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cython wrapper for acados (#22784)

Browse Source 
* cython wrapper for acados

* fix building

* sconscript cleanup

* no cython numpy

* cleanup

* upgrade build script

* try without slices

* new acados commit

* c3 update acados libs

* c2 libs

* make faster

* undo profiling

* fix build

* somewhat faster

* tryout cost_set_slice

* Revert "tryout cost_set_slice"

This reverts commit d358d93a13.

* cleanup

* undo t_renderer change

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 89d0a52d16
commatwo_master
Joost Wooning 4 years ago committed by GitHub
parent 1bcba44589
commit 9042f18afd
60 changed files with 498 additions and 182 deletions
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  1. 1
      SConstruct
  2. 4
      pyextra/acados_template/.gitignore
  3. 4
      pyextra/acados_template/acados_layout.json
  4. 4
      pyextra/acados_template/acados_model.py
  5. 4
      pyextra/acados_template/acados_ocp.py
  6. 4
      pyextra/acados_template/acados_ocp_solver.py
  7. 3
      pyextra/acados_template/acados_ocp_solver_pyx.pyx
  8. 4
      pyextra/acados_template/acados_sim.py
  9. 4
      pyextra/acados_template/acados_sim_layout.json
  10. 4
      pyextra/acados_template/acados_sim_solver.py
  11. 3
      pyextra/acados_template/acados_solver_common.pxd
  12. 4
      pyextra/acados_template/c_templates_tera/Makefile.in
  13. 4
      pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
  14. 4
      pyextra/acados_template/c_templates_tera/acados_mex_free.in.c
  15. 4
      pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
  16. 4
      pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c
  17. 4
      pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
  18. 4
      pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
  19. 4
      pyextra/acados_template/c_templates_tera/acados_solver.in.c
  20. 4
      pyextra/acados_template/c_templates_tera/acados_solver.in.h
  21. 3
      pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
  22. 4
      pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
  23. 4
      pyextra/acados_template/c_templates_tera/main.in.c
  24. 4
      pyextra/acados_template/c_templates_tera/main_sim.in.c
  25. 4
      pyextra/acados_template/generate_c_code_constraint.py
  26. 4
      pyextra/acados_template/generate_c_code_discrete_dynamics.py
  27. 4
      pyextra/acados_template/generate_c_code_explicit_ode.py
  28. 4
      pyextra/acados_template/generate_c_code_external_cost.py
  29. 4
      pyextra/acados_template/generate_c_code_gnsf.py
  30. 4
      pyextra/acados_template/generate_c_code_implicit_ode.py
  31. 4
      pyextra/acados_template/generate_c_code_nls_cost.py
  32. 4
      pyextra/acados_template/utils.py
  33. 27
      selfdrive/controls/lib/lateral_mpc_lib/SConscript
  34. 31
      selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
  35. 27
      selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
  36. 47
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
  37. 4
      third_party/acados/aarch64/lib/libacados.so
  38. 2
      third_party/acados/aarch64/lib/libblasfeo.so
  39. 2
      third_party/acados/aarch64/lib/libhpipm.so
  40. 2
      third_party/acados/build.sh
  41. 7
      third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
  42. 57
      third_party/acados/include/acados/sim/sim_collocation_utils.h
  43. 3
      third_party/acados/include/acados/sim/sim_common.h
  44. 2
      third_party/acados/include/acados/utils/math.h
  45. 2
      third_party/acados/include/acados/utils/timing.h
  46. 13
      third_party/acados/include/acados_c/ocp_nlp_interface.h
  47. 10
      third_party/acados/include/acados_c/sim_interface.h
  48. 23
      third_party/acados/include/blasfeo/include/blasfeo_block_size.h
  49. 16
      third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
  50. 19
      third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
  51. 211
      third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
  52. 12
      third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
  53. 15
      third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
  54. 10
      third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
  55. 4
      third_party/acados/larch64/lib/libacados.so
  56. 2
      third_party/acados/larch64/lib/libblasfeo.so
  57. 2
      third_party/acados/larch64/lib/libhpipm.so
  58. 4
      third_party/acados/x86_64/lib/libacados.so
  59. 2
      third_party/acados/x86_64/lib/libblasfeo.so
  60. 2
      third_party/acados/x86_64/lib/libhpipm.so

