void print_ocp_qp_res(ocp_qp_res *qp_res)
{
int ii;
int N = qp_res->dim->N;
int *nx = qp_res->dim->nx;
int *nu = qp_res->dim->nu;
int *nb = qp_res->dim->nb;
int *ng = qp_res->dim->ng;
printf("res_g =\n");
for (ii = 0; ii <= N; ii++) blasfeo_print_exp_tran_dvec(nu[ii] + nx[ii], &qp_res->res_g[ii], 0);
printf("res_b =\n");
for (ii = 0; ii < N; ii++) blasfeo_print_exp_tran_dvec(nx[ii + 1], &qp_res->res_b[ii], 0);
printf("res_d =\n");
for (ii = 0; ii <= N; ii++)
blasfeo_print_exp_tran_dvec(2 * nb[ii] + 2 * ng[ii], &qp_res->res_d[ii], 0);
printf("res_m =\n");
for (ii = 0; ii <= N; ii++)
blasfeo_print_exp_tran_dvec(2 * nb[ii] + 2 * ng[ii], &qp_res->res_m[ii], 0);
return;
}
void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res)
{
int ii;
int N = dims->N;
int *nv = dims->nv;
int *nx = dims->nx;
// int *nu = dims->nu;
int *ni = dims->ni;
printf("res_g =\n");
for (ii = 0; ii <= N; ii++)
{
blasfeo_print_exp_tran_dvec(nv[ii], &nlp_res->res_g[ii], 0);
}
printf("res_b =\n");
for (ii = 0; ii < N; ii++)
{
blasfeo_print_exp_tran_dvec(nx[ii + 1], &nlp_res->res_b[ii], 0);
}
printf("res_d =\n");
for (ii = 0; ii <= N; ii++)
{
blasfeo_print_exp_tran_dvec(2 * ni[ii], &nlp_res->res_d[ii], 0);
}
printf("res_m =\n");
for (ii = 0; ii <= N; ii++)
{
blasfeo_print_exp_tran_dvec(2 * ni[ii], &nlp_res->res_m[ii], 0);
}
printf("inf norm res=\t%e\t%e\t%e\t%e\n", nlp_res->inf_norm_res_g, nlp_res->inf_norm_res_b,
nlp_res->inf_norm_res_d, nlp_res->inf_norm_res_m);
return;
}
void print_ocp_qp_out(ocp_qp_out *qp_out)
{
int ii;
int N = qp_out->dim->N;
int *nx = qp_out->dim->nx;
int *nu = qp_out->dim->nu;
int *nb = qp_out->dim->nb;
int *ng = qp_out->dim->ng;
int *ns = qp_out->dim->ns;
#if 1
printf("ux =\n");
for (ii = 0; ii <= N; ii++)
blasfeo_print_tran_dvec(nu[ii] + nx[ii] + 2 * ns[ii], &qp_out->ux[ii], 0);
printf("pi =\n");
for (ii = 0; ii < N; ii++) blasfeo_print_tran_dvec(nx[ii + 1], &qp_out->pi[ii], 0);
printf("lam =\n");
for (ii = 0; ii <= N; ii++)
blasfeo_print_tran_dvec(2 * nb[ii] + 2 * ng[ii] + 2 * ns[ii], &qp_out->lam[ii], 0);
printf("t =\n");
for (ii = 0; ii <= N; ii++)
blasfeo_print_exp_tran_dvec(2 * nb[ii] + 2 * ng[ii] + 2 * ns[ii], &qp_out->t[ii], 0);
#else
for (ii = 0; ii < N + 1; ii++)
{
printf("k = %d\n\n", ii);
printf("ux =\n");
blasfeo_print_tran_dvec(nu[ii] + nx[ii], &qp_out->ux[ii], 0);
if (ii < N)
{
printf("pi =\n");
blasfeo_print_tran_dvec(nx[ii], &qp_out->pi[ii], 0);
}
printf("lam =\n");
blasfeo_print_tran_dvec(2 * nb[ii] + 2 * ng[ii], &qp_out->lam[ii], 0);
}
#endif
return;
}
int main()
{
printf("\n");
printf("\n");
printf("\n");
printf(" HPMPC -- Library for High-Performance implementation of solvers for MPC.\n");
printf(" Copyright (C) 2014-2015 by Technical University of Denmark. All rights reserved.\n");
printf("\n");
printf(" HPMPC is distributed in the hope that it will be useful,\n");
printf(" but WITHOUT ANY WARRANTY; without even the implied warranty of\n");
printf(" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n");
printf(" See the GNU Lesser General Public License for more details.\n");
printf("\n");
printf("\n");
printf("\n");
#if defined(TARGET_X64_AVX2) || defined(TARGET_X64_AVX) || defined(TARGET_X64_SSE3) || defined(TARGET_X86_ATOM) || defined(TARGET_AMD_SSE3)
_MM_SET_FLUSH_ZERO_MODE(_MM_FLUSH_ZERO_ON); // flush to zero subnormals !!! works only with one thread !!!
