void d_res_mpc(int nx, int nu, int N, double **hpBAbt, double **hpQ, double **hq, double **hux, double **hpi, double **hrq, double **hrb)
{
const int bs = D_MR; //d_get_mr();
const int ncl = D_NCL;
const int pnz = bs*((nx+nu+1+bs-1)/bs);
const int cnz = ncl*((nx+nu+1+ncl-1)/ncl);
const int cnx = ncl*((nx+ncl-1)/ncl);
static double temp[D_MR] = {};
int ii, jj;
int nxu = nx+nu;
// first block
for(jj=0; jj<nu; jj++) hrq[0][jj] = - hq[0][jj];
for(jj=0; jj<nu%bs; jj++) { temp[jj] = hux[0][(nu/bs)*bs+jj]; hux[0][(nu/bs)*bs+jj] = 0.0; }
dgemv_t_lib(nx, nu, hpQ[0]+(nu/bs)*bs*cnz+nu%bs, cnz, hux[0]+nu, -1, hrq[0], hrq[0]);
for(jj=0; jj<nu%bs; jj++) hux[0][(nu/bs)*bs+jj] = temp[jj];
dsymv_lib(nu, nu, hpQ[0], cnz, hux[0], -1, hrq[0], hrq[0]);
dgemv_n_lib(nu, nx, hpBAbt[0], cnx, hpi[1], -1, hrq[0], hrq[0]);
for(jj=0; jj<nx; jj++) hrb[0][jj] = hux[1][nu+jj] - hpBAbt[0][(nxu/bs)*bs*cnx+nxu%bs+bs*jj];
dgemv_t_lib(nxu, nx, hpBAbt[0], cnx, hux[0], -1, hrb[0], hrb[0]);
// middle blocks
for(ii=1; ii<N; ii++)
{
for(jj=0; jj<nu; jj++) hrq[ii][jj] = - hq[ii][jj];
for(jj=0; jj<nx; jj++) hrq[ii][nu+jj] = hpi[ii][jj] - hq[ii][nu+jj];
dsymv_lib(nxu, nxu, hpQ[ii], cnz, hux[ii], -1, hrq[ii], hrq[ii]);
for(jj=0; jj<nx; jj++) hrb[ii][jj] = hux[ii+1][nu+jj] - hpBAbt[ii][(nxu/bs)*bs*cnx+nxu%bs+bs*jj];
dgemv_nt_lib(nxu, nx, hpBAbt[ii], cnx, hpi[ii+1], hux[ii], -1, hrq[ii], hrb[ii], hrq[ii], hrb[ii]);
}
// last block
for(jj=0; jj<nx; jj++) hrq[N][nu+jj] = hpi[N][jj] - hq[N][nu+jj];
dsymv_lib(nx+nu%bs, nx+nu%bs, hpQ[N]+(nu/bs)*bs*cnz+(nu/bs)*bs*bs, cnz, hux[N]+(nu/bs)*bs, -1, hrq[N]+(nu/bs)*bs, hrq[N]+(nu/bs)*bs);
}
void d_res_mpc_soft_tv(int N, int *nx, int *nu, int *nb, int **idxb, int *ng, int *ns, double **hpBAbt, double **hpQ, double **hq, double **hZ, double **hz, double **hux, double **hpDCt, double **hd, double **hpi, double **hlam, double **ht, double **hrq, double **hrb, double **hrd, double **hrz, double *mu)
{
const int bs = D_MR;
const int ncl = D_NCL;
static double temp[D_MR] = {};
int ii, jj;
int nu0, nu1, cnz0, nx0, nx1, nxm, cnx0, cnx1, nb0, pnb, ng0, png, cng, ns0, pns, nb_tot;
// initialize mu
nb_tot = 0;
mu[0] = 0;
nu1 = nu[0];
nx1 = nx[0];
cnx1 = (nx1+ncl-1)/ncl*ncl;
// first blocks
for(ii=0; ii<N; ii++)
{
nu0 = nu1;
nu1 = nu[ii+1];
nx0 = nx1;
nx1 = nx[ii+1];
cnx0 = cnx1;
cnx1 = (nx1+ncl-1)/ncl*ncl;
cnz0 = (nu0+nx0+1+ncl-1)/ncl*ncl;
nb0 = nb[ii];
pnb = (nb0+bs-1)/bs*bs;
ng0 = ng[ii];
png = (ng0+bs-1)/bs*bs;
cng = (ng0+ncl-1)/ncl*ncl;
ns0 = ns[ii];
pns = (ns0+bs-1)/bs*bs;
nb_tot += nb0 + ng0 + ns0;
for(jj=0; jj<nb0; jj++)
mu[0] += hlam[ii][jj] * ht[ii][jj] + hlam[ii][pnb+jj] * ht[ii][pnb+jj];
for(jj=0; jj<ng0; jj++)
mu[0] += hlam[ii][2*pnb+jj] * ht[ii][2*pnb+jj] + hlam[ii][2*pnb+png+jj] * ht[ii][2*pnb+png+jj];
for(jj=0; jj<ns0; jj++)
mu[0] += hlam[ii][2*pnb+2*png+0*pns+jj] * ht[ii][2*pnb+2*png+0*pns+jj] + hlam[ii][2*pnb+2*png+1*pns+jj] * ht[ii][2*pnb+2*png+1*pns+jj] + hlam[ii][2*pnb+2*png+2*pns+jj] * ht[ii][2*pnb+2*png+2*pns+jj] + hlam[ii][2*pnb+2*png+3*pns+jj] * ht[ii][2*pnb+2*png+3*pns+jj];
for(jj=0; jj<nb0; jj++)
{
hrd[ii][jj] = hux[ii][idxb[ii][jj]] - hd[ii][jj] - ht[ii][jj];
hrd[ii][pnb+jj] = - hux[ii][idxb[ii][jj]] - hd[ii][pnb+jj] - ht[ii][pnb+jj];
}
if(ng0>0)
{
dgemv_t_lib(nu0+nx0, ng0, hpDCt[ii], cng, hux[ii], 0, hrd[ii]+2*pnb, hrd[ii]+2*pnb);
for(jj=0; jj<ng0; jj++)
{
hrd[ii][2*pnb+png+jj] = - hrd[ii][2*pnb+jj];
hrd[ii][2*pnb+jj] += - hd[ii][2*pnb+jj] - ht[ii][2*pnb+jj];
hrd[ii][2*pnb+png+jj] += - hd[ii][2*pnb+png+jj] - ht[ii][2*pnb+png+jj];
}
}
for(jj=0; jj<ns0; jj++)
{
hrd[ii][2*pnb+2*png+0*pns+jj] = ht[ii][2*pnb+2*png+2*pns+jj] + hux[ii][idxb[ii][nu0+jj]] - hd[ii][2*pnb+2*png+0*pns+jj] - ht[ii][2*pnb+2*png+0*pns+jj];
hrd[ii][2*pnb+2*png+1*pns+jj] = ht[ii][2*pnb+2*png+3*pns+jj] - hux[ii][idxb[ii][nu0+jj]] - hd[ii][2*pnb+2*png+1*pns+jj] - ht[ii][2*pnb+2*png+1*pns+jj];