1
SConstruct
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@ -68,6 +68,7 @@ lenv = {
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
}

4
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pyextra/acados_template/utils.py
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27
selfdrive/controls/lib/lateral_mpc_lib/SConscript
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@ -1,4 +1,4 @@
Import('env', 'arch')
Import('env', 'envCython', 'arch', 'common')
gen = "c_generated_code"
@ -33,6 +33,7 @@ generated_files = [
f'{gen}/main_lat.c',
f'{gen}/acados_solver_lat.h',
f'{gen}/acados_solver.pxd',
f'{gen}/lat_model/lat_expl_vde_adj.c',
@ -53,6 +54,24 @@ lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CCFLAGS"].append("-Wno-unused")
lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
# generate cython stuff
acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \
f' -o {libacados_ocp_solver_c.get_labspath()}' + \
f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
lenv2.Depends(lib_cython, lib_solver)

31
selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
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@ -5,8 +5,12 @@ import numpy as np
from casadi import SX, vertcat, sin, cos
from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N
from selfdrive.controls.lib.drive_helpers import T_IDXS
from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
if __name__ == '__main__': # generating code
from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
# from pyextra.acados_template import AcadosOcpSolverFast
from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast # pylint: disable=no-name-in-module, import-error
LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
@ -110,17 +114,16 @@ def gen_lat_mpc_solver():
class LateralMpc():
def __init__(self, x0=np.zeros(X_DIM)):
self.solver = AcadosOcpSolver('lat', N, EXPORT_DIR)
self.solver = AcadosOcpSolverFast('lat', N, EXPORT_DIR)
self.reset(x0)
def reset(self, x0=np.zeros(X_DIM)):
self.x_sol = np.zeros((N+1, X_DIM))
self.u_sol = np.zeros((N, 1))
self.yref = np.zeros((N+1, 3))
self.solver.cost_set_slice(0, N, "yref", self.yref[:N])
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.cost_set(N, "yref", self.yref[N][:2])
W = np.eye(3)
self.Ws = np.tile(W[None], reps=(N,1,1))
# Somehow needed for stable init
for i in range(N+1):
@ -132,12 +135,11 @@ class LateralMpc():
self.cost = 0
def set_weights(self, path_weight, heading_weight, steer_rate_weight):
self.Ws[:,0,0] = path_weight
self.Ws[:,1,1] = heading_weight
self.Ws[:,2,2] = steer_rate_weight
self.solver.cost_set_slice(0, N, 'W', self.Ws, api='old')
W = np.asfortranarray(np.diag([path_weight, heading_weight, steer_rate_weight]))
for i in range(N):
self.solver.cost_set(i, 'W', W)
#TODO hacky weights to keep behavior the same
self.solver.cost_set(N, 'W', (3/20.)*self.Ws[0,:2,:2])
self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
def run(self, x0, v_ego, car_rotation_radius, y_pts, heading_pts):
x0_cp = np.copy(x0)
@ -145,12 +147,15 @@ class LateralMpc():
self.solver.constraints_set(0, "ubx", x0_cp)
self.yref[:,0] = y_pts
self.yref[:,1] = heading_pts*(v_ego+5.0)
self.solver.cost_set_slice(0, N, "yref", self.yref[:N])
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.cost_set(N, "yref", self.yref[N][:2])
self.solution_status = self.solver.solve()
self.solver.fill_in_slice(0, N+1, 'x', self.x_sol)
self.solver.fill_in_slice(0, N, 'u', self.u_sol)
for i in range(N+1):
self.x_sol[i] = self.solver.get(i, 'x')
for i in range(N):
self.u_sol[i] = self.solver.get(i, 'u')
self.cost = self.solver.get_cost()