#endif
int ii, jj;
int rep, nrep=1000; //000;//NREP;
int nx_ = 8;//NX; // number of states (it has to be even for the mass-spring system test problem)
int nu_ = 3;//NU; // number of inputs (controllers) (it has to be at least 1 and at most nx/2 for the mass-spring system test problem)
int N = 10;//NN; // horizon lenght
// int nb = nu+nx; // number of box constrained inputs and states
// int ng = nx; //4; // number of general constraints
// int ngN = nx; // number of general constraints at the last stage
printf("\nN = %d, nx = %d, nu = %d\n\n", N, nx_, nu_);
#define MHE 0
// int nbu = nu<nb ? nu : nb ;
// int nbx = nb-nu>0 ? nb-nu : 0;
// stage-wise variant size
int nx[N+1];
#if MHE==1
nx[0] = nx_;
#else
nx[0] = 0;
#endif
for(ii=1; ii<=N; ii++)
nx[ii] = nx_;
int nu[N+1];
for(ii=0; ii<N; ii++)
nu[ii] = nu_;
nu[N] = 0; // XXX
int nb[N+1];
nb[0] = nu[0] + nx[0]/2;
for(ii=1; ii<N; ii++)
nb[ii] = nu[1] + nx[ii]/2;
nb[N] = nu[N] + nx[N]/2;
int ng[N+1];
for(ii=0; ii<N; ii++)
ng[ii] = 0; //ng;
ng[N] = 0; //ngN;
// ng[M] = nx_; // XXX
/************************************************
* IPM common arguments
************************************************/
int hpmpc_status;
int kk = -1;
int k_max = 10;
double mu0 = 2.0;
double mu_tol = 1e-20;
double alpha_min = 1e-8;
int warm_start = 0; // read initial guess from x and u
double *stat; d_zeros(&stat, k_max, 5);
int compute_res = 1;
int compute_mult = 1;
/************************************************
* dynamical system
************************************************/
double *A; d_zeros(&A, nx_, nx_); // states update matrix
double *B; d_zeros(&B, nx_, nu_); // inputs matrix
double *b; d_zeros_align(&b, nx_, 1); // states offset
double *x0; d_zeros_align(&x0, nx_, 1); // initial state
double Ts = 0.5; // sampling time
mass_spring_system(Ts, nx_, nu_, N, A, B, b, x0);
for(jj=0; jj<nx_; jj++)
b[jj] = 0.1;
for(jj=0; jj<nx_; jj++)
x0[jj] = 0;
x0[0] = 2.5;
x0[1] = 2.5;
#if MHE!=1
struct blasfeo_dvec sx0;
blasfeo_allocate_dvec(nx_, &sx0);
blasfeo_pack_dvec(nx_, x0, &sx0, 0);
struct blasfeo_dvec sb;
blasfeo_allocate_dvec(nx_, &sb);
blasfeo_pack_dvec(nx_, b, &sb, 0);
struct blasfeo_dmat sA;
blasfeo_allocate_dmat(nx_, nx_, &sA);
blasfeo_pack_dmat(nx_, nx_, A, nx_, &sA, 0, 0);
struct blasfeo_dvec sb0;
blasfeo_allocate_dvec(nx_, &sb0);
blasfeo_dgemv_n(nx_, nx_, 1.0, &sA, 0, 0, &sx0, 0, 1.0, &sb, 0, &sb0, 0);
struct blasfeo_dmat sBAbt0;
blasfeo_allocate_dmat(nu[0]+1, nx[1], &sBAbt0);
blasfeo_pack_tran_dmat(nx_, nu_, B, nx_, &sBAbt0, 0, 0);