}
for(jj=0; jj<nu0; jj++)
hrq[ii][jj] = - hq[ii][jj];
for(jj=0; jj<nx0; jj++)
hrq[ii][nu0+jj] = - hq[ii][nu0+jj] + hpi[ii][jj];
dsymv_lib(nu0+nx0, nu0+nx0, hpQ[ii], cnz0, hux[ii], -1, hrq[ii], hrq[ii]);
for(jj=0; jj<nb0; jj++)
hrq[ii][idxb[ii][jj]] += hlam[ii][jj] - hlam[ii][pnb+jj];
if(ng0>0)
{
// TODO work space + one dgemv call
dgemv_n_lib(nu0+nx0, ng0, hpDCt[ii], cng, hlam[ii]+2*pnb, 1, hrq[ii], hrq[ii]);
dgemv_n_lib(nu0+nx0, ng0, hpDCt[ii], cng, hlam[ii]+2*pnb+png, -1, hrq[ii], hrq[ii]);
}
for(jj=0; jj<ns0; jj++)
hrq[ii][idxb[ii][nu0+jj]] += hlam[ii][2*pnb+2*png+0*pns+jj] - hlam[ii][2*pnb+2*png+1*pns+jj];
for(jj=0; jj<nx1; jj++)
hrb[ii][jj] = hux[ii+1][nu1+jj] - hpBAbt[ii][(nu0+nx0)/bs*bs*cnx1+(nu0+nx0)%bs+bs*jj];
dgemv_nt_lib(nu0+nx0, nx1, hpBAbt[ii], cnx1, hpi[ii+1], hux[ii], -1, -1, hrq[ii], hrb[ii], hrq[ii], hrb[ii]);
for(jj=0; jj<ns0; jj++)
{
hrz[ii][0*pns+jj] = hz[ii][0*pns+jj] + hZ[ii][0*pns+jj]*ht[ii][2*pnb+2*png+2*pns+jj] - hlam[ii][2*pnb+2*png+0*pns+jj] - hlam[ii][2*pnb+2*png+2*pns+jj];
hrz[ii][1*pns+jj] = hz[ii][1*pns+jj] + hZ[ii][1*pns+jj]*ht[ii][2*pnb+2*png+3*pns+jj] - hlam[ii][2*pnb+2*png+1*pns+jj] - hlam[ii][2*pnb+2*png+3*pns+jj];
}
}
// last block
ii = N;
nu0 = nu1;
nx0 = nx1;
cnz0 = (nu0+nx0+1+ncl-1)/ncl*ncl;
nb0 = nb[ii];
pnb = (nb0+bs-1)/bs*bs;
ng0 = ng[ii];
png = (ng0+bs-1)/bs*bs;
cng = (ng0+ncl-1)/ncl*ncl;
ns0 = ns[ii];
pns = (ns0+bs-1)/bs*bs;
nb_tot += nb0 + ng0 + ns0;
for(jj=0; jj<nb0; jj++)
mu[0] += hlam[ii][jj] * ht[ii][jj] + hlam[ii][pnb+jj] * ht[ii][pnb+jj];
for(jj=0; jj<ng0; jj++)
mu[0] += hlam[ii][2*pnb+jj] * ht[ii][2*pnb+jj] + hlam[ii][2*pnb+png+jj] * ht[ii][2*pnb+png+jj];
for(jj=0; jj<ns0; jj++)
mu[0] += hlam[ii][2*pnb+2*png+0*pns+jj] * ht[ii][2*pnb+2*png+0*pns+jj] + hlam[ii][2*pnb+2*png+1*pns+jj] * ht[ii][2*pnb+2*png+1*pns+jj] + hlam[ii][2*pnb+2*png+2*pns+jj] * ht[ii][2*pnb+2*png+2*pns+jj] + hlam[ii][2*pnb+2*png+3*pns+jj] * ht[ii][2*pnb+2*png+3*pns+jj];
for(jj=0; jj<nb0; jj++)
{
hrd[ii][jj] = hux[ii][idxb[ii][jj]] - hd[ii][jj] - ht[ii][jj];
hrd[ii][pnb+jj] = - hux[ii][idxb[ii][jj]] - hd[ii][pnb+jj] - ht[ii][pnb+jj];
}
if(ng0>0)
{
dgemv_t_lib(nu0+nx0, ng0, hpDCt[ii], cng, hux[ii], 0, hrd[ii]+2*pnb, hrd[ii]+2*pnb);
for(jj=0; jj<ng0; jj++)
{
hrd[ii][2*pnb+png+jj] = - hrd[ii][2*pnb+jj];
hrd[ii][2*pnb+jj] += - hd[ii][2*pnb+jj] - ht[ii][2*pnb+jj];
hrd[ii][2*pnb+png+jj] += - hd[ii][2*pnb+png+jj] - ht[ii][2*pnb+png+jj];
}
}
for(jj=0; jj<ns0; jj++)
{
hrd[ii][2*pnb+2*png+0*pns+jj] = ht[ii][2*pnb+2*png+2*pns+jj] + hux[ii][idxb[ii][nu0+jj]] - hd[ii][2*pnb+2*png+0*pns+jj] - ht[ii][2*pnb+2*png+0*pns+jj];
hrd[ii][2*pnb+2*png+1*pns+jj] = ht[ii][2*pnb+2*png+3*pns+jj] - hux[ii][idxb[ii][nu0+jj]] - hd[ii][2*pnb+2*png+1*pns+jj] - ht[ii][2*pnb+2*png+1*pns+jj];
}
for(jj=0; jj<nx0; jj++)
hrq[ii][nu0+jj] = hpi[ii][jj] - hq[ii][nu0+jj];
for(jj=0; jj<nb0; jj++)
hrq[ii][idxb[ii][jj]] += hlam[ii][jj] - hlam[ii][pnb+jj];
dsymv_lib(nx0+nu0%bs, nx0+nu0%bs, hpQ[ii]+nu0/bs*bs*cnz0+nu0/bs*bs*bs, cnz0, hux[ii]+nu0/bs*bs, -1, hrq[ii]+nu0/bs*bs, hrq[ii]+nu0/bs*bs);
if(ng0>0)
{
// TODO work space + one dgemv call
dgemv_n_lib(nu0+nx0, ng0, hpDCt[ii], cng, hlam[ii]+2*pnb, 1, hrq[ii], hrq[ii]);
dgemv_n_lib(nu0+nx0, ng0, hpDCt[ii], cng, hlam[ii]+2*pnb+png, -1, hrq[ii], hrq[ii]);
}
for(jj=0; jj<ns0; jj++)
hrq[ii][idxb[ii][nu0+jj]] += - hlam[ii][2*pnb+2*png+2*pns+jj] + hlam[ii][2*pnb+2*png+3*pns+jj];
for(jj=0; jj<ns0; jj++)
{
hrz[ii][0*pns+jj] = hz[ii][0*pns+jj] + hZ[ii][0*pns+jj]*ht[ii][2*pnb+2*png+2*pns+jj] - hlam[ii][2*pnb+2*png+0*pns+jj] - hlam[ii][2*pnb+2*png+2*pns+jj];
hrz[ii][1*pns+jj] = hz[ii][1*pns+jj] + hZ[ii][1*pns+jj]*ht[ii][2*pnb+2*png+3*pns+jj] - hlam[ii][2*pnb+2*png+1*pns+jj] - hlam[ii][2*pnb+2*png+3*pns+jj];
}
// normalize mu
if(nb_tot!=0)
mu[0] /= 2.0*nb_tot;
}