27
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
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@ -1,4 +1,4 @@
Import('env', 'arch')
Import('env', 'envCython', 'arch', 'common')
gen = "c_generated_code"
@ -41,6 +41,7 @@ generated_files = [
f'{gen}/main_long.c',
f'{gen}/acados_solver_long.h',
f'{gen}/acados_solver.pxd',
f'{gen}/long_model/long_expl_vde_adj.c',
@ -63,6 +64,24 @@ lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CCFLAGS"].append("-Wno-unused")
lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
build_files,
LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
# generate cython stuff
acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
lenv2 = envCython.Clone()
lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
lenv2.Command(libacados_ocp_solver_c,
[acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
f'cython' + \
f' -o {libacados_ocp_solver_c.get_labspath()}' + \
f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
f' {acados_ocp_solver_pyx.get_labspath()}')
lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
lenv2.Depends(lib_cython, lib_solver)

47
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -8,7 +8,12 @@ from selfdrive.swaglog import cloudlog
from selfdrive.modeld.constants import index_function
from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
if __name__ == '__main__': # generating code
from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
# from pyextra.acados_template import AcadosOcpSolver as AcadosOcpSolverFast
from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast # pylint: disable=no-name-in-module, import-error
from casadi import SX, vertcat
LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
@ -190,13 +195,14 @@ class LongitudinalMpc():
self.source = SOURCES[2]
def reset(self):
self.solver = AcadosOcpSolver('long', N, EXPORT_DIR)
self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR)
self.v_solution = [0.0 for i in range(N+1)]
self.a_solution = [0.0 for i in range(N+1)]
self.j_solution = [0.0 for i in range(N)]
self.yref = np.zeros((N+1, COST_DIM))
self.solver.cost_set_slice(0, N, "yref", self.yref[:N])
self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
self.x_sol = np.zeros((N+1, X_DIM))
self.u_sol = np.zeros((N,1))
self.params = np.zeros((N+1,3))
@ -216,30 +222,30 @@ class LongitudinalMpc():
self.set_weights_for_lead_policy()
def set_weights_for_lead_policy(self):
W = np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, J_EGO_COST])
Ws = np.tile(W[None], reps=(N,1,1))
self.solver.cost_set_slice(0, N, 'W', Ws, api='old')
W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, J_EGO_COST]))
for i in range(N):
self.solver.cost_set(i, 'W', W)
# Setting the slice without the copy make the array not contiguous,
# causing issues with the C interface.
self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
# Set L2 slack cost on lower bound constraints
Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST])
Zls = np.tile(Zl[None], reps=(N+1,1,1))
self.solver.cost_set_slice(0, N+1, 'Zl', Zls, api='old')
for i in range(N):
self.solver.cost_set(i, 'Zl', Zl)
def set_weights_for_xva_policy(self):
W = np.diag([0., 10., 1., 10., 1.])
Ws = np.tile(W[None], reps=(N,1,1))
self.solver.cost_set_slice(0, N, 'W', Ws, api='old')
W = np.asfortranarray(np.diag([0., 10., 1., 10., 1.]))
for i in range(N):
self.solver.cost_set(i, 'W', W)
# Setting the slice without the copy make the array not contiguous,
# causing issues with the C interface.
self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
# Set L2 slack cost on lower bound constraints
Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0])
Zls = np.tile(Zl[None], reps=(N+1,1,1))
self.solver.cost_set_slice(0, N+1, 'Zl', Zls, api='old')
for i in range(N):
self.solver.cost_set(i, 'Zl', Zl)
def set_cur_state(self, v, a):
if abs(self.x0[1] - v) > 1.:
@ -326,8 +332,9 @@ class LongitudinalMpc():
self.yref[:,1] = x
self.yref[:,2] = v
self.yref[:,3] = a
self.solver.cost_set_slice(0, N, "yref", self.yref[:N], api='old')
self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
self.accel_limit_arr[:,0] = -10.
self.accel_limit_arr[:,1] = 10.
x_obstacle = 1e5*np.ones((N+1))
@ -338,12 +345,14 @@ class LongitudinalMpc():
def run(self):
for i in range(N+1):
self.solver.set_param(i, self.params[i])
self.solver.set(i, 'p', self.params[i])
self.solver.constraints_set(0, "lbx", self.x0)
self.solver.constraints_set(0, "ubx", self.x0)
self.solution_status = self.solver.solve()
self.solver.fill_in_slice(0, N+1, 'x', self.x_sol)
self.solver.fill_in_slice(0, N, 'u', self.u_sol)
for i in range(N+1):
self.x_sol[i] = self.solver.get(i, 'x')
for i in range(N):
self.u_sol[i] = self.solver.get(i, 'u')
self.v_solution = self.x_sol[:,1]
self.a_solution = self.x_sol[:,2]

