introduce configurable type for memory size in structs and size calcu…

…lation For larger problems with high memory demand (>2GB) using type int is a limiting factor. A configurable typedef "hpipm_size_t" defined in include/hpipm_common.h can be set depending on the problem size to expect and depending on the platform/OS.
giaf · Feb 7, 2021 · 8c3a0c9 · 8c3a0c9
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diff --git a/archive/include/hpipm_d_irk_int.h b/archive/include/hpipm_d_irk_int.h
@@ -52,7 +52,7 @@ struct d_irk_workspace
 	int nx; // number of states
 	int nf; // number of forward sensitivities
 	int np; // number of parameters
-	int memsize; // TODO
+	hpipm_size_t memsize; // TODO
 	};
 
 
@@ -67,7 +67,7 @@ struct d_irk_args
 
 
 //
-int d_memsize_irk_int(struct d_rk_data *rk_data, int nx, int nf, int np);
+hpipm_size_t d_memsize_irk_int(struct d_rk_data *rk_data, int nx, int nf, int np);
 //
 void d_create_irk_int(struct d_rk_data *rk_data, int nx, int nf, int np, struct d_irk_workspace *workspace, void *memory);
 //

diff --git a/archive/include/hpipm_d_ocp_nlp.h b/archive/include/hpipm_d_ocp_nlp.h
@@ -65,13 +65,13 @@ struct d_ocp_nlp
 	int *ns; // number of soft constraints
 	int **idxs; // index of soft constraints
 	int N; // hotizon lenght
-	int memsize; // memory size in bytes
+	hpipm_size_t memsize; // memory size in bytes
 	};
 
 
 
 //
-int d_memsize_ocp_nlp(int N, int *nx, int *nu, int *nb, int *ng, int *ns);
+hpipm_size_t d_memsize_ocp_nlp(int N, int *nx, int *nu, int *nb, int *ng, int *ns);
 //
 void d_create_ocp_nlp(int N, int *nx, int *nu, int *nb, int *ng, int *ns, struct d_ocp_nlp *nlp, void *memory);
 //

diff --git a/archive/include/hpipm_d_ocp_nlp_hyb.h b/archive/include/hpipm_d_ocp_nlp_hyb.h
@@ -55,7 +55,7 @@ struct d_ocp_nlp_hyb_arg
 	int stat_max; // iterations saved in stat
 	int N2; // horizon of partially condensed QP
 	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int memsize;
+	hpipm_size_t memsize;
 	};
 
 
@@ -76,20 +76,20 @@ struct d_ocp_nlp_hyb_workspace
 	double nlp_res_m; // exit inf norm of residuals
 	int iter_qp; // qp ipm iteration number
 	int iter_nlp; // nlp ipm iteration number
-	int memsize;
+	hpipm_size_t memsize;
 	};
 
 
 
 //
-int d_memsize_ocp_nlp_hyb_arg(struct d_ocp_nlp *nlp);
+hpipm_size_t d_memsize_ocp_nlp_hyb_arg(struct d_ocp_nlp *nlp);
 //
 void d_create_ocp_nlp_hyb_arg(struct d_ocp_nlp *nlp, struct d_ocp_nlp_hyb_arg *arg, void *mem);
 //
 void d_set_default_ocp_nlp_hyb_arg(struct d_ocp_nlp_hyb_arg *arg);
 
 //
-int d_memsize_ocp_nlp_hyb(struct d_ocp_nlp *nlp, struct d_ocp_nlp_hyb_arg *arg);
+hpipm_size_t d_memsize_ocp_nlp_hyb(struct d_ocp_nlp *nlp, struct d_ocp_nlp_hyb_arg *arg);
 //
 void d_create_ocp_nlp_hyb(struct d_ocp_nlp *nlp, struct d_ocp_nlp_hyb_arg *arg, struct d_ocp_nlp_hyb_workspace *ws, void *mem);
 //

diff --git a/archive/include/hpipm_d_ocp_nlp_ipm.h b/archive/include/hpipm_d_ocp_nlp_ipm.h
@@ -49,7 +49,7 @@ struct d_ocp_nlp_ipm_arg
 	int nlp_iter_max; // exit cond in iter number
 	int stat_max; // iterations saved in stat
 	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int memsize;
+	hpipm_size_t memsize;
 	};
 
 
@@ -65,20 +65,20 @@ struct d_ocp_nlp_ipm_workspace
 	double nlp_res_d; // exit inf norm of residuals
 	double nlp_res_m; // exit inf norm of residuals
 	int iter; // iteration number
-	int memsize;
+	hpipm_size_t memsize;
 	};
 
 
 