void d_res_mpc_tv(int N, int *nx, int *nu, double **hpBAbt, double **hpQ, double **hq, double **hux, double **hpi, double **hrq, double **hrb)
{
const int bs = D_MR;
const int ncl = D_NCL;
const int nal = bs*ncl; // number of doubles per cache line
static double temp[D_MR] = {};
int ii, jj;
int nu0, nu1, cnz0, nx0, nx1, nxm, cnx0, cnx1;
// first block
ii = 0;
nu0 = nu[ii];
nu1 = nu[ii+1];
nx0 = nx[ii];
nx1 = nx[ii+1];
cnx1 = (nx1+ncl-1)/ncl*ncl;
cnz0 = (nu0+nx0+1+ncl-1)/ncl*ncl;
for(jj=0; jj<nu0; jj++)
hrq[ii][jj] = - hq[ii][jj];
if(nx0>0)
{
for(jj=0; jj<nu0%bs; jj++)
{
temp[jj] = hux[ii][nu0/bs*bs+jj];
hux[ii][nu0/bs*bs+jj] = 0.0;
}
dgemv_t_lib(nx0+nu0%bs, nu0, hpQ[ii]+nu0/bs*bs*cnz0, cnz0, hux[ii]+nu0/bs*bs, -1, hrq[ii], hrq[ii]);
for(jj=0; jj<nu0%bs; jj++)
hux[ii][nu0/bs*bs+jj] = temp[jj];
}
dsymv_lib(nu0, nu0, hpQ[ii], cnz0, hux[ii], -1, hrq[ii], hrq[ii]);
dgemv_n_lib(nu0, nx1, hpBAbt[ii], cnx1, hpi[ii+1], -1, hrq[ii], hrq[ii]);
for(jj=0; jj<nx1; jj++)
hrb[ii][jj] = hux[ii+1][nu1+jj] - hpBAbt[ii][(nu0+nx0)/bs*bs*cnx1+(nu0+nx0)%bs+bs*jj];
dgemv_t_lib(nu0+nx0, nx1, hpBAbt[ii], cnx1, hux[ii], -1, hrb[ii], hrb[ii]);
// middle blocks
for(ii=1; ii<N; ii++)
{
nu0 = nu1;
nu1 = nu[ii+1];
nx0 = nx1;
nx1 = nx[ii+1];
cnx0 = cnx1;
cnx1 = (nx1+ncl-1)/ncl*ncl;
cnz0 = (nu0+nx0+1+ncl-1)/ncl*ncl;
for(jj=0; jj<nu0; jj++)
hrq[ii][jj] = - hq[ii][jj];
for(jj=0; jj<nx0; jj++)
hrq[ii][nu0+jj] = - hq[ii][nu0+jj] + hpi[ii][jj];
dsymv_lib(nu0+nx0, nu0+nx0, hpQ[ii], cnz0, hux[ii], -1, hrq[ii], hrq[ii]);
for(jj=0; jj<nx1; jj++)
hrb[ii][jj] = hux[ii+1][nu1+jj] - hpBAbt[ii][(nu0+nx0)/bs*bs*cnx1+(nu0+nx0)%bs+bs*jj];
dgemv_nt_lib(nu0+nx0, nx1, hpBAbt[ii], cnx1, hpi[ii+1], hux[ii], -1, hrq[ii], hrb[ii], hrq[ii], hrb[ii]);
}
// last block
ii = N;
nu0 = nu1;
nx0 = nx1;
cnz0 = (nu0+nx0+1+ncl-1)/ncl*ncl;
for(jj=0; jj<nx0; jj++)
hrq[ii][nu0+jj] = hpi[ii][jj] - hq[ii][nu0+jj];
dsymv_lib(nx0+nu0%bs, nx0+nu0%bs, hpQ[ii]+nu0/bs*bs*cnz0+nu0/bs*bs*bs, cnz0, hux[ii]+nu0/bs*bs, -1, hrq[ii]+nu0/bs*bs, hrq[ii]+nu0/bs*bs);
}
int main()
{
#if defined(REF_BLAS_OPENBLAS)
openblas_set_num_threads(1);
#endif
#if defined(REF_BLAS_BLIS)
omp_set_num_threads(1);
#endif
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");
printf("BLAS performance test - double precision\n");
printf("\n");
// maximum frequency of the processor
const float GHz_max = GHZ_MAX;
printf("Frequency used to compute theoretical peak: %5.1f GHz (edit test_param.h to modify this value).\n", GHz_max);
printf("\n");
// maximum flops per cycle, double precision
#if defined(TARGET_X64_AVX2)
const float flops_max = 16;
printf("Testing BLAS version for AVX2 & FMA3 instruction sets, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_X64_AVX)
const float flops_max = 8;
printf("Testing BLAS version for AVX instruction set, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_X64_SSE3) || defined(TARGET_AMD_SSE3)
const float flops_max = 4;
printf("Testing BLAS version for SSE3 instruction set, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_CORTEX_A15)
const float flops_max = 2;
printf("Testing solvers for ARMv7a VFPv3 instruction set, oprimized for Cortex A15: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_CORTEX_A9)
const float flops_max = 1;
printf("Testing solvers for ARMv7a VFPv3 instruction set, oprimized for Cortex A9: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_CORTEX_A7)
const float flops_max = 0.5;
printf("Testing solvers for ARMv7a VFPv3 instruction set, oprimized for Cortex A7: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_X86_ATOM)
const float flops_max = 1;
printf("Testing BLAS version for SSE3 instruction set, 32 bit, optimized for Intel Atom: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_POWERPC_G2)
const float flops_max = 1;
printf("Testing BLAS version for POWERPC instruction set, 32 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_C99_4X4)