4
third_party/acados/aarch64/lib/libacados.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c86a0f145884b913abdce6b9b57953cc462e1ef4b0749b7a8e52878b41240281
size 567753
oid sha256:a42119de38b56c672e473edd8860e2e75c3e2793961b631634f8dc6f6f6618e5
size 575769

2
third_party/acados/aarch64/lib/libblasfeo.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:f459390b07bd4cff5059475e70436a4843469aecf82cb4137bf77a86732648de
oid sha256:567bfcb693ce73c8faa847ddd3798037f611c8ebfcecddce4da2140f22b191af
size 694193

2
third_party/acados/aarch64/lib/libhpipm.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a363f66e7a0c7b3ce5e4bd202e0320431253f9d3d9f6d6423b031afba4c8017b
oid sha256:d6873d1bf018369aaf13cabe5d870d3154656668b31647df0a1a648b3bb383dc
size 1324409

2
third_party/acados/build.sh vendored
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@ -18,7 +18,7 @@ if [ ! -d acados_repo/ ]; then
fi
cd acados_repo
git fetch
git checkout 43ba28e95062f9ac9b48facd3b45698d57666fa3
git checkout 79e9e3e76f2751198858adf382c97837833ad31f
git submodule update --recursive --init
# build

7
third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h vendored
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@ -135,6 +135,8 @@ typedef struct ocp_nlp_dims
int *nz; // number of algebraic variables
int *ns; // number of slack variables
int N; // number of shooting nodes
void *raw_memory; // Pointer to allocated memory, to be used for freeing
} ocp_nlp_dims;
//
@ -203,6 +205,9 @@ typedef struct ocp_nlp_in
/// Pointers to constraints functions (TBC).
void **constraints;
/// Pointer to allocated memory, to be used for freeing.
void *raw_memory;
} ocp_nlp_in;
//
@ -235,6 +240,8 @@ typedef struct ocp_nlp_out
double inf_norm_res;
double total_time;
void *raw_memory; // Pointer to allocated memory, to be used for freeing
} ocp_nlp_out;
//

57
third_party/acados/include/acados/sim/sim_collocation_utils.h vendored
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@ -43,44 +43,53 @@ extern "C" {
enum Newton_type_collocation
{
exact = 0,
simplified_in,
simplified_inis
};
// enum Newton_type_collocation
// {
// exact = 0,
// simplified_in,
// simplified_inis
// };
typedef struct
{
enum Newton_type_collocation type;
double *eig;
double *low_tria;
bool single;
bool freeze;
// typedef struct
// {
// enum Newton_type_collocation type;
// double *eig;
// double *low_tria;
// bool single;
// bool freeze;
double *transf1;
double *transf2;
// double *transf1;
// double *transf2;
double *transf1_T;
double *transf2_T;
} Newton_scheme;
// double *transf1_T;
// double *transf2_T;
// } Newton_scheme;
typedef enum
{
GAUSS_LEGENDRE,
GAUSS_RADAU_IIA,
} sim_collocation_type;
//
acados_size_t gauss_nodes_work_calculate_size(int ns);
// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
//
void gauss_nodes(int ns, double *nodes, void *raw_memory);
// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
//
acados_size_t gauss_simplified_work_calculate_size(int ns);
// acados_size_t gauss_simplified_work_calculate_size(int ns);
// //
// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
//
void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
acados_size_t butcher_tableau_work_calculate_size(int ns);
//
acados_size_t butcher_table_work_calculate_size(int ns);
// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
//
void butcher_table(int ns, double *nodes, double *b, double *A, void *work);
void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
double *b_vec, double *A_mat, void *work);

3
third_party/acados/include/acados/sim/sim_common.h vendored
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@ -141,12 +141,13 @@ typedef struct
bool output_z; // 1 -- if zn should be computed
bool sens_algebraic; // 1 -- if S_algebraic should be computed
bool exact_z_output; // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
sim_collocation_type collocation_type;
// for explicit integrators: newton_iter == 0 && scheme == NULL
// && jac_reuse=false
int newton_iter;
bool jac_reuse;
Newton_scheme *scheme;
// Newton_scheme *scheme;
// workspace
void *work;

