Instance attributes

benchmarks/run_benchmark.py

@@ -22,6 +22,8 @@
 LOAD_BLASFEO_RES = True
 numpy_res_file = 'riccati_benchmark_numpy.json'
 LOAD_NUMPY_RES = True
+numpy_blasfeo_res_file = 'riccati_benchmark_numpy_blasfeo.json'
+LOAD_NUMPY_BLASFEO_RES = True
 julia_res_file = 'riccati_benchmark_julia.json'
 LOAD_JULIA_RES = True 
 
@@ -89,6 +91,13 @@
     plt.semilogy(2*AVG_CPU_TIME_BLASFEO[:,1], AVG_CPU_TIME_BLASFEO[:,0])
     legend.append('NumPy')
 
+if LOAD_NUMPY_BLASFEO_RES:
+    with open(numpy_blasfeo_res_file) as res:
+        AVG_CPU_TIME_BLASFEO = json.load(res)
+    AVG_CPU_TIME_BLASFEO = np.array(AVG_CPU_TIME_BLASFEO)
+    plt.semilogy(2*AVG_CPU_TIME_BLASFEO[:,1], AVG_CPU_TIME_BLASFEO[:,0])
+    legend.append('NumPy + BLASFEO')
+
 if LOAD_JULIA_RES:
     with open(julia_res_file) as res:
         AVG_CPU_TIME_BLASFEO = json.load(res)

benchmarks/run_benchmark_numpy.py

@@ -10,7 +10,7 @@
 NREP_medium = 100
 NREP_large = 10
 AVG_CPU_TIME = []
-res_file = 'riccati_benchmark_numpy.json'
+res_file = 'riccati_benchmark_numpy_blasfeo.json'
 RUN = True
 UPDATE_res = True
 

examples/laparser/laparser.py

@@ -17,6 +17,7 @@ def main() -> int:
     B[1,1] = 1.0
 
     C: pmat = pmat(nx, nx)
+    D: pmat = pmat(nx, nx)
 
     pparse('C = A - A.T \ (B * D).T')
 

examples/riccati_example/riccati.py

@@ -7,13 +7,12 @@
 N:  dims  = 5
 
 class qp_data:
-    A: List = plist(pmat, sizes)
-    B: List = plist(pmat, sizes)
-    Q: List = plist(pmat, sizes)
-    R: List = plist(pmat, sizes)
-    P: List = plist(pmat, sizes)
-
-    fact: List = plist(pmat, sizes)
+    def __init__(self) -> None:
+        self.A: List = plist(pmat, sizes)
+        self.B: List = plist(pmat, sizes)
+        self.Q: List = plist(pmat, sizes)
+        self.R: List = plist(pmat, sizes)
+        self.P: List = plist(pmat, sizes)
 
     def factorize(self) -> None:
         M: pmat = pmat(nxu, nxu)
@@ -39,12 +38,13 @@ def factorize(self) -> None:
             pmt_gemm_nn(BAtP, BA, M, M)
             pmat_fill(L, 0.0)
             pmt_potrf(M, L)
+            pmat_print(L)
 
             Mxx[0:nx, 0:nx] = L[nu:nu+nx, nu:nu+nx]
 
             pmat_fill(self.P[N-i-1], 0.0)
             pmt_gemm_nt(Mxx, Mxx, self.P[N-i-1], self.P[N-i-1])
-            pmat_print(self.P[N-i-1])
+            # pmat_print(self.P[N-i-1])
 
         return
 

examples/riccati_example/riccati_compact.py

@@ -7,13 +7,14 @@
 N:  dims  = 5
 
 class qp_data:
-    A: List = plist(pmat, sizes)
-    B: List = plist(pmat, sizes)
-    Q: List = plist(pmat, sizes)
-    R: List = plist(pmat, sizes)
-    P: List = plist(pmat, sizes)
-
-    fact: List = plist(pmat, sizes)
+    def __init__(self) -> None:
+        self.A: List = plist(pmat, sizes)
+        self.B: List = plist(pmat, sizes)
+        self.Q: List = plist(pmat, sizes)
+        self.R: List = plist(pmat, sizes)
+        self.P: List = plist(pmat, sizes)
+
+        self.fact: pmat = pmat(nx,nx)
 
     def factorize(self) -> None:
         Qk: pmat = pmat(nx, nx)

examples/riccati_example/riccati_mass_spring.py

@@ -89,6 +89,5 @@ def main() -> int:
             pmt_syrk_ln(w_nxu_nx, w_nxu_nx, RSQ, M)
             pmt_potrf(M, M)
             Lxx[0:nx,0:nx] = M[nu:nu+nx,nu:nu+nx]
-            # pmat_print(M)
 
     return 0

examples/riccati_example/riccati_mass_spring_2.py

@@ -2,21 +2,20 @@
 
 nm: dims = 4
 nx: dims  = 2*nm
-# nx: dims  = 2
-# sizes: dimv = [[2,2], [2,2], [2,2], [2,2], [2,2]]
 sizes: dimv = [[8,8], [8,8], [8,8], [8,8], [8,8]]
 nu: dims  = nm
 nxu: dims = nx + nu
 N:  dims  = 5
 
 class qp_data:
-    A: List = plist(pmat, sizes)
-    B: List = plist(pmat, sizes)
-    Q: List = plist(pmat, sizes)
-    R: List = plist(pmat, sizes)
-    P: List = plist(pmat, sizes)
-
-    fact: List = plist(pmat, sizes)
+    def __init__(self) -> None:
+        self.A: List = plist(pmat, sizes)
+        self.B: List = plist(pmat, sizes)
+        self.Q: List = plist(pmat, sizes)
+        self.R: List = plist(pmat, sizes)
+        self.P: List = plist(pmat, sizes)
+
+        self.fact: List = plist(pmat, sizes)
 
     def factorize(self) -> None:
         M: pmat = pmat(nxu, nxu)

examples/riccati_example/riccati_numpy.py

@@ -23,6 +23,7 @@
     M[nu:nu+nx, nu:nu+nx] = Q
     M = M + dot(BAtP, BA)
     L = linalg.cholesky(M)
+    print('L:\n', L)
     Mxx = L[nu:nu+nx, nu:nu+nx]
     P = dot(transpose(Mxx), Mxx)
     print('P:\n', P)