const float flops_max = 2;
printf("Testing reference BLAS version, 4x4 kernel: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_C99_4X4_PREFETCH)
const float flops_max = 2;
printf("Testing reference BLAS version, 4x4 kernel with register prefetch: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_C99_2X2)
const float flops_max = 2;
printf("Testing reference BLAS version, 2x2 kernel: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#endif
FILE *f;
f = fopen("./test_problems/results/test_blas.m", "w"); // a
#if defined(TARGET_X64_AVX2)
fprintf(f, "C = 'd_x64_avx2';\n");
fprintf(f, "\n");
#elif defined(TARGET_X64_AVX)
fprintf(f, "C = 'd_x64_avx';\n");
fprintf(f, "\n");
#elif defined(TARGET_X64_SSE3) || defined(TARGET_AMD_SSE3)
fprintf(f, "C = 'd_x64_sse3';\n");
fprintf(f, "\n");
#elif defined(TARGET_CORTEX_A9)
fprintf(f, "C = 'd_ARM_cortex_A9';\n");
fprintf(f, "\n");
#elif defined(TARGET_CORTEX_A7)
fprintf(f, "C = 'd_ARM_cortex_A7';\n");
fprintf(f, "\n");
#elif defined(TARGET_CORTEX_A15)
fprintf(f, "C = 'd_ARM_cortex_A15';\n");
fprintf(f, "\n");
#elif defined(TARGET_X86_ATOM)
fprintf(f, "C = 'd_x86_atom';\n");
fprintf(f, "\n");
#elif defined(TARGET_POWERPC_G2)
fprintf(f, "C = 'd_PowerPC_G2';\n");
fprintf(f, "\n");
#elif defined(TARGET_C99_4X4)
fprintf(f, "C = 'd_c99_4x4';\n");
fprintf(f, "\n");
#elif defined(TARGET_C99_4X4_PREFETCH)
fprintf(f, "C = 'd_c99_4x4';\n");
fprintf(f, "\n");
#elif defined(TARGET_C99_2X2)
fprintf(f, "C = 'd_c99_2x2';\n");
fprintf(f, "\n");
#endif
fprintf(f, "A = [%f %f];\n", GHz_max, flops_max);
fprintf(f, "\n");
fprintf(f, "B = [\n");
int i, j, rep, ll;
const int bsd = D_MR; //d_get_mr();
/* int info = 0;*/
printf("\nn\t kernel_dgemm\t dgemm\t\t dsyrk_dpotrf\t dtrmm\t\t dtrtr\t\t dgemv_n\t dgemv_t\t dtrmv_n\t dtrmv_t\t dtrsv_n\t dtrsv_t\t dsymv\t\t dgemv_nt\t\t dsyrk+dpotrf\t BLAS dgemm\t BLAS dgemv_n\t BLAS dgemv_t\n");
printf("\nn\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\t Gflops\t %%\n\n");
#if 1
int nn[] = {4, 8, 12, 16, 20, 24, 28, 32, 36, 40, 44, 48, 52, 56, 60, 64, 68, 72, 76, 80, 84, 88, 92, 96, 100, 104, 108, 112, 116, 120, 124, 128, 132, 136, 140, 144, 148, 152, 156, 160, 164, 168, 172, 176, 180, 184, 188, 192, 196, 200, 204, 208, 212, 216, 220, 224, 228, 232, 236, 240, 244, 248, 252, 256, 260, 264, 268, 272, 276, 280, 284, 288, 292, 296, 300, 304, 308, 312, 316, 320, 324, 328, 332, 336, 340, 344, 348, 352, 356, 360, 364, 368, 372, 376, 380, 384, 388, 392, 396, 400, 404, 408, 412, 416, 420, 424, 428, 432, 436, 440, 444, 448, 452, 456, 460, 500, 550, 600, 650, 700};
int nnrep[] = {10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 400, 400, 400, 400, 400, 200, 200, 200, 200, 200, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 40, 40, 40, 40, 40, 40, 40, 40, 40, 40, 20, 20, 20, 20, 20, 20, 20, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 4, 4, 4, 4, 4};
for(ll=0; ll<75; ll++)
// for(ll=0; ll<115; ll++)
// for(ll=0; ll<120; ll++)
{
int n = nn[ll];
int nrep = nnrep[ll];
#else
int nn[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
for(ll=0; ll<24; ll++)
{
int n = nn[ll];
int nrep = 40000; //nnrep[ll];
#endif
#if defined(REF_BLAS_BLIS)
f77_int n77 = n;
#endif
double *A; d_zeros(&A, n, n);
double *B; d_zeros(&B, n, n);
double *C; d_zeros(&C, n, n);
double *M; d_zeros(&M, n, n);
char c_n = 'n';
char c_t = 't';
int i_1 = 1;
#if defined(REF_BLAS_BLIS)
f77_int i77_1 = i_1;
#endif
double d_1 = 1;
double d_0 = 0;
for(i=0; i<n*n; i++)
A[i] = i;
for(i=0; i<n; i++)
B[i*(n+1)] = 1;
for(i=0; i<n*n; i++)
M[i] = 1;
int pnd = ((n+bsd-1)/bsd)*bsd;
int cnd = ((n+D_NCL-1)/D_NCL)*D_NCL;
int cnd2 = 2*((n+D_NCL-1)/D_NCL)*D_NCL;
int pad = (D_NCL-n%D_NCL)%D_NCL;
double *pA; d_zeros_align(&pA, pnd, cnd);
double *pB; d_zeros_align(&pB, pnd, cnd);