2
third_party/acados/include/acados/utils/math.h vendored
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@ -40,7 +40,7 @@ extern "C" {
#include "acados/utils/types.h"
#if defined(__DSPACE__)
#if defined(__MABX2__)
double fmax(double a, double b);
#endif

2
third_party/acados/include/acados/utils/timing.h vendored
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@ -67,7 +67,7 @@ typedef struct acados_timer_
mach_timebase_info_data_t tinfo;
} acados_timer;
#elif defined(__DSPACE__)
#elif defined(__MABX2__)
#include <brtenv.h>

13
third_party/acados/include/acados_c/ocp_nlp_interface.h vendored
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@ -227,10 +227,8 @@ 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_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
int start_stage, int end_stage, const char *field, void *value, int dim);
int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
int start_stage, const char *field, void *value);
int stage, const char *field, void *value);
/// Sets the function pointers to the constraints functions for the given stage.
@ -241,8 +239,6 @@ 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_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
int start_stage, int end_stage, const char *field, void *value, int dim);
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);
@ -283,9 +279,6 @@ void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *ou
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_out_get_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int start_stage, int end_stage, const char *field, void *value);
//
void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
int stage, const char *field, void *value);
@ -300,6 +293,8 @@ void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims
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,
int stage, const char *field, int *dims_out);
/* opts */
@ -374,6 +369,8 @@ int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *
/// \param nlp_out The output struct.
void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
//
void ocp_nlp_eval_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);

10
third_party/acados/include/acados_c/sim_interface.h vendored
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@ -45,11 +45,11 @@ extern "C" {
typedef enum
{
ERK,
IRK,
GNSF,
LIFTED_IRK,
INVALID_SIM_SOLVER,
ERK,
IRK,
GNSF,
LIFTED_IRK,
INVALID_SIM_SOLVER,
} sim_solver_t;

23
third_party/acados/include/blasfeo/include/blasfeo_block_size.h vendored
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@ -43,7 +43,28 @@
#if defined( TARGET_X64_INTEL_HASWELL )
#if defined( TARGET_X64_INTEL_SKYLAKE_X )
// common
#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
// double
#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_KC 128 //256 // 192
#define D_NC 144 //72 //96 //72 // 120 // 512
#define D_MC 2400 // 6000
// single
#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_KC 128 //256
#define S_NC 128 //144
#define S_MC 3000
#elif defined( TARGET_X64_INTEL_HASWELL )
// common
#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way

16
third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h vendored
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@ -101,18 +101,18 @@ void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct bl
void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A lower triangular
void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A lower triangular, unit diagonal
void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A upper triangular
void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_dtrmv_lnn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A lower triangular
void blasfeo_dtrmv_ltn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_dtrmv_lnu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A^T * x ; A lower triangular, unit diagonal
void blasfeo_dtrmv_ltu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A^T * x_t
void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);

19
third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h vendored
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@ -101,23 +101,24 @@ void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struc
void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A lower triangular, unit diagonal
void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A upper triangular
void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_ref_dtrmv_lnn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_ref_dtrmv_ltn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_ref_dtrmv_lnu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z <= A' * x ; A lower triangular, unit diagonal
void blasfeo_ref_dtrmv_ltu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A' * x_t
void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
void blasfeo_ref_dsymv_l(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
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);
// diagonal