 //
-int d_memsize_ocp_nlp_ipm_arg(struct d_ocp_nlp *nlp);
+hpipm_size_t d_memsize_ocp_nlp_ipm_arg(struct d_ocp_nlp *nlp);
 //
 void d_create_ocp_nlp_ipm_arg(struct d_ocp_nlp *nlp, struct d_ocp_nlp_ipm_arg *arg, void *mem);
 //
 void d_set_default_ocp_nlp_ipm_arg(struct d_ocp_nlp_ipm_arg *arg);
 
 //
-int d_memsize_ocp_nlp_ipm(struct d_ocp_nlp *nlp, struct d_ocp_nlp_ipm_arg *arg);
+hpipm_size_t d_memsize_ocp_nlp_ipm(struct d_ocp_nlp *nlp, struct d_ocp_nlp_ipm_arg *arg);
 //
 void d_create_ocp_nlp_ipm(struct d_ocp_nlp *nlp, struct d_ocp_nlp_ipm_arg *arg, struct d_ocp_nlp_ipm_workspace *ws, void *mem);
 //

diff --git a/archive/include/hpipm_d_ocp_nlp_sol.h b/archive/include/hpipm_d_ocp_nlp_sol.h
@@ -42,13 +42,13 @@ struct d_ocp_nlp_sol
 	struct blasfeo_dvec *pi;
 	struct blasfeo_dvec *lam;
 	struct blasfeo_dvec *t;
-	int memsize; // memory size in bytes
+	hpipm_size_t memsize; // memory size in bytes
 	};
 
 
 
 //
-int d_memsize_ocp_nlp_sol(int N, int *nx, int *nu, int *nb, int *ng, int *ns);
+hpipm_size_t d_memsize_ocp_nlp_sol(int N, int *nx, int *nu, int *nb, int *ng, int *ns);
 //
 void d_create_ocp_nlp_sol(int N, int *nx, int *nu, int *nb, int *ng, int *ns, struct d_ocp_nlp_sol *qp_sol, void *memory);
 //

diff --git a/archive/include/hpipm_d_ocp_nlp_sqp.h b/archive/include/hpipm_d_ocp_nlp_sqp.h
@@ -71,20 +71,20 @@ struct d_ocp_nlp_sqp_workspace
 	double nlp_res_d; // exit inf norm of residuals
 	double nlp_res_m; // exit inf norm of residuals
 	int iter; // iteration number
-	int memsize;
+	hpipm_size_t memsize;
 	};
 
 
 
 //
-int d_memsize_ocp_nlp_sqp_arg(struct d_ocp_nlp *nlp);
+hpipm_size_t d_memsize_ocp_nlp_sqp_arg(struct d_ocp_nlp *nlp);
 //
 void d_create_ocp_nlp_sqp_arg(struct d_ocp_nlp *nlp, struct d_ocp_nlp_sqp_arg *arg, void *mem);
 //
 void d_set_default_ocp_nlp_sqp_arg(struct d_ocp_nlp_sqp_arg *arg);
 
 //
-int d_memsize_ocp_nlp_sqp(struct d_ocp_nlp *nlp, struct d_ocp_nlp_sqp_arg *arg);
+hpipm_size_t d_memsize_ocp_nlp_sqp(struct d_ocp_nlp *nlp, struct d_ocp_nlp_sqp_arg *arg);
 //
 void d_create_ocp_nlp_sqp(struct d_ocp_nlp *nlp, struct d_ocp_nlp_sqp_arg *arg, struct d_ocp_nlp_sqp_workspace *ws, void *mem);
 //

diff --git a/archive/include/hpipm_s_ocp_nlp_sol.h b/archive/include/hpipm_s_ocp_nlp_sol.h
@@ -43,13 +43,13 @@ struct s_ocp_nlp_sol
 	struct blasfeo_svec *lam;
 	struct blasfeo_svec *t;
 	struct blasfeo_svec *eta0;
-	int memsize; // memory size in bytes
+	hpipm_size_t memsize; // memory size in bytes
 	};
 
 
 
 //
-int s_memsize_ocp_nlp_sol(int N, int *nx, int *nu, int *nb, int *ng, int *ns, int ne0);
+hpipm_size_t s_memsize_ocp_nlp_sol(int N, int *nx, int *nu, int *nb, int *ng, int *ns, int ne0);
 //
 void s_create_ocp_nlp_sol(int N, int *nx, int *nu, int *nb, int *ng, int *ns, int ne0, struct s_ocp_nlp_sol *qp_sol, void *memory);
 //

diff --git a/archive/ocp_nlp/d_ocp_nlp.c b/archive/ocp_nlp/d_ocp_nlp.c
@@ -61,7 +61,7 @@
 
 
 
-int MEMSIZE_OCP_NLP(int N, int *nx, int *nu, int *nb, int *ng, int *ns)
+hpipm_size_t MEMSIZE_OCP_NLP(int N, int *nx, int *nu, int *nb, int *ng, int *ns)
 	{
 
 	int ii;
@@ -72,7 +72,7 @@ int MEMSIZE_OCP_NLP(int N, int *nx, int *nu, int *nb, int *ng, int *ns)
 		nuxM = nu[ii]+nx[ii]>nuxM ? nu[ii]+nx[ii] : nuxM;
 		}
 