double *pC; d_zeros_align(&pC, pnd, cnd);
double *pD; d_zeros_align(&pD, pnd, cnd);
double *pE; d_zeros_align(&pE, pnd, cnd2);
double *pF; d_zeros_align(&pF, 2*pnd, cnd);
double *pL; d_zeros_align(&pL, pnd, cnd);
double *pM; d_zeros_align(&pM, pnd, cnd);
double *x; d_zeros_align(&x, pnd, 1);
double *y; d_zeros_align(&y, pnd, 1);
double *x2; d_zeros_align(&x2, pnd, 1);
double *y2; d_zeros_align(&y2, pnd, 1);
double *diag; d_zeros_align(&diag, pnd, 1);
d_cvt_mat2pmat(n, n, A, n, 0, pA, cnd);
d_cvt_mat2pmat(n, n, B, n, 0, pB, cnd);
d_cvt_mat2pmat(n, n, B, n, 0, pD, cnd);
d_cvt_mat2pmat(n, n, A, n, 0, pE, cnd2);
d_cvt_mat2pmat(n, n, M, n, 0, pM, cnd);
/* d_cvt_mat2pmat(n, n, B, n, 0, pE+n*bsd, pnd);*/
/* d_print_pmat(n, 2*n, bsd, pE, 2*pnd);*/
/* exit(2);*/
for(i=0; i<pnd*cnd; i++) pC[i] = -1;
for(i=0; i<pnd; i++) x[i] = 1;
for(i=0; i<pnd; i++) x2[i] = 1;
double *dummy;
/* timing */
struct timeval tvm1, tv0, tv1, tv2, tv3, tv4, tv5, tv6, tv7, tv8, tv9, tv10, tv11, tv12, tv13, tv14, tv15, tv16;
/* warm up */
for(rep=0; rep<nrep; rep++)
{
dgemm_nt_lib(n, n, n, pA, cnd, pB, cnd, 1, pC, cnd, pC, cnd, 1, 1);
}
gettimeofday(&tvm1, NULL); // start
for(rep=0; rep<nrep; rep++)
{
//dgemm_kernel_nt_lib(n, n, n, pA, cnd, pB, cnd, pC, cnd, pC, cnd, 0, 0, 0);
dgemm_nn_lib(n, n, n, pA, cnd, pB, cnd, 0, pC, cnd, pC, cnd, 0, 0);
}
gettimeofday(&tv0, NULL); // start
for(rep=0; rep<nrep; rep++)
{
dgemm_nt_lib(n, n, n, pA, cnd, pB, cnd, 0, pC, cnd, pC, cnd, 0, 0);
}
gettimeofday(&tv1, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
//dsyrk_dpotrf_lib(n, n, n, pA, cnd, 1, pD, cnd, pC, cnd, diag, 0);
dsyrk_dpotrf_lib_new(n, n, n, pA, cnd, pA, cnd, 1, pD, cnd, pC, cnd, diag);
}
gettimeofday(&tv2, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dtrmm_nt_u_lib(n, n, pA, cnd, pB, cnd, pC, cnd);
}
gettimeofday(&tv3, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dtrtr_l_lib(n, 0, pA, cnd, pC, cnd); // triangualr matrix transpose
//dgetr_lib(n, n, 0, pA, cnd, 0, pC, cnd); // general matrix transpose
}
gettimeofday(&tv4, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dgemv_n_lib(n, n, pA, cnd, x, 0, y, y);
}
gettimeofday(&tv5, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dgemv_t_lib(n, n, pA, cnd, x, 0, y, y);
}
gettimeofday(&tv6, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dtrmv_u_n_lib(n, pA, cnd, x, 0, y);
}
gettimeofday(&tv7, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dtrmv_u_t_lib(n, pA, cnd, x, 0, y);
}
gettimeofday(&tv8, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dtrsv_n_lib(2*n, n, 1, pF, cnd, x);
}
gettimeofday(&tv9, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dtrsv_t_lib(2*n, n, 1, pF, cnd, x);
}
gettimeofday(&tv10, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dsymv_lib(n, n, pA, cnd, x, 0, y, y);
}
gettimeofday(&tv11, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dgemv_nt_lib(n, n, pA, cnd, x, x2, 0, y, y2, y, y2);
}
gettimeofday(&tv12, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
dsyrk_nt_lib(n, n, n, pE, cnd2, pE, cnd2, 1, pD, cnd, pE+(n+pad)*bsd, cnd2);
//dpotrf_lib(n, n, pE+(n+pad)*bsd, cnd2, pE+(n+pad)*bsd, cnd2, diag);
dpotrf_lib_new(n, n, pE+(n+pad)*bsd, cnd2, pE+(n+pad)*bsd, cnd2, diag);
//d_print_pmat(pnd, cnd2, bsd, pE, cnd2);
//exit(1);
//break;
}
gettimeofday(&tv13, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
#if defined(REF_BLAS_OPENBLAS) || defined(REF_BLAS_NETLIB)
dgemm_(&c_n, &c_n, &n, &n, &n, &d_1, A, &n, M, &n, &d_0, C, &n);
#endif
#if defined(REF_BLAS_BLIS)
dgemm_(&c_n, &c_n, &n77, &n77, &n77, &d_1, A, &n77, B, &n77, &d_0, C, &n77);
#endif
}
gettimeofday(&tv14, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
#if defined(REF_BLAS_OPENBLAS) || defined(REF_BLAS_NETLIB)
dgemv_(&c_n, &n, &n, &d_1, A, &n, x2, &i_1, &d_0, y, &i_1);
