forked from giaf/hpipm
-
Notifications
You must be signed in to change notification settings - Fork 0
/
d_elim_x0.c
195 lines (148 loc) · 6.21 KB
/
d_elim_x0.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
/**************************************************************************************************
* *
* This file is part of HPIPM. *
* *
* HPIPM -- High-Performance Interior Point Method. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#define GEMV_T_LIBSTR blasfeo_dgemv_t
#define ELIM_X0_WORKSPACE d_elim_x0_workspace
#define OCP_QP d_ocp_qp
#define ROWIN_LIBSTR blasfeo_drowin
#define SIZE_STRMAT blasfeo_memsize_dmat
#define SIZE_STRVEC blasfeo_memsize_dvec
#define STRMAT blasfeo_dmat
#define STRVEC blasfeo_dvec
#define MEMSIZE_ELIM_X0 d_memsize_elim_x0
#define CREATE_ELIM_X0 d_create_elim_x0
#define ELIM_X0 d_elim_x0
struct d_elim_x0_workspace{
struct blasfeo_dmat *BAbt0_i;
struct blasfeo_dvec *b0;
struct blasfeo_dvec *ux0;
int nx0;
int memsize;
};
void MEMSIZE_ELIM_X0(struct OCP_QP *qp)
{
int N = qp->N;
int *nx = qp->nx;
int *nu = qp->nu;
int size = 0;
size += 1*sizeof(struct STRMAT); // BAbt0_i
size += 2*sizeof(struct STRVEC); // b0 x0
size += SIZE_STRMAT(nu[0]+nx[0]+1, nx[1]); // BAbt0_i
size += SIZE_STRVEC(nx[1]); // b0
size += SIZE_STRVEC(nx[0]); // x0
size = (size+63)/64*64; // make multiple of typical cache line size
size += 1*64; // align once to typical cache line size
return size;
}
void CREATE_ELIM_X0(struct OCP_QP *qp, struct ELIM_X0_WORKSPACE *ws, void *mem)
{
int N = qp->N;
int *nx = qp->nx;
int *nu = qp->nu;
// matrix struct
struct STRMAT *sm_ptr = (struct STRMAT *) mem;
//
ws->BAbt0_i = sm_ptr;
sm_ptr += 1;
// vector struct
struct STRVEC *sv_ptr = (struct STRVEC *) sm_ptr;
//
ws->b0 = sv_ptr;
sv_ptr += 1;
//
ws->x0 = sv_ptr;
sv_ptr += 1;
// align to typicl cache line size
size_t s_ptr = (size_t) sv_ptr;
s_ptr = (s_ptr+63)/64*64;
// void stuff
char *c_ptr = (char *) s_ptr;
//
CREATE_STRMAT(nu[0]+nx[0]+1, nx[1], ws->BAbt0_i, c_ptr);
c_ptr += ws->BAbt0_i->memsize;
//
CREATE_STRVEC(nx[1], ws->b0, c_ptr);
c_ptr += ws->b0->memsize;
//
CREATE_STRVEC(nx[0], ws->x0, c_ptr);
c_ptr += ws->x0->memsize;
//
ws->memsize = MEMSIZE_ELIM_X0(qp);
return;
}
void ELIM_X0(struct OCP_QP *qp, struct ELIM_X0_WORKSPACE *ws)
{
int ii;
int N = qp->N;
int *nx = qp->nx;
struct STRMAT *BAbt0_i = ws->BAbt0_i;
struct STRVEC *b0 = ws->b0;
struct STRVEC *x0 = ws->x0;
int idx_e;
int idx_i;
int nx0_tmp;
// extract x0 from bounds // TODO soft constraint on initial state
idx_e = 0;
idx_i = 0;
nx0_tmp = 0;
for(ii=0; ii<nb[0]; ii++)
{
if(qp->d[0][ii]==qp->d[0][nb[0]+ng[0]+ii]) // equality constraint
{
GECP_LIBSTR(1, nx[1], qp->BAbt+0, qp->idxb[ii], 0, BAt0_e, idx_e, 0);
x0[idx_e] = qp->d[0][ii];
// TODO idxb, d, nb
idx_e += 1;
}
else // inequality constraint
{
GECP_LIBSTR(1, nx[1], qp->BAbt+0, qp->idxb[ii], 0, BAbt0_i, idx_i, 0);
// TODO idxb, d, nb
idx_i += 1;
}
}
GEMV_T_LIBSTR(idx_e, nx[1], 1.0, BAt0_e, 0, 0, x0, 0, 1.0, qp->b+0, 0, b0, 0);
ROWIN_LIBSTR(nx[1], 1.0, b0, 0, BAbt0_i, idx_i, 0);
// update nx TODO nu too !!!!!!!!!!!!!!
ws->nx0 = nx[0];
nx[0] = 0;
return;
}
void RECOV_X0(struct OCP_QP *qp, struct ELIM_X0_WORKSPACE *ws)
{
int N = qp->N;
int *nx = qp->nx;
nx[0] = ws->nx0;
return;
}