blasfeo_drowin(nx[1], 1.0, &sb0, 0, &sBAbt0, nu[0], 0);
// d_print_strmat(nu[0]+1, nx[1], &sBAbt0, 0, 0);
#endif
struct blasfeo_dmat sBAbt1;
if(N>1)
{
blasfeo_allocate_dmat(nu[1]+nx[1]+1, nx[2], &sBAbt1);
blasfeo_pack_tran_dmat(nx_, nu_, B, nx_, &sBAbt1, 0, 0);
blasfeo_pack_tran_dmat(nx_, nx_, A, nx_, &sBAbt1, nu[1], 0);
blasfeo_pack_tran_dmat(nx_, 1, b, nx_, &sBAbt1, nu[1]+nx[1], 0);
// d_print_strmat(nu[1]+nx[1]+1, nx[2], &sBAbt1, 0, 0);
}
/************************************************
* cost function
************************************************/
double *R; d_zeros(&R, nu_, nu_);
for(ii=0; ii<nu_; ii++) R[ii*(nu_+1)] = 2.0;
double *S; d_zeros(&S, nu_, nx_);
double *Q; d_zeros(&Q, nx_, nx_);
for(ii=0; ii<nx_; ii++) Q[ii*(nx_+1)] = 1.0;
double *r; d_zeros(&r, nu_, 1);
for(ii=0; ii<nu_; ii++) r[ii] = 0.2;
double *q; d_zeros(&q, nx_, 1);
for(ii=0; ii<nx_; ii++) q[ii] = 0.1;
#if MHE!=1
struct blasfeo_dvec sr;
blasfeo_allocate_dvec(nu_, &sr);
blasfeo_pack_dvec(nu_, r, &sr, 0);
struct blasfeo_dmat sS;
blasfeo_allocate_dmat(nu_, nx_, &sS);
blasfeo_pack_dmat(nu_, nx_, S, nu_, &sS, 0, 0);
struct blasfeo_dvec sr0;
blasfeo_allocate_dvec(nu_, &sr0);
blasfeo_dgemv_n(nu_, nx_, 1.0, &sS, 0, 0, &sx0, 0, 1.0, &sr, 0, &sr0, 0);
struct blasfeo_dmat sRSQrq0;
blasfeo_allocate_dmat(nu[0]+nx[0]+1, nu[0]+nx[0], &sRSQrq0);
blasfeo_pack_dmat(nu_, nu_, R, nu_, &sRSQrq0, 0, 0);
blasfeo_drowin(nu[0], 1.0, &sr0, 0, &sRSQrq0, nu[0], 0);
// d_print_strmat(nu[0]+nx[0]+1, nu[0]+nx[0], &sRSQrq0, 0, 0);
struct blasfeo_dvec srq0;
blasfeo_allocate_dvec(nu[0]+nx[0], &srq0);
blasfeo_dveccp(nu[0], 1.0, &sr0, 0, &srq0, 0);
#endif
struct blasfeo_dmat sRSQrq1;
struct blasfeo_dvec srq1;
if(N>1)
{
blasfeo_allocate_dmat(nu[1]+nx[1]+1, nu[1]+nx[1], &sRSQrq1);
blasfeo_pack_dmat(nu_, nu_, R, nu_, &sRSQrq1, 0, 0);
blasfeo_pack_tran_dmat(nu_, nx_, S, nu_, &sRSQrq1, nu[1], 0);
blasfeo_pack_dmat(nx_, nx_, Q, nx_, &sRSQrq1, nu[1], nu[1]);
blasfeo_pack_tran_dmat(nu_, 1, r, nu_, &sRSQrq1, nu[1]+nx[1], 0);
blasfeo_pack_tran_dmat(nx_, 1, q, nx_, &sRSQrq1, nu[1]+nx[1], nu[1]);
// d_print_strmat(nu[1]+nx[1]+1, nu[1]+nx[1], &sRSQrq1, 0, 0);
blasfeo_allocate_dvec(nu[1]+nx[1], &srq1);
blasfeo_pack_dvec(nu_, r, &srq1, 0);
blasfeo_pack_dvec(nx_, q, &srq1, nu[1]);
}
struct blasfeo_dmat sRSQrqN;
blasfeo_allocate_dmat(nx[N]+1, nx[N], &sRSQrqN);
blasfeo_pack_dmat(nx_, nx_, Q, nx_, &sRSQrqN, 0, 0);
blasfeo_pack_tran_dmat(nx_, 1, q, nx_, &sRSQrqN, nx[1], 0);
// d_print_strmat(nu[N]+nx[N]+1, nu[N]+nx[N], &sRSQrqN, 0, 0);
struct blasfeo_dvec srqN;
