Code

Blocksparse Stagewise KKT Solver#14

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RSchwan wants to merge 86 commits intomainPREDICT-EPFL/piqp:mainfrom blockdense_stage_kktPREDICT-EPFL/piqp:blockdense_stage_kktCopy head branch name to clipboard

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Commits

Commits on Oct 15, 2024

• prepare for switchable kkt solvers

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Commits on Oct 16, 2024

• add structure detection algorithm for new blocksparse stage kkt solver

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Commits on Oct 21, 2024

• implemented conversion from upper triangular sparse matrix to block structure

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• implemented sparse to block matrix conversion

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Commits on Oct 22, 2024

• add copy/move constructors/assignment operators to BlasfeoMat and BlockMat

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• implemented block syrk (A' * B)

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Commits on Oct 23, 2024

• add kkt mat population logic

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• add block matrix scaling

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Commits on Oct 24, 2024

• prepare kkt matrix for factorization

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• prep kkt factor matrix

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• store A and G in transposed form to use optimized blasfeo kernels

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• implemented block sparse kkt factorization

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Commits on Oct 25, 2024

• lower triangular copy

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Commits on Oct 26, 2024

• implemented multiply

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Commits on Oct 27, 2024

• fix kkt construction

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• implemented solve for blocksparse stage kkt

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• disable block info printing

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• add src file

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• move maros_meszaros data

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• add test for blocksparse stage kkt

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• fix problem with zero arrow size

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Commits on Oct 28, 2024

• added update and fixed various bug for blocksparse stage kkt

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• update sqp benchmarks

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• add warning that iterative refinement is not supported for blocksparse stage kkt solver

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Commits on Oct 29, 2024

• fix eigen_matio for older libmatio

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• typo

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• add OpenMP support

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• small bug fixes and more tests

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Commits on Oct 30, 2024

• add Findblasfeo.cmake

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• add kkt solver option to interfaces

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Commits on Oct 31, 2024

• fix compilation issues on windows

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• extract classes into separate files

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• improve blasfeo find_package

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Commits on Nov 1, 2024

• include blasfeo in python built

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• fixed variable to string

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• fix blasfeo compilation

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• replace PUBLIC with INTERFACE keyword for non-template instantiations

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• install ninja on windows

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• group python builds by architecture

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• fix remaining ci

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• only run test ci on main and PRs

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• fix python build distribution

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• fix compilation on windows

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• fix platform architecture

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• fix linking issues

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• ignore windows 32bit (nobody cares anyways...)

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• only specify architecture for linux

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• fix PUBLIC/INTERFACE for piqp target

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• fix default settings in c interface

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• fix c examples

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• set correct environment variables for python wheels

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• fix find_library variable cacheing

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• fix wrong target

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Commits on Nov 2, 2024

• fix macos arch condition and windows install paths

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• fix windows paths again

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• bump version of macos from 12 to 13 to not build dependencies from scratch

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Commits on Nov 6, 2024

• reduce memory access by setting or adding accordingly

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Commits on Nov 19, 2024

• install blasfeo with conda

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• fix memory override

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Commits on Nov 20, 2024

• workaround missing blasfeo_dtrcpsc_l symbol on skylake

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Commits on Jan 6, 2025

• start wrapping blasfeo functions

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Commits on Jan 29, 2025

• improving detection algorithm and fix bug

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• extend python interface

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Commits on Jan 31, 2025

• add more info in verbose mode

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Commits on Feb 3, 2025

• prefer static blasfeo library

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• use block structure when evaluating residuals

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Commits on Feb 4, 2025

• use module_local to allow simultaneous import of different instruction set modules

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Commits on Feb 5, 2025

• fix bug with uninitialized memory and simplified eval_A/G interface

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Commits on Feb 7, 2025

• reuse kkt matrix for better cache locality

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• fix ci

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• fix ci 2

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• remove kkt_solver_to_string duplicate

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Commits on Feb 8, 2025

• improve arrow structure detection algorithm in praperations for optimizations

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• fixed edge case where min diag block was to small

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Commits on Feb 9, 2025

• skip unnecessary work due to smaller off diagonal blocks -> almost on par with HPIPM

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• add small dense test case

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• fix artifacts

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• fix edge cases and mistake in solve routine

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Commits on Feb 10, 2025

• scale with G with sqrt factor for better cache locality

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Commits on Feb 11, 2025

• make blasfeo helper functions static

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Commits on Feb 14, 2025

• fix wrong assertion

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Commits on Feb 17, 2025

• fix bug with arrow structure

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• fix indexing error and added scenario test

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Commits on Feb 20, 2025

• merge split blocks to reduce kernel calls

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• use octave-cli

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• disable windows for octave ci

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