymv_u(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);
+// D = C + alpha * x * y^T
+void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
 
 // diagonal
 
@@ -182,6 +186,14 @@ void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int
 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);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
+void blasfeo_ssyr2k_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);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
+void blasfeo_ssyr2k_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 + alpha * B * A^T; C, D upper triangular
+void blasfeo_ssyr2k_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 + alpha * B^T * A; C, D upper triangular
+void blasfeo_ssyr2k_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);
 
 // diagonal
 

third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h

@@ -115,6 +115,10 @@ void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct bla
 // 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, 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_ref_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);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
+void blasfeo_ref_ssymv_u(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);
+// D = C + alpha * x * y^T
+void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
 
 // diagonal
 
@@ -182,6 +186,14 @@ void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA,
 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);
+// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
+void blasfeo_ref_ssyr2k_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);
+// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
+void blasfeo_ref_ssyr2k_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 + alpha * B * A^T ; C, D upper triangular
+void blasfeo_ref_ssyr2k_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 + alpha * B^T * A ; C, D upper triangular
+void blasfeo_ref_ssyr2k_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);
 
 // diagonal
 

third_party/acados/include/blasfeo/include/blasfeo_target.h

@@ -1,13 +1,13 @@
-#ifndef TARGET_X64_INTEL_HASWELL
+#ifndef TARGET_ARMV8A_ARM_CORTEX_A57
-#define TARGET_X64_INTEL_HASWELL
+#define TARGET_ARMV8A_ARM_CORTEX_A57
 #endif
 
 #ifndef TARGET_NEED_FEATURE_AVX2
-#define TARGET_NEED_FEATURE_AVX2 1
+/* #undef TARGET_NEED_FEATURE_AVX2 */
 #endif
 
 #ifndef TARGET_NEED_FEATURE_FMA
-#define TARGET_NEED_FEATURE_FMA 1
+/* #undef TARGET_NEED_FEATURE_FMA */
 #endif
 
 #ifndef TARGET_NEED_FEATURE_SSE3
@@ -27,11 +27,11 @@
 #endif
 
 #ifndef TARGET_NEED_FEATURE_VFPv4
-/* #undef TARGET_NEED_FEATURE_VFPv4 */
+#define TARGET_NEED_FEATURE_VFPv4 1
 #endif
 
 #ifndef TARGET_NEED_FEATURE_NEONv2
-/* #undef TARGET_NEED_FEATURE_NEONv2 */
+#define TARGET_NEED_FEATURE_NEONv2 1
 #endif
 
 #ifndef LA_HIGH_PERFORMANCE

third_party/acados/include/blasfeo/include/d_blas.h

@@ -61,6 +61,7 @@ void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A
 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);
+void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
 
 // lapack
 void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);

third_party/acados/include/blasfeo/include/s_blas.h

@@ -61,6 +61,7 @@ void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A,
 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);
+void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
 
 // lapack
 void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);

third_party/acados/larch64/lib/libacados.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:08d73672735c9bf05babda079627e3b93c593954a8b164f529c422cf9867d791
+oid sha256:d320459a896c765a75456bc7cfb89bacfd692709ccbf5e261051d37eb0cb11e2
-size 489256
+size 493656

third_party/acados/larch64/lib/libblasfeo.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1e0cbc45c14340834991e617cd28045b8cac34bd094c73f3c4a0b3506ce3cdbe
+oid sha256:3ddffc8ed63d42b4301ce0f7f599c39177298cc598a2cb5e1d26990460ea59be
-size 726592
+size 1150320

third_party/acados/x86_64/lib/libacados.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5b84ad639a00b9ad35e502588a96145b9914ef0fc24262b3e9bfcdbcd655d9ae
+oid sha256:ab9cb6079675937ddb09fcc77133a14ebdc29dd9338e4d79a3e61af1efa271aa
-size 534128
+size 534416

third_party/acados/x86_64/lib/libblasfeo.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2361e3efae8404b728e631bcaaa1f686158e0b62e19b6237d01c2efa17147c21
+oid sha256:e64a78c320f1ed03c086506ba400149edaa33b3c9a71f3547d2593ee169751b9
-size 1265168
+size 2155088

third_party/acados/x86_64/lib/libhpipm.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:559bb84f78448803ef2b455cfb53aff95e283eb452c5e132afc5e663510802a0
+oid sha256:0cabd3d3b9ceffbe1f7b783089b54c68e4cf635053a0f1cec96ffaf5f68589c1
 size 1572648

third_party/acados/x86_64/lib/libqpOASES_e.so.3.1

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6452b56b86528616695f44752d975d26c93a0692246a8ca313fc969effec75ca
+oid sha256:67661c8be478b34680e093df1d7221679bdbf20c5abd39cfaadd74cac11e44f5
 size 262824

third_party/acados/x86_64/t_renderer

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:703e96a35b87eeace4b4558266a4d715742e28f17be0c02a6fcc3ea975d050f6
+oid sha256:f39cc2f561109c4d311a6503cd03883a132ae7a49dbb2e5ef457aaf176df390b
-size 15186136
+size 7286616