blasfeo_allocate_dvec(nx[N], &srqN);
blasfeo_pack_dvec(nx_, q, &srqN, 0);
/************************************************
* constraints
************************************************/
#if MHE!=1
double *d0; d_zeros(&d0, 2*nb[0]+2*ng[0], 1);
int *idxb0; int_zeros(&idxb0, nb[0], 1);
// inputs
for(ii=0; ii<nu[0]; ii++)
{
d0[ii] = - 0.5; // u_min
d0[nb[0]+ng[0]+ii] = + 0.5; // u_max
idxb0[ii] = ii;
}
// states
for( ; ii<nb[0]; ii++)
{
d0[ii] = - 4.0; // x_min
d0[nb[0]+ng[0]+ii] = + 4.0; // x_max
idxb0[ii] = ii;
}
#endif
double *d1;
int *idxb1;
if(N>1)
{
d_zeros(&d1, 2*nb[1]+2*ng[1], 1);
int_zeros(&idxb1, nb[1], 1);
// inputs
for(ii=0; ii<nu[1]; ii++)
{
d1[ii] = - 0.5; // u_min
d1[nb[1]+ng[1]+ii] = + 0.5; // u_max
idxb1[ii] = ii;
}
// states
for( ; ii<nb[1]; ii++)
{
d1[ii] = - 4.0; // x_min
d1[nb[1]+ng[1]+ii] = + 4.0; // x_max
idxb1[ii] = ii;
}
}
double *dN; d_zeros(&dN, 2*nb[N]+2*ng[N], 1);
int *idxbN; int_zeros(&idxbN, nb[N], 1);
// no inputs
// states
for(ii=0 ; ii<nb[N]; ii++)
{
dN[ii] = - 4.0; // x_min
dN[nb[N]+ng[N]+ii] = + 4.0; // x_max
idxbN[ii] = ii;
}
struct blasfeo_dvec sd0;
blasfeo_allocate_dvec(2*nb[0]+2*ng[0], &sd0);
blasfeo_pack_dvec(2*nb[0]+2*ng[0], d0, &sd0, 0);
// blasfeo_print_tran_dvec(2*nb[0], &sd0, 0);
struct blasfeo_dvec sd1;
blasfeo_allocate_dvec(2*nb[1]+2*ng[1], &sd1);
blasfeo_pack_dvec(2*nb[1]+2*ng[1], d1, &sd1, 0);
// blasfeo_print_tran_dvec(2*nb[1], &sd1, 0);
struct blasfeo_dvec sdN;
blasfeo_allocate_dvec(2*nb[N]+2*ng[N], &sdN);
blasfeo_pack_dvec(2*nb[N]+2*ng[N], dN, &sdN, 0);
// blasfeo_print_tran_dvec(2*nb[N], &sdN, 0);
/************************************************
* array of data matrices
************************************************/
// original MPC
struct blasfeo_dmat hsBAbt[N];
struct blasfeo_dvec hsb[N];
struct blasfeo_dmat hsRSQrq[N+1];
struct blasfeo_dvec hsrq[N+1];
struct blasfeo_dmat hsDCt[N+1]; // XXX
struct blasfeo_dvec hsd[N+1];
int *hidxb[N+1];
ii = 0;
#if MHE!=1
hsBAbt[ii] = sBAbt0;
hsb[ii] = sb0;
hsRSQrq[ii] = sRSQrq0;
hsrq[ii] = srq0;
hsd[ii] = sd0;
hidxb[0] = idxb0;
#else
hsBAbt[ii] = sBAbt1;
hsb[ii] = sb;
hsRSQrq[ii] = sRSQrq1;
hsrq[ii] = srq1;
hsd[ii] = sd1;
hidxb[0] = idxb1;
#endif
for(ii=1; ii<N; ii++)
{
hsBAbt[ii] = sBAbt1;
hsb[ii] = sb;
hsRSQrq[ii] = sRSQrq1;
hsrq[ii] = srq1;
hsd[ii] = sd1;
hidxb[ii] = idxb1;
}
hsRSQrq[ii] = sRSQrqN;
hsrq[ii] = srqN;
hsd[ii] = sdN;
hidxb[N] = idxbN;
/************************************************
* solve full spase system using Riccati / IPM
************************************************/
// result vectors
