Skip to content

Commit

Permalink
removed variable size arrays from some test problems
Browse files Browse the repository at this point in the history
  • Loading branch information
@giaf
giaf committed Jun 30, 2023
1 parent 916e752 commit 8b21ec0
Show file tree
Hide file tree
Showing 4 changed files with 692 additions and 356 deletions.
169 changes: 122 additions & 47 deletions test_problems/test_d_cond.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,7 @@ int main()

// stage-wise variant size

int nx[N+1];
int *nx = (int *) malloc((N+1)*sizeof(int));
#if KEEP_X0
nx[0] = nx_;
#else
Expand All @@ -191,17 +191,17 @@ int main()
nx[ii] = nx_;
// nx[N] = 0;

int nu[N+1];
int *nu = (int *) malloc((N+1)*sizeof(int));
for(ii=0; ii<N; ii++)
nu[ii] = nu_;
nu[N] = 0;

int nbu[N+1];
int *nbu = (int *) malloc((N+1)*sizeof(int));
for (ii=0; ii<=N; ii++)
nbu[ii] = nu[ii];

#if 1
int nbx[N+1];
int *nbx = (int *) malloc((N+1)*sizeof(int));
#if KEEP_X0
nbx[0] = nx[0]/2;
#else
Expand All @@ -210,31 +210,31 @@ int main()
for(ii=1; ii<=N; ii++)
nbx[ii] = nx[ii]/2;

int nb[N+1];
int *nb = (int *) malloc((N+1)*sizeof(int));
for (ii=0; ii<=N; ii++)
nb[ii] = nbu[ii]+nbx[ii];

int ng[N+1];
int *ng = (int *) malloc((N+1)*sizeof(int));
ng[0] = 0;
for(ii=1; ii<N; ii++)
ng[ii] = 0;
ng[N] = 0;

int nsbx[N+1];
int *nsbx = (int *) malloc((N+1)*sizeof(int));
nsbx[0] = 0;
for(ii=1; ii<N; ii++)
nsbx[ii] = nx[ii]/2;
nsbx[N] = nx[N]/2;

int nsbu[N+1];
int *nsbu = (int *) malloc((N+1)*sizeof(int));
for(ii=0; ii<=N; ii++)
nsbu[ii] = 0;

int nsg[N+1];
int *nsg = (int *) malloc((N+1)*sizeof(int));
for(ii=0; ii<=N; ii++)
nsg[ii] = 0;

int ns[N+1];
int *ns = (int *) malloc((N+1)*sizeof(int));
for(ii=0; ii<=N; ii++)
ns[ii] = nsbx[ii] + nsbu[ii] + nsg[ii];

Expand Down Expand Up @@ -587,31 +587,31 @@ int main()
* array of matrices
************************************************/

double *hA[N];
double *hB[N];
double *hb[N];
double *hQ[N+1];
double *hS[N+1];
double *hR[N+1];
double *hq[N+1];
double *hr[N+1];
int *hidxbx[N+1];
double *hd_lbx[N+1];
double *hd_ubx[N+1];
int *hidxbu[N+1];
double *hd_lbu[N+1];
double *hd_ubu[N+1];
double *hC[N+1];
double *hD[N+1];
double *hd_lg[N+1];
double *hd_ug[N+1];
double *hZl[N+1];
double *hZu[N+1];
double *hzl[N+1];
double *hzu[N+1];
int *hidxs[N+1]; // XXX
double *hd_ls[N+1];
double *hd_us[N+1];
double **hA = (double **) malloc((N)*sizeof(double *));
double **hB = (double **) malloc((N)*sizeof(double *));
double **hb = (double **) malloc((N)*sizeof(double *));
double **hQ = (double **) malloc((N+1)*sizeof(double *));
double **hS = (double **) malloc((N+1)*sizeof(double *));
double **hR = (double **) malloc((N+1)*sizeof(double *));
double **hq = (double **) malloc((N+1)*sizeof(double *));
double **hr = (double **) malloc((N+1)*sizeof(double *));
int **hidxbx = (int **) malloc((N+1)*sizeof(int *));
double **hd_lbx = (double **) malloc((N+1)*sizeof(double *));
double **hd_ubx = (double **) malloc((N+1)*sizeof(double *));
int **hidxbu = (int **) malloc((N+1)*sizeof(int *));
double **hd_lbu = (double **) malloc((N+1)*sizeof(double *));
double **hd_ubu = (double **) malloc((N+1)*sizeof(double *));
double **hC = (double **) malloc((N+1)*sizeof(double *));
double **hD = (double **) malloc((N+1)*sizeof(double *));
double **hd_lg = (double **) malloc((N+1)*sizeof(double *));
double **hd_ug = (double **) malloc((N+1)*sizeof(double *));
double **hZl = (double **) malloc((N+1)*sizeof(double *));
double **hZu = (double **) malloc((N+1)*sizeof(double *));
double **hzl = (double **) malloc((N+1)*sizeof(double *));
double **hzu = (double **) malloc((N+1)*sizeof(double *));
int **hidxs = (int **) malloc((N+1)*sizeof(int *));
double **hd_ls = (double **) malloc((N+1)*sizeof(double *));
double **hd_us = (double **) malloc((N+1)*sizeof(double *));

hA[0] = A;
hB[0] = B;
Expand Down Expand Up @@ -819,7 +819,7 @@ int main()
/* update cond */