#endif
#if defined(REF_BLAS_BLIS)
dgemv_(&c_n, &n77, &n77, &d_1, A, &n77, x2, &i77_1, &d_0, y, &i77_1);
#endif
}
gettimeofday(&tv15, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
#if defined(REF_BLAS_OPENBLAS) || defined(REF_BLAS_NETLIB)
dgemv_(&c_t, &n, &n, &d_1, A, &n, x2, &i_1, &d_0, y, &i_1);
#endif
#if defined(REF_BLAS_BLIS)
dgemv_(&c_t, &n77, &n77, &d_1, A, &n77, x2, &i77_1, &d_0, y, &i77_1);
#endif
}
gettimeofday(&tv16, NULL); // stop
float Gflops_max = flops_max * GHz_max;
float time_dgemm_kernel = (float) (tv0.tv_sec-tvm1.tv_sec)/(nrep+0.0)+(tv0.tv_usec-tvm1.tv_usec)/(nrep*1e6);
float flop_dgemm_kernel = 2.0*n*n*n;
float Gflops_dgemm_kernel = 1e-9*flop_dgemm_kernel/time_dgemm_kernel;
float time_dgemm = (float) (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6);
float flop_dgemm = 2.0*n*n*n;
float Gflops_dgemm = 1e-9*flop_dgemm/time_dgemm;
float time_dsyrk_dpotrf = (float) (tv2.tv_sec-tv1.tv_sec)/(nrep+0.0)+(tv2.tv_usec-tv1.tv_usec)/(nrep*1e6);
float flop_dsyrk_dpotrf = 1.0*n*n*n + 1.0/3.0*n*n*n;
float Gflops_dsyrk_dpotrf = 1e-9*flop_dsyrk_dpotrf/time_dsyrk_dpotrf;
float time_dtrmm = (float) (tv3.tv_sec-tv2.tv_sec)/(nrep+0.0)+(tv3.tv_usec-tv2.tv_usec)/(nrep*1e6);
float flop_dtrmm = 1.0*n*n*n;
float Gflops_dtrmm = 1e-9*flop_dtrmm/time_dtrmm;
float time_dtrtr = (float) (tv4.tv_sec-tv3.tv_sec)/(nrep+0.0)+(tv4.tv_usec-tv3.tv_usec)/(nrep*1e6);
float flop_dtrtr = 0.5*n*n;
float Gflops_dtrtr = 1e-9*flop_dtrtr/time_dtrtr;
float time_dgemv_n = (float) (tv5.tv_sec-tv4.tv_sec)/(nrep+0.0)+(tv5.tv_usec-tv4.tv_usec)/(nrep*1e6);
float flop_dgemv_n = 2.0*n*n;
float Gflops_dgemv_n = 1e-9*flop_dgemv_n/time_dgemv_n;
float time_dgemv_t = (float) (tv6.tv_sec-tv5.tv_sec)/(nrep+0.0)+(tv6.tv_usec-tv5.tv_usec)/(nrep*1e6);
float flop_dgemv_t = 2.0*n*n;
float Gflops_dgemv_t = 1e-9*flop_dgemv_t/time_dgemv_t;
float time_dtrmv_n = (float) (tv7.tv_sec-tv6.tv_sec)/(nrep+0.0)+(tv7.tv_usec-tv6.tv_usec)/(nrep*1e6);
float flop_dtrmv_n = 1.0*n*n;
float Gflops_dtrmv_n = 1e-9*flop_dtrmv_n/time_dtrmv_n;
float time_dtrmv_t = (float) (tv8.tv_sec-tv7.tv_sec)/(nrep+0.0)+(tv8.tv_usec-tv7.tv_usec)/(nrep*1e6);
float flop_dtrmv_t = 1.0*n*n;
float Gflops_dtrmv_t = 1e-9*flop_dtrmv_t/time_dtrmv_t;
float time_dtrsv_n = (float) (tv9.tv_sec-tv8.tv_sec)/(nrep+0.0)+(tv9.tv_usec-tv8.tv_usec)/(nrep*1e6);
float flop_dtrsv_n = 3.0*n*n;
float Gflops_dtrsv_n = 1e-9*flop_dtrsv_n/time_dtrsv_n;
float time_dtrsv_t = (float) (tv10.tv_sec-tv9.tv_sec)/(nrep+0.0)+(tv10.tv_usec-tv9.tv_usec)/(nrep*1e6);
float flop_dtrsv_t = 3.0*n*n;
float Gflops_dtrsv_t = 1e-9*flop_dtrsv_t/time_dtrsv_t;
float time_dsymv = (float) (tv11.tv_sec-tv10.tv_sec)/(nrep+0.0)+(tv11.tv_usec-tv10.tv_usec)/(nrep*1e6);
float flop_dsymv = 2.0*n*n;
float Gflops_dsymv = 1e-9*flop_dsymv/time_dsymv;
float time_dgemv_nt = (float) (tv12.tv_sec-tv11.tv_sec)/(nrep+0.0)+(tv12.tv_usec-tv11.tv_usec)/(nrep*1e6);
float flop_dgemv_nt = 4.0*n*n;
float Gflops_dgemv_nt = 1e-9*flop_dgemv_nt/time_dgemv_nt;
float time_dsyrk_dpotrf2 = (float) (tv13.tv_sec-tv12.tv_sec)/(nrep+0.0)+(tv13.tv_usec-tv12.tv_usec)/(nrep*1e6);
float flop_dsyrk_dpotrf2 = 1.0*n*n*n + 1.0/3.0*n*n*n;
float Gflops_dsyrk_dpotrf2 = 1e-9*flop_dsyrk_dpotrf2/time_dsyrk_dpotrf2;
float time_dgemm_blas = (float) (tv14.tv_sec-tv13.tv_sec)/(nrep+0.0)+(tv14.tv_usec-tv13.tv_usec)/(nrep*1e6);
float flop_dgemm_blas = 2.0*n*n*n;
float Gflops_dgemm_blas = 1e-9*flop_dgemm_blas/time_dgemm_blas;
float time_dgemv_n_blas = (float) (tv15.tv_sec-tv14.tv_sec)/(nrep+0.0)+(tv15.tv_usec-tv14.tv_usec)/(nrep*1e6);
float flop_dgemv_n_blas = 2.0*n*n;
float Gflops_dgemv_n_blas = 1e-9*flop_dgemv_n_blas/time_dgemv_n_blas;
float time_dgemv_t_blas = (float) (tv16.tv_sec-tv15.tv_sec)/(nrep+0.0)+(tv16.tv_usec-tv15.tv_usec)/(nrep*1e6);
float flop_dgemv_t_blas = 2.0*n*n;