struct blasfeo_dvec hsux[N+1];
struct blasfeo_dvec hspi[N+1];
struct blasfeo_dvec hslam[N+1];
struct blasfeo_dvec hst[N+1];
for(ii=0; ii<=N; ii++)
{
blasfeo_allocate_dvec(nu[ii]+nx[ii], &hsux[ii]);
blasfeo_allocate_dvec(nx[ii], &hspi[ii]);
blasfeo_allocate_dvec(2*nb[ii]+2*ng[ii], &hslam[ii]);
blasfeo_allocate_dvec(2*nb[ii]+2*ng[ii], &hst[ii]);
}
// work space
void *work_space_ipm;
v_zeros_align(&work_space_ipm, d_ip2_res_mpc_hard_work_space_size_bytes_libstr(N, nx, nu, nb, ng));
struct timeval tv0, tv1;
printf("\nsolving... (full space system)\n");
gettimeofday(&tv0, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
hpmpc_status = d_ip2_res_mpc_hard_libstr(&kk, k_max, mu0, mu_tol, alpha_min, warm_start, stat, N, nx, nu, nb, hidxb, ng, hsBAbt, hsRSQrq, hsDCt, hsd, hsux, 1, hspi, hslam, hst, work_space_ipm);
}
gettimeofday(&tv1, NULL); // stop
printf("\n... done\n");
float time_ipm_full = (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6);
printf("\nstatistics from last run\n\n");
for(jj=0; jj<kk; jj++)
printf("k = %d\tsigma = %f\talpha = %f\tmu = %f\t\tmu = %e\talpha = %f\tmu = %f\tmu = %e\n", jj, stat[5*jj], stat[5*jj+1], stat[5*jj+2], stat[5*jj+2], stat[5*jj+3], stat[5*jj+4], stat[5*jj+4]);
printf("\n");
printf("\nux =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(nu[ii]+nx[ii], &hsux[ii], 0);
printf("\npi =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(nx[ii], &hspi[ii], 0);
printf("\nlam =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(2*nb[ii]+2*ng[ii], &hslam[ii], 0);
printf("\nt =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(2*nb[ii]+2*ng[ii], &hst[ii], 0);
// residuals vectors
struct blasfeo_dvec hsrrq[N+1];
struct blasfeo_dvec hsrb[N+1];
struct blasfeo_dvec hsrd[N+1];
struct blasfeo_dvec hsrm[N+1];
double mu;
for(ii=0; ii<N; ii++)
{
blasfeo_allocate_dvec(nu[ii]+nx[ii], &hsrrq[ii]);
blasfeo_allocate_dvec(nx[ii+1], &hsrb[ii]);
blasfeo_allocate_dvec(2*nb[ii]+2*ng[ii], &hsrd[ii]);
blasfeo_allocate_dvec(2*nb[ii]+2*ng[ii], &hsrm[ii]);
}
blasfeo_allocate_dvec(nu[N]+nx[N], &hsrrq[N]);
blasfeo_allocate_dvec(2*nb[N]+2*ng[N], &hsrd[N]);
blasfeo_allocate_dvec(2*nb[N]+2*ng[N], &hsrm[N]);
int ngM = ng[0];
for(ii=1; ii<=N; ii++)
{
ngM = ng[ii]>ngM ? ng[ii] : ngM;
}
void *work_space_res;
v_zeros_align(&work_space_res, d_res_res_mpc_hard_work_space_size_bytes_libstr(N, nx, nu, nb, ng));
d_res_res_mpc_hard_libstr(N, nx, nu, nb, hidxb, ng, hsBAbt, hsb, hsRSQrq, hsrq, hsux, hsDCt, hsd, hspi, hslam, hst, hsrrq, hsrb, hsrd, hsrm, &mu, work_space_res);