-	int size = 0;
+	hpipm_size_t size = 0;
 
 	size += 5*(N+1)*sizeof(int); // nx nu nb ng ns
 	size += 2*(N+1)*sizeof(int *); // idxb idxs

diff --git a/archive/ocp_nlp/d_ocp_nlp_hyb.c b/archive/ocp_nlp/d_ocp_nlp_hyb.c
@@ -99,12 +99,12 @@
 
 
 
-int d_memsize_ocp_nlp_hyb_arg(struct OCP_NLP *nlp)
+hpipm_size_t d_memsize_ocp_nlp_hyb_arg(struct OCP_NLP *nlp)
 	{
 
 	int N = nlp->N;
 
-	int size;
+	hpipm_size_t size;
 
 	size = 0;
 
@@ -207,7 +207,7 @@ void d_set_default_ocp_nlp_hyb_arg(struct OCP_NLP_HYB_ARG *arg)
 
 
 // TODO eliminate x0 in QP !!!
-int MEMSIZE_OCP_NLP_HYB(struct OCP_NLP *nlp, struct OCP_NLP_HYB_ARG *arg)
+hpipm_size_t MEMSIZE_OCP_NLP_HYB(struct OCP_NLP *nlp, struct OCP_NLP_HYB_ARG *arg)
 	{
 
 	int ii;
@@ -241,7 +241,7 @@ int MEMSIZE_OCP_NLP_HYB(struct OCP_NLP *nlp, struct OCP_NLP_HYB_ARG *arg)
 
 	int *i_ptr;
 
-	int size = 0;
+	hpipm_size_t size = 0;
 
 	size += 1*sizeof(struct OCP_QP);
 	size += 1*sizeof(struct OCP_QP_SOL);

diff --git a/archive/ocp_nlp/d_ocp_nlp_ipm.c b/archive/ocp_nlp/d_ocp_nlp_ipm.c
@@ -94,12 +94,12 @@
 
 
 
-int d_memsize_ocp_nlp_ipm_arg(struct OCP_NLP *nlp)
+hpipm_size_t d_memsize_ocp_nlp_ipm_arg(struct OCP_NLP *nlp)
 	{
 
 	int N = nlp->N;
 
-	int size;
+	hpipm_size_t size;
 
 	size = 0;
 
@@ -140,7 +140,7 @@ void d_set_default_ocp_nlp_ipm_arg(struct OCP_NLP_IPM_ARG *arg)
 
 
 // TODO eliminate x0 in QP !!!
-int MEMSIZE_OCP_NLP_IPM(struct OCP_NLP *nlp, struct OCP_NLP_IPM_ARG *arg)
+hpipm_size_t MEMSIZE_OCP_NLP_IPM(struct OCP_NLP *nlp, struct OCP_NLP_IPM_ARG *arg)
 	{
 
 	int ii;
@@ -162,7 +162,7 @@ int MEMSIZE_OCP_NLP_IPM(struct OCP_NLP *nlp, struct OCP_NLP_IPM_ARG *arg)
 
 	int *i_ptr;
 
-	int size = 0;
+	hpipm_size_t size = 0;
 
 	size += 1*sizeof(struct OCP_QP);
 	size += 1*sizeof(struct OCP_QP_SOL);

diff --git a/archive/ocp_nlp/d_ocp_nlp_sqp.c b/archive/ocp_nlp/d_ocp_nlp_sqp.c
@@ -92,12 +92,12 @@
 
 
 
-int d_memsize_ocp_nlp_sqp_arg(struct OCP_NLP *nlp)
+hpipm_size_t d_memsize_ocp_nlp_sqp_arg(struct OCP_NLP *nlp)
 	{
 
 	int N = nlp->N;
 
-	int size;
+	hpipm_size_t size;
 
 	size = 0;
 
@@ -192,7 +192,7 @@ void d_set_default_ocp_nlp_sqp_arg(struct OCP_NLP_SQP_ARG *arg)
 
 
 // TODO eliminate x0 in QP !!!
-int MEMSIZE_OCP_NLP_SQP(struct OCP_NLP *nlp, struct OCP_NLP_SQP_ARG *arg)
+hpipm_size_t MEMSIZE_OCP_NLP_SQP(struct OCP_NLP *nlp, struct OCP_NLP_SQP_ARG *arg)
 	{
 
 	int ii;
@@ -226,7 +226,7 @@ int MEMSIZE_OCP_NLP_SQP(struct OCP_NLP *nlp, struct OCP_NLP_SQP_ARG *arg)
 
 	int *i_ptr;
 