float Gflops_dgemv_t_blas = 1e-9*flop_dgemv_t_blas/time_dgemv_t_blas;
printf("%d\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\n", n, Gflops_dgemm_kernel, 100.0*Gflops_dgemm_kernel/Gflops_max, Gflops_dgemm, 100.0*Gflops_dgemm/Gflops_max, Gflops_dsyrk_dpotrf, 100.0*Gflops_dsyrk_dpotrf/Gflops_max, Gflops_dtrmm, 100.0*Gflops_dtrmm/Gflops_max, Gflops_dtrtr, 100.0*Gflops_dtrtr/Gflops_max, Gflops_dgemv_n, 100.0*Gflops_dgemv_n/Gflops_max, Gflops_dgemv_t, 100.0*Gflops_dgemv_t/Gflops_max, Gflops_dtrmv_n, 100.0*Gflops_dtrmv_n/Gflops_max, Gflops_dtrmv_t, 100.0*Gflops_dtrmv_t/Gflops_max, Gflops_dtrsv_n, 100.0*Gflops_dtrsv_n/Gflops_max, Gflops_dtrsv_t, 100.0*Gflops_dtrsv_t/Gflops_max, Gflops_dsymv, 100.0*Gflops_dsymv/Gflops_max, Gflops_dgemv_nt, 100.0*Gflops_dgemv_nt/Gflops_max, Gflops_dsyrk_dpotrf2, 100.0*Gflops_dsyrk_dpotrf2/Gflops_max, Gflops_dgemm_blas, 100.0*Gflops_dgemm_blas/Gflops_max, Gflops_dgemv_n_blas, 100.0*Gflops_dgemv_n_blas/Gflops_max, Gflops_dgemv_t_blas, 100.0*Gflops_dgemv_t_blas/Gflops_max);
fprintf(f, "%d\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\n", n, Gflops_dgemm_kernel, 100.0*Gflops_dgemm_kernel/Gflops_max, Gflops_dgemm, 100.0*Gflops_dgemm/Gflops_max, Gflops_dsyrk_dpotrf, 100.0*Gflops_dsyrk_dpotrf/Gflops_max, Gflops_dtrmm, 100.0*Gflops_dtrmm/Gflops_max, Gflops_dtrtr, 100.0*Gflops_dtrtr/Gflops_max, Gflops_dgemv_n, 100.0*Gflops_dgemv_n/Gflops_max, Gflops_dgemv_t, 100.0*Gflops_dgemv_t/Gflops_max, Gflops_dtrmv_n, 100.0*Gflops_dtrmv_n/Gflops_max, Gflops_dtrmv_t, 100.0*Gflops_dtrmv_t/Gflops_max, Gflops_dtrsv_n, 100.0*Gflops_dtrsv_n/Gflops_max, Gflops_dtrsv_t, 100.0*Gflops_dtrsv_t/Gflops_max, Gflops_dsymv, 100.0*Gflops_dsymv/Gflops_max, Gflops_dgemv_nt, 100.0*Gflops_dgemv_nt/Gflops_max, Gflops_dsyrk_dpotrf2, 100.0*Gflops_dsyrk_dpotrf2/Gflops_max, Gflops_dgemm_blas, 100.0*Gflops_dgemm_blas/Gflops_max, Gflops_dgemv_n_blas, 100.0*Gflops_dgemv_n_blas/Gflops_max, Gflops_dgemv_t_blas, 100.0*Gflops_dgemv_t_blas/Gflops_max);
free(A);
free(B);
free(M);
free(pA);
free(pB);
free(pC);
free(pD);
free(pE);
free(pF);
free(pL);
free(pM);
free(x);
free(y);
free(x2);
free(y2);
}
printf("\n");
fprintf(f, "];\n");
fclose(f);
return 0;
}
/* supports the problem size to change stage-wise */
void d_res_res_mpc_hard_tv(int N, int const * nx, int const * nu, int const * nb, int **idxb, int const * ng, double **hpBAbt, double **hb, double **hpQ, double **hq, double **hux, double **hpDCt, double **hd, double **hpi, double **hlam, double **ht, double *work, double **hrq, double **hrb, double **hrd, double **hrm, double *mu)
{
const int bs = D_MR;
const int ncl = D_NCL;
int ii, jj;
int nu0, nu1, cnux0, nx0, nx1, nxm, cnx0, cnx1, nb0, pnb, ng0, png, cng, nb_tot;
double mu2;
// initialize mu
nb_tot = 0;
mu2 = 0;
// first stage
ii = 0;
nu0 = nu[ii];
nu1 = nu[ii+1];
nx0 = nx[ii]; // nx1;
nx1 = nx[ii+1];
cnx1 = (nx1+ncl-1)/ncl*ncl;
cnux0 = (nu0+nx0+ncl-1)/ncl*ncl;
nb0 = nb[ii];
pnb = (nb0+bs-1)/bs*bs;
ng0 = ng[ii];
png = (ng0+bs-1)/bs*bs;
cng = (ng0+ncl-1)/ncl*ncl;
// for(jj=0; jj<nu0; jj++)
// hrq[ii][jj] = hq[ii][jj];
// for(jj=0; jj<nx0; jj++)
// hrq[ii][nu0+jj] = hq[ii][nu0+jj]; // - hpi[ii-1][jj];
for(jj=0; jj<nu0+nx0; jj++)
hrq[ii][jj] = hq[ii][jj];
if(nb0>0)
{
nb_tot += nb0;
for(jj=0; jj<nb0; jj++)
{
hrq[ii][idxb[ii][jj]] += - hlam[ii][jj] + hlam[ii][pnb+jj];
hrd[ii][jj] = hd[ii][jj] - hux[ii][idxb[ii][jj]] + ht[ii][jj];
hrd[ii][pnb+jj] = hd[ii][pnb+jj] - hux[ii][idxb[ii][jj]] - ht[ii][pnb+jj];
hrm[ii][jj] = hlam[ii][jj] * ht[ii][jj];
hrm[ii][pnb+jj] = hlam[ii][pnb+jj] * ht[ii][pnb+jj];
mu2 += hrm[ii][jj] + hrm[ii][pnb+jj];
}
}
dsymv_lib(nu0+nx0, nu0+nx0, hpQ[ii], cnux0, hux[ii], 1, hrq[ii], hrq[ii]);
for(jj=0; jj<nx1; jj++)
hrb[ii][jj] = hb[ii][jj] - hux[ii+1][nu1+jj];
dgemv_nt_lib(nu0+nx0, nx1, hpBAbt[ii], cnx1, hpi[ii], hux[ii], 1, 1, hrq[ii], hrb[ii], hrq[ii], hrb[ii]);