// index of updated dynamics
int idxc[N];
int *idxc = (int *) malloc(N*sizeof(int));
for(ii=0; ii<N; ii++)
idxc[ii] = 0;
idxc[0] = 1;
Expand Down Expand Up @@ -1042,17 +1042,29 @@ int main()

d_cond_qp_expand_sol(&ocp_qp, &dense_qp_sol, &ocp_qp_sol, &cond_arg, &cond_ws);

double *u[N+1]; for(ii=0; ii<=N; ii++) d_zeros(u+ii, nu[ii], 1);
double *x[N+1]; for(ii=0; ii<=N; ii++) d_zeros(x+ii, nx[ii], 1);
double *ls[N+1]; for(ii=0; ii<=N; ii++) d_zeros(ls+ii, ns[ii], 1);
double *us[N+1]; for(ii=0; ii<=N; ii++) d_zeros(us+ii, ns[ii], 1);
double *pi[N]; for(ii=0; ii<N; ii++) d_zeros(pi+ii, nx[ii+1], 1);
double *lam_lb[N+1]; for(ii=0; ii<=N; ii++) d_zeros(lam_lb+ii, nb[ii], 1);
double *lam_ub[N+1]; for(ii=0; ii<=N; ii++) d_zeros(lam_ub+ii, nb[ii], 1);
double *lam_lg[N+1]; for(ii=0; ii<=N; ii++) d_zeros(lam_lg+ii, ng[ii], 1);
double *lam_ug[N+1]; for(ii=0; ii<=N; ii++) d_zeros(lam_ug+ii, ng[ii], 1);
double *lam_ls[N+1]; for(ii=0; ii<=N; ii++) d_zeros(lam_ls+ii, ns[ii], 1);
double *lam_us[N+1]; for(ii=0; ii<=N; ii++) d_zeros(lam_us+ii, ns[ii], 1);
double **u = (double **) malloc((N+1)*sizeof(double *));
double **x = (double **) malloc((N+1)*sizeof(double *));
double **ls = (double **) malloc((N+1)*sizeof(double *));
double **us = (double **) malloc((N+1)*sizeof(double *));
double **pi = (double **) malloc(N*sizeof(double *));
double **lam_lb = (double **) malloc((N+1)*sizeof(double *));
double **lam_ub = (double **) malloc((N+1)*sizeof(double *));
double **lam_lg = (double **) malloc((N+1)*sizeof(double *));
double **lam_ug = (double **) malloc((N+1)*sizeof(double *));
double **lam_ls = (double **) malloc((N+1)*sizeof(double *));
double **lam_us = (double **) malloc((N+1)*sizeof(double *));

for(ii=0; ii<=N; ii++) d_zeros(u+ii, nu[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(x+ii, nx[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(ls+ii, ns[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(us+ii, ns[ii], 1);
for(ii=0; ii<N; ii++) d_zeros(pi+ii, nx[ii+1], 1);
for(ii=0; ii<=N; ii++) d_zeros(lam_lb+ii, nb[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(lam_ub+ii, nb[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(lam_lg+ii, ng[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(lam_ug+ii, ng[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(lam_ls+ii, ns[ii], 1);
for(ii=0; ii<=N; ii++) d_zeros(lam_us+ii, ns[ii], 1);

d_ocp_qp_sol_get_all(&ocp_qp_sol, u, x, ls, us, pi, lam_lb, lam_ub, lam_lg, lam_ug, lam_ls, lam_us);

Expand Down Expand Up @@ -1116,6 +1128,19 @@ int main()
* free memory
************************************************/

free(nx);
free(nu);
free(nbu);
free(nbx);
free(nb);
free(ng);
free(nsbx);
free(nsbu);
free(nsg);
free(ns);

free(idxc);

d_free(A);
d_free(B);
d_free(b);
Expand Down Expand Up @@ -1176,6 +1201,56 @@ int main()
d_free(d_lsN);
d_free(d_usN);

free(hA);
free(hB);
free(hb);
free(hQ);
free(hS);
free(hR);
free(hq);
free(hr);
free(hidxbx);
free(hd_lbx);
free(hd_ubx);
free(hidxbu);
free(hd_lbu);
free(hd_ubu);
free(hC);
free(hD);
free(hd_lg);
free(hd_ug);
free(hZl);
free(hZu);
free(hzl);
free(hzu);
free(hidxs);
free(hd_ls);
free(hd_us);

for(ii=0; ii<=N; ii++) d_free(u[ii]);
for(ii=0; ii<=N; ii++) d_free(x[ii]);
for(ii=0; ii<=N; ii++) d_free(ls[ii]);
for(ii=0; ii<=N; ii++) d_free(us[ii]);
for(ii=0; ii<N; ii++) d_free(pi[ii]);
for(ii=0; ii<=N; ii++) d_free(lam_lb[ii]);
for(ii=0; ii<=N; ii++) d_free(lam_ub[ii]);
for(ii=0; ii<=N; ii++) d_free(lam_lg[ii]);
for(ii=0; ii<=N; ii++) d_free(lam_ug[ii]);
for(ii=0; ii<=N; ii++) d_free(lam_ls[ii]);
for(ii=0; ii<=N; ii++) d_free(lam_us[ii]);

free(u);
free(x);
free(ls);
free(us);
free(pi);
free(lam_lb);
free(lam_ub);
free(lam_lg);
free(lam_ug);
free(lam_ls);
free(lam_us);

free(ocp_qp_mem);
free(ocp_qp_sol_mem);
free(dense_qp_mem);
Expand Down
Loading

0 comments on commit 8b21ec0

Please sign in to comment.