printf("\nres_rq\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_exp_tran_dvec(nu[ii]+nx[ii], &hsrrq[ii], 0);
printf("\nres_b\n");
for(ii=0; ii<N; ii++)
blasfeo_print_exp_tran_dvec(nx[ii+1], &hsrb[ii], 0);
printf("\nres_d\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_exp_tran_dvec(2*nb[ii]+2*ng[ii], &hsrd[ii], 0);
printf("\nres_m\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_exp_tran_dvec(2*nb[ii]+2*ng[ii], &hsrm[ii], 0);
/************************************************
* full condensing
************************************************/
// condensed problem size
int N2 = 1;
int nx2[N2+1];
int nu2[N2+1];
int nb2[N2+1];
int ng2[N2+1];
d_cond_compute_problem_size_libstr(N, nx, nu, nb, hidxb, ng, nx2, nu2, nb2, ng2);
#if 0
for(ii=0; ii<=N2; ii++)
printf("\n%d %d %d %d\n", nx2[ii], nu2[ii], nb2[ii], ng2[ii]);
#endif
int work_sizes_cond[5];
int work_size_cond = d_cond_work_space_size_bytes_libstr(N, nx, nu, nb, hidxb, ng, nx2, nu2, nb2, ng2, work_sizes_cond);
int memo_size_cond = d_cond_memory_space_size_bytes_libstr(N, nx, nu, nb, hidxb, ng, nx, nu2, nb2, ng2);
int work_size_ipm_cond = d_ip2_res_mpc_hard_work_space_size_bytes_libstr(N2, nx2, nu2, nb2, ng2);
int work_sizes_expa[2];
int work_size_expa = d_expand_work_space_size_bytes_libstr(N, nx, nu, nb, ng, work_sizes_expa);
// work space
void *work_cond;
void *memo_cond;
void *work_ipm_cond;
void *work_expa;
v_zeros_align(&work_cond, work_size_cond);
v_zeros_align(&memo_cond, memo_size_cond);
v_zeros_align(&work_ipm_cond, work_size_ipm_cond);
v_zeros_align(&work_expa, work_size_expa);
// data matrices
struct blasfeo_dmat hsBAbt2[N2];
struct blasfeo_dvec hsb2[N2];
struct blasfeo_dmat hsRSQrq2[N2+1];
struct blasfeo_dvec hsrq2[N2+1];
struct blasfeo_dmat hsDCt2[N2+1];
struct blasfeo_dvec hsd2[N2+1];
int *hidxb2[N2+1];
for(ii=0; ii<N2; ii++)
blasfeo_allocate_dmat(nu2[ii]+nx2[ii]+1, nx2[ii+1], &hsBAbt2[ii]);
for(ii=0; ii<N2; ii++)
blasfeo_allocate_dvec(nx2[ii+1], &hsb2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_allocate_dmat(nu2[ii]+nx2[ii]+1, nu2[ii]+nx2[ii], &hsRSQrq2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_allocate_dvec(nu2[ii]+nx2[ii], &hsrq2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_allocate_dmat(nu2[ii]+nx2[ii]+1, ng2[ii], &hsDCt2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_allocate_dvec(2*nb2[ii]+2*ng2[ii], &hsd2[ii]);
for(ii=0; ii<=N2; ii++)
int_zeros(&hidxb2[ii], nb2[ii], 1);
// result vectors
struct blasfeo_dvec hsux2[N2+1];
struct blasfeo_dvec hspi2[N2+1];