if(ng0>0)
{
nb_tot += ng0;
for(jj=0; jj<ng0; jj++)
{
work[jj] = hlam[ii][jj+2*pnb+png] - hlam[ii][jj+2*pnb+0];
hrd[ii][2*pnb+jj] = hd[ii][2*pnb+jj] + ht[ii][2*pnb+jj];
hrd[ii][2*pnb+png+jj] = hd[ii][2*pnb+png+jj] - ht[ii][2*pnb+png+jj];
hrm[ii][2*pnb+jj] = hlam[ii][2*pnb+jj] * ht[ii][2*pnb+jj];
hrm[ii][2*pnb+png+jj] = hlam[ii][2*pnb+png+jj] * ht[ii][2*pnb+png+jj];
mu2 += hrm[ii][2*pnb+jj] + hrm[ii][2*pnb+png+jj];
}
dgemv_nt_lib(nu0+nx0, ng0, hpDCt[ii], cng, work, hux[ii], 1, 0, hrq[ii], work+png, hrq[ii], work+png);
for(jj=0; jj<ng0; jj++)
{
hrd[ii][2*pnb+jj] -= work[png+jj];
hrd[ii][2*pnb+png+jj] -= work[png+jj];
}
}
// middle stages
for(ii=1; ii<N; ii++)
{
nu0 = nu1;
nu1 = nu[ii+1];
nx0 = nx1;
nx1 = nx[ii+1];
cnx0 = cnx1;
cnx1 = (nx1+ncl-1)/ncl*ncl;
cnux0 = (nu0+nx0+ncl-1)/ncl*ncl;
nb0 = nb[ii];
pnb = (nb0+bs-1)/bs*bs;
ng0 = ng[ii];
png = (ng0+bs-1)/bs*bs;
cng = (ng0+ncl-1)/ncl*ncl;
for(jj=0; jj<nu0; jj++)
hrq[ii][jj] = + hq[ii][jj];
for(jj=0; jj<nx0; jj++)
hrq[ii][nu0+jj] = + hq[ii][nu0+jj] - hpi[ii-1][jj];
if(nb0>0)
{
nb_tot += nb0;
for(jj=0; jj<nb0; jj++)
{
hrq[ii][idxb[ii][jj]] += - hlam[ii][jj] + hlam[ii][pnb+jj];
hrd[ii][jj] = hd[ii][jj] - hux[ii][idxb[ii][jj]] + ht[ii][jj];
hrd[ii][pnb+jj] = hd[ii][pnb+jj] - hux[ii][idxb[ii][jj]] - ht[ii][pnb+jj];
hrm[ii][jj] = hlam[ii][jj] * ht[ii][jj];
hrm[ii][pnb+jj] = hlam[ii][pnb+jj] * ht[ii][pnb+jj];
mu2 += hrm[ii][jj] + hrm[ii][pnb+jj];
}
}
dsymv_lib(nu0+nx0, nu0+nx0, hpQ[ii], cnux0, hux[ii], 1, hrq[ii], hrq[ii]);
for(jj=0; jj<nx1; jj++)
hrb[ii][jj] = hb[ii][jj] - hux[ii+1][nu1+jj];
dgemv_nt_lib(nu0+nx0, nx1, hpBAbt[ii], cnx1, hpi[ii], hux[ii], 1, 1, hrq[ii], hrb[ii], hrq[ii], hrb[ii]);
if(ng0>0)
{
nb_tot += ng0;
for(jj=0; jj<ng0; jj++)
{
work[jj] = hlam[ii][jj+2*pnb+png] - hlam[ii][jj+2*pnb+0];
hrd[ii][2*pnb+jj] = hd[ii][2*pnb+jj] + ht[ii][2*pnb+jj];
hrd[ii][2*pnb+png+jj] = hd[ii][2*pnb+png+jj] - ht[ii][2*pnb+png+jj];
hrm[ii][2*pnb+jj] = hlam[ii][2*pnb+jj] * ht[ii][2*pnb+jj];
hrm[ii][2*pnb+png+jj] = hlam[ii][2*pnb+png+jj] * ht[ii][2*pnb+png+jj];
mu2 += hrm[ii][2*pnb+jj] + hrm[ii][2*pnb+png+jj];
}
dgemv_nt_lib(nu0+nx0, ng0, hpDCt[ii], cng, work, hux[ii], 1, 0, hrq[ii], work+png, hrq[ii], work+png);
for(jj=0; jj<ng0; jj++)
{
hrd[ii][2*pnb+jj] -= work[png+jj];
hrd[ii][2*pnb+png+jj] -= work[png+jj];
}
}
}
// last stage
ii = N;
nu0 = nu1;
nx0 = nx1;
cnux0 = (nu0+nx0+ncl-1)/ncl*ncl;
nb0 = nb[ii];
pnb = (nb0+bs-1)/bs*bs;
ng0 = ng[ii];
png = (ng0+bs-1)/bs*bs;
cng = (ng0+ncl-1)/ncl*ncl;
// res_q
for(jj=0; jj<nx0; jj++)
hrq[ii][nu0+jj] = - hpi[ii-1][jj] + hq[ii][nu0+jj];
if(nb0>0)
{
nb_tot += nb0;
for(jj=0; jj<nb0; jj++)
{
hrq[ii][idxb[ii][jj]] += - hlam[ii][jj] + hlam[ii][pnb+jj];
hrd[ii][jj] = hd[ii][jj] - hux[ii][idxb[ii][jj]] + ht[ii][jj];
hrd[ii][pnb+jj] = hd[ii][pnb+jj] - hux[ii][idxb[ii][jj]] - ht[ii][pnb+jj];
hrm[ii][jj] = hlam[ii][jj] * ht[ii][jj];
hrm[ii][pnb+jj] = hlam[ii][pnb+jj] * ht[ii][pnb+jj];
mu2 += hrm[ii][jj] + hrm[ii][pnb+jj];
}
}
dsymv_lib(nx0+nu0%bs, nx0+nu0%bs, hpQ[ii]+nu0/bs*bs*cnux0+nu0/bs*bs*bs, cnux0, hux[ii]+nu0/bs*bs, 1, hrq[ii]+nu0/bs*bs, hrq[ii]+nu0/bs*bs);
if(ng0>0)
{
nb_tot += ng0;
for(jj=0; jj<ng0; jj++)
{
work[jj] = hlam[ii][jj+2*pnb+png] - hlam[ii][jj+2*pnb+0];
hrd[ii][2*pnb+jj] = hd[ii][2*pnb+jj] + ht[ii][2*pnb+jj];
hrd[ii][2*pnb+png+jj] = hd[ii][2*pnb+png+jj] - ht[ii][2*pnb+png+jj];
hrm[ii][2*pnb+jj] = hlam[ii][2*pnb+jj] * ht[ii][2*pnb+jj];
hrm[ii][2*pnb+png+jj] = hlam[ii][2*pnb+png+jj] * ht[ii][2*pnb+png+jj];
mu2 += hrm[ii][2*pnb+jj] + hrm[ii][2*pnb+png+jj];
}
dgemv_nt_lib(nu0+nx0, ng0, hpDCt[ii], cng, work, hux[ii], 1, 0, hrq[ii], work+png, hrq[ii], work+png);
for(jj=0; jj<ng0; jj++)
{
hrd[ii][2*pnb+jj] -= work[png+jj];
hrd[ii][2*pnb+png+jj] -= work[png+jj];
}
}
// normalize mu
if(nb_tot!=0)
{
mu2 /= 2.0*nb_tot;
mu[0] = mu2;
}
return;
}