211
third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h vendored
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@ -54,6 +54,158 @@ void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
void blasfeo_align_64_byte(void *ptr, void **ptr_align);
//
// lib8
//
// 24x8
void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
// 16x8
void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1);
void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
// 8x16
void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
// 8x8
void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); //
void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); //
void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1);
void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1);
void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD);
void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD);
void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT);
void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD);
void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1);
void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD);
void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT);
void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT);
void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1);
void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT);
void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1);
void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
// panel copy / pack
// 24
void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc);
void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
// 16
void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc);
void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
// 8
void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B);
void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1);
void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C);
void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C);
void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
// 4
void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC
void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC
// level 2 BLAS
// 16
void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
// 8
void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1);
//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1);
void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1);
void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1);
void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1);
void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z);
void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1);
void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1);
void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z);
void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1);
void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1);
void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z);
void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1);
void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1);
void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z);
void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1);
void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z);
void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1);
//
// lib4
//
// level 2 BLAS
// 12
@ -413,10 +565,10 @@ void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
// merged routines
// 12x4
void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
// 4x12
void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
// 8x8
@ -425,8 +577,8 @@ void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *
void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
// 8x4
void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
// 4x8
@ -434,16 +586,16 @@ void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, in
// 4x4
void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
// 4x2
void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
// 2x2
void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
/*
*
@ -1034,6 +1186,53 @@ void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int
// A, B panel-major bs=8; C, D column-major
// 24x8
void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
// 16x8
void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
// 8x8
void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
// A, panel-major bs=8; B, C, D column-major
// 24x8
void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_24x8_vs_lib8ccc(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_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nn_24x8_vs_lib8ccc(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);
// 16x8
void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_16x8_vs_lib8ccc(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_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nn_16x8_vs_lib8ccc(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);
// 8x8
void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_8x8_vs_lib8ccc(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_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
// B, panel-major bs=8; A, C, D column-major
// 8x24
void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
// 8x16
void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
// 8x8
void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
void kernel_dgemm_nt_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);
void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
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);
// aux
void kernel_dvecld_inc1(int kmax, double *x);
void kernel_dveccp_inc1(int kmax, double *x, double *y);

12
third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h vendored
Unescape View File

@ -97,14 +97,18 @@ void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct bl
void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular, unit diagonal
void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A upper triangular
void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A' * x_t
void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);

15
third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h vendored
Unescape View File

@ -97,19 +97,24 @@ void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struc
void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular, unit diagonal
void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular, unit diagonal
void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= beta * y + alpha * A * x ; A upper triangular
void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A upper triangular
void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A * x ; A lower triangular
void blasfeo_ref_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z <= A' * x ; A lower triangular
void blasfeo_ref_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
// z_n <= beta_n * y_n + alpha_n * A * x_n
// z_t <= beta_t * y_t + alpha_t * A' * x_t
void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
void blasfeo_ref_ssymv_l(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
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);
// diagonal

10
third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h vendored
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@ -550,6 +550,16 @@ void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int
void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
// B panel-major bs=8; A, C, D column-major
// 4x24
void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 4x16
void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
// 8x8
void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);

4
third_party/acados/larch64/lib/libacados.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:ef769d1e86261357234b3260f1aa8a0eb317858251eff83bcfdd8cdd60068664
size 485104
oid sha256:9303c7ff72999cc1e799faf24b715112326eefefb842240d4da19beb8caba1d7
size 484904

2
third_party/acados/larch64/lib/libblasfeo.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8c043d1a78e7bf885954fa40ae308d5b7456f5b4f796461c51d00f7f47be5c59
oid sha256:654deb9f5c9cca7c6c049f8cffc9eae40052d7971489690929b5efded4b9d9da
size 730608

2
third_party/acados/larch64/lib/libhpipm.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
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oid sha256:c7494826f51ccbbe43da2df236216dad90bbd2f378accee9a1828f63fac80599
size 1367352

4
third_party/acados/x86_64/lib/libacados.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:ad96e016d31a7195786b9dc011e94ad78d01199da77ec4288a17bf4b69f33021
size 525968
oid sha256:304b272189540640455e2003b6b124ce134edbc537d9f7e266939a6163e3965c
size 521320

2
third_party/acados/x86_64/lib/libblasfeo.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c41f340411cbd4adf8d3065298c094f438d432304234bcb24403062a0a10caa5
oid sha256:7eed704b395c5ab6eeff9e4188ee4f883889c666adcea7743cf2bdcef535f533
size 1265064

2
third_party/acados/x86_64/lib/libhpipm.so vendored
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8d15b89d07c01f24e668961797f9e163d3aab1fb17006164fa8d1c850908fc49
oid sha256:58abc1d388507fbab4c92483b58a4a2dd985877cd0b568c3135436cadc8f616e
size 1572648

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