struct blasfeo_dvec hslam2[N2+1];
struct blasfeo_dvec hst2[N2+1];
for(ii=0; ii<=N2; ii++)
{
blasfeo_allocate_dvec(nu2[ii]+nx2[ii], &hsux2[ii]);
blasfeo_allocate_dvec(nx2[ii], &hspi2[ii]);
blasfeo_allocate_dvec(2*nb2[ii]+2*ng2[ii], &hslam2[ii]);
blasfeo_allocate_dvec(2*nb2[ii]+2*ng2[ii], &hst2[ii]);
}
d_cond_libstr(N, nx, nu, nb, hidxb, ng, hsBAbt, hsRSQrq, hsDCt, hsd, nx2, nu2, nb2, hidxb2, ng2, hsBAbt2, hsRSQrq2, hsDCt2, hsd2, memo_cond, work_cond, work_sizes_cond);
#if 0
printf("\nBAbt2\n");
for(ii=0; ii<N2; ii++)
d_print_strmat(nu2[ii]+nx2[ii]+1, nx2[ii+1], &hsBAbt2[ii], 0, 0);
printf("\nRSQrq2\n");
for(ii=0; ii<=N2; ii++)
d_print_strmat(nu2[ii]+nx2[ii]+1, nu2[ii]+nx2[ii], &hsRSQrq2[ii], 0, 0);
printf("\nDCt2\n");
for(ii=0; ii<=N2; ii++)
d_print_strmat(nu2[ii]+nx2[ii], ng2[ii], &hsDCt2[ii], 0, 0);
printf("\nd2\n");
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(2*nb2[ii]+2*ng2[ii], &hsd2[ii], 0);
#endif
/************************************************
* solve condensed system using IPM
************************************************/
// zero solution
for(ii=0; ii<=N; ii++)
blasfeo_dvecse(nu[ii]+nx[ii], 0.0, &hsux[ii], 0);
for(ii=0; ii<=N; ii++)
blasfeo_dvecse(nx[ii], 0.0, &hspi[ii], 0);
for(ii=0; ii<=N; ii++)
blasfeo_dvecse(2*nb[ii]+2*ng[ii], 0.0, &hslam[ii], 0);
for(ii=0; ii<=N; ii++)
blasfeo_dvecse(2*nb[ii]+2*ng[ii], 0.0, &hst[ii], 0);
printf("\nsolving... (condensed system)\n");
gettimeofday(&tv0, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
d_cond_libstr(N, nx, nu, nb, hidxb, ng, hsBAbt, hsRSQrq, hsDCt, hsd, nx2, nu2, nb2, hidxb2, ng2, hsBAbt2, hsRSQrq2, hsDCt2, hsd2, memo_cond, work_cond, work_sizes_cond);
hpmpc_status = d_ip2_res_mpc_hard_libstr(&kk, k_max, mu0, mu_tol, alpha_min, warm_start, stat, N2, nx2, nu2, nb2, hidxb2, ng2, hsBAbt2, hsRSQrq2, hsDCt2, hsd2, hsux2, 1, hspi2, hslam2, hst2, work_ipm_cond);
d_expand_solution_libstr(N, nx, nu, nb, hidxb, ng, hsBAbt, hsb, hsRSQrq, hsrq, hsDCt, hsux, hspi, hslam, hst, nx2, nu2, nb2, hidxb2, ng2, hsux2, hspi2, hslam2, hst2, work_expa, work_sizes_expa);
}
gettimeofday(&tv1, NULL); // stop
printf("\n... done\n");
float time_ipm_cond = (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6);
printf("\nstatistics from last run\n\n");
for(jj=0; jj<kk; jj++)
printf("k = %d\tsigma = %f\talpha = %f\tmu = %f\t\tmu = %e\talpha = %f\tmu = %f\tmu = %e\n", jj, stat[5*jj], stat[5*jj+1], stat[5*jj+2], stat[5*jj+2], stat[5*jj+3], stat[5*jj+4], stat[5*jj+4]);
printf("\n");
#if 0
printf("\nux2 =\n\n");
