8 ms·
Intrinsics (or directly assembly) are used in BLASFEO (https://github.com/giaf/blasfeo https://github.com/giaf/blasfeo) the linear package used by prometeo. It
by zanellia 5y ago
Intrinsics (or directly assembly) are used in BLASFEO (https://github.com/giaf/blasfeo https://github.com/giaf/blasfeo) the linear package used by prometeo. It would be cool to generate assembly directly for a few things, but that would require quite a bit of work!
- giaf 5y agoIndeed, and that would make the code machine-dependent too. On top of that, BLASFEO is already used for the most computationally intensive operations (e.g. matrix-matrix operations and factorizations, involving O(n^3) flops on O(n^2) data) providing high performance and low overhead, and the other operations on vector and matrices are anyway usually memory bounded and would see little to no benefit from directly using the assembly language.
- 4w4s 5y agoOn top of linear algebra, is it also possible to interface it directly to standalone, well optimized existing QP solvers, like HPIPM (https://github.com/giaf/hpipm https://github.com/giaf/hpipm)? In case one is interested in implementing MPC controllers.
- giaf 5y agoYou are not the only one request this :p So, if I understand correctly, at the end what you would like is a tool to write your MPC problem more conveniently in a high-level language and still be able to deploy your code using HPIPM on an embedded device? [BTW, I happen to be the main HPIPM developer, so very glad about your comment!]
- zanellia 5y agoInterfacing existing C code would be an important thing to be addressed. It is currently a missing feature, unfortunately.
- deleted 5y ago[deleted]