-	int size = 0;
+	hpipm_size_t size = 0;
 
 	size += 1*sizeof(struct OCP_QP);
 	size += 1*sizeof(struct OCP_QP_SOL);

diff --git a/archive/ocp_nlp/x_ocp_nlp_sol.c b/archive/ocp_nlp/x_ocp_nlp_sol.c
@@ -29,7 +29,7 @@
 
 
 
-int MEMSIZE_OCP_NLP_SOL(int N, int *nx, int *nu, int *nb, int *ng, int *ns)
+hpipm_size_t MEMSIZE_OCP_NLP_SOL(int N, int *nx, int *nu, int *nb, int *ng, int *ns)
 	{
 
 	int ii;
@@ -46,7 +46,7 @@ int MEMSIZE_OCP_NLP_SOL(int N, int *nx, int *nu, int *nb, int *ng, int *ns)
 	nvt += nu[ii]+nx[ii]+2*ns[ii];
 	nct += nb[ii]+ng[ii]+ns[ii];
 
-	int size = 0;
+	hpipm_size_t size = 0;
 
 	size += 3*(N+1)*sizeof(struct STRVEC); // ux lam t
 	size += 1*N*sizeof(struct STRVEC); // pi

diff --git a/archive/sim_core/d_irk_int.c b/archive/sim_core/d_irk_int.c
@@ -45,14 +45,14 @@
 
 
 
-int d_memsize_irk_int(struct d_rk_data *rk_data, int nx, int nf, int np)
+hpipm_size_t d_memsize_irk_int(struct d_rk_data *rk_data, int nx, int nf, int np)
 	{
 
 	int ns = rk_data->ns;
 
 	int nX = nx*(1+nf);
 
-	int size = 0;
+	hpipm_size_t size = 0;
 
 	size += 3*sizeof(struct blasfeo_dmat); // JG rG K
 

diff --git a/archive/test_d_nlp_ipm.c b/archive/test_d_nlp_ipm.c
@@ -96,14 +96,14 @@ struct d_linear_system
 	double *Bc;
 	int nx;
 	int nu;
-	int memsize;
+	hpipm_size_t memsize;
 	};
 
 
 
-int d_memsize_linear_system(int nx, int nu)
+hpipm_size_t d_memsize_linear_system(int nx, int nu)
 	{
-	int size = 0;
+	hpipm_size_t size = 0;
 	size += (nx*nx+nx*nu)*sizeof(double);
 	return size;
 	}
@@ -250,7 +250,7 @@ int main()
 	d_print_mat(nx_, nx_, Ac, nx_);
 	d_print_mat(nx_, nu_, Bc, nx_);
 
-	int lin_sys_memsize = d_memsize_linear_system(nx_, nu_);
+	hpipm_size_t lin_sys_memsize = d_memsize_linear_system(nx_, nu_);
 	printf("\nlin_sys memsize = %d\n", lin_sys_memsize);
 	void *lin_sys_memory = malloc(lin_sys_memsize);
 
@@ -349,7 +349,7 @@ int main()
 #endif
 
 	// erk data structure
-	int memsize_rk_data = d_memsize_rk_data(nsta);
+	hpipm_size_t memsize_rk_data = d_memsize_rk_data(nsta);
 	printf("\nmemsize rk data %d\n", memsize_rk_data);
 	void *memory_rk_data = malloc(memsize_rk_data);
 
@@ -664,7 +664,7 @@ int main()
 * ocp nlp
 ************************************************/	
 
-	int nlp_size = d_memsize_ocp_nlp(N, nx, nu, nb, ng, ns);
+	hpipm_size_t nlp_size = d_memsize_ocp_nlp(N, nx, nu, nb, ng, ns);
 	printf("\nnlpsize = %d\n", nlp_size);
 	void *nlp_mem = malloc(nlp_size);
 
@@ -677,7 +677,7 @@ int main()
 * ocp nlp sol
 ************************************************/	
 
-	int nlp_sol_size = d_memsize_ocp_nlp_sol(N, nx, nu, nb, ng, ns);
+	hpipm_size_t nlp_sol_size = d_memsize_ocp_nlp_sol(N, nx, nu, nb, ng, ns);
 	printf("\nnlp sol size = %d\n", nlp_sol_size);
 	void *nlp_sol_mem = malloc(nlp_sol_size);
 
@@ -709,7 +709,7 @@ int main()
 * ocp nlp ipm ws
 ************************************************/	
 
-	int nlp_ws_size = d_memsize_ocp_nlp_ipm(&nlp, &ipm_arg);
+	hpipm_size_t nlp_ws_size = d_memsize_ocp_nlp_ipm(&nlp, &ipm_arg);
 	printf("\nnlp ws size = %d\n", nlp_ws_size);
 	void *nlp_ws_mem = malloc(nlp_ws_size);