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nu2[ii]+nx2[ii], &hsux2[ii], 0);
printf("\npi2 =\n\n");
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nx2[ii], &hspi2[ii], 0);
printf("\nlam2 =\n\n");
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(2*nb2[ii]+2*ng2[ii], &hslam2[ii], 0);
printf("\nt2 =\n\n");
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(2*nb2[ii]+2*ng2[ii], &hst2[ii], 0);
#endif
printf("\nux =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(nu[ii]+nx[ii], &hsux[ii], 0);
printf("\npi =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(nx[ii], &hspi[ii], 0);
printf("\nlam =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(2*nb[ii]+2*ng[ii], &hslam[ii], 0);
printf("\nt =\n\n");
for(ii=0; ii<=N; ii++)
blasfeo_print_tran_dvec(2*nb[ii]+2*ng[ii], &hst[ii], 0);
/************************************************
* free memory full space
************************************************/
// TODO
d_free(A);
d_free(B);
d_free(b);
d_free(x0);
d_free(R);
d_free(S);
d_free(Q);
d_free(r);
d_free(q);
d_free(d0);
int_free(idxb0);
d_free(d1);
int_free(idxb1);
d_free(dN);
int_free(idxbN);
v_free_align(work_space_ipm);
blasfeo_free_dvec(&sx0);
blasfeo_free_dvec(&sb);
blasfeo_free_dmat(&sA);
blasfeo_free_dvec(&sb0);
blasfeo_free_dmat(&sBAbt0);
if(N>1)
blasfeo_free_dmat(&sBAbt1);
blasfeo_free_dvec(&sr);
blasfeo_free_dmat(&sS);
blasfeo_free_dvec(&sr0);
blasfeo_free_dmat(&sRSQrq0);
blasfeo_free_dvec(&srq0);
if(N>1)
blasfeo_free_dmat(&sRSQrq1);
if(N>1)
blasfeo_free_dvec(&srq1);
blasfeo_free_dmat(&sRSQrqN);
blasfeo_free_dvec(&srqN);
blasfeo_free_dvec(&sd0);
blasfeo_free_dvec(&sd1);
blasfeo_free_dvec(&sdN);
for(ii=0; ii<N; ii++)
{
blasfeo_free_dvec(&hsux[ii]);
blasfeo_free_dvec(&hspi[ii]);
blasfeo_free_dvec(&hslam[ii]);
blasfeo_free_dvec(&hst[ii]);
blasfeo_free_dvec(&hsrrq[ii]);
blasfeo_free_dvec(&hsrb[ii]);
blasfeo_free_dvec(&hsrd[ii]);
blasfeo_free_dvec(&hsrm[ii]);
}
ii = N;
blasfeo_free_dvec(&hsux[ii]);
blasfeo_free_dvec(&hspi[ii]);
blasfeo_free_dvec(&hslam[ii]);
blasfeo_free_dvec(&hst[ii]);
blasfeo_free_dvec(&hsrrq[ii]);
blasfeo_free_dvec(&hsrd[ii]);
blasfeo_free_dvec(&hsrm[ii]);
v_free_align(work_space_res);
/************************************************
* print timings
************************************************/
printf("\ntime ipm full (in sec): %e", time_ipm_full);
printf("\ntime ipm cond (in sec): %e\n\n", time_ipm_cond);
/************************************************
* return
************************************************/
return 0;
}
