#include <benchmark/benchmark.h>
#include <cyqlone/matio.hpp>
#include <cyqlone/qpalm/backends/ocp-backend-cyqlone.hpp>
#include <cyqlone/qpalm/example-problems/spring-mass.hpp>
#include <cyqlone/qpalm/settings.hpp>
#include <cyqlone/qpalm/solver.hpp>
#include <cyqlone/qpalm/status.hpp>
#include <cyqlone/tracing.hpp>
#include <CLI/CLI.hpp>
#include <batmat/dtypes.hpp>
#include <batmat/lut.hpp>
#include <batmat/openmp.h>
#include <guanaqo/demangled-typename.hpp>
#include <guanaqo/pcm/counters.hpp>
#include <guanaqo/perfetto/trace.hpp>
#include <guanaqo/string-util.hpp>
#include <guanaqo/stringify.h>
#include <batmat-version.h>
#include <cyqlone-version.h>
#include <algorithm>
#include <cstdlib>
#include <filesystem>
#include <format>
#include <generator>
#include <map>
#include <optional>
#include <random>
#include <stdexcept>
#include <utility>
#include "hpipm.hpp"

Classes
struct	Options
struct	Problem
struct	Solver
struct	SpringMassParams

Typedefs
using	seconds = std::chrono::duration<double>

Enumerations
enum class	ProblemType { WangBoyd2008 , WangBoyd2008Width , Domahidi2012 , ActiveStateConstr }
enum class	WarmStartHPIPM { NoWarmStart , WarmZero , WarmCopy , WarmShift }

Functions
auto	counter (auto x)
auto	counter_avg (auto x)
qp::problems::SpringMassProblem	create_problem (const SpringMassParams &params)
void	disable_tracing ()
void	trace_run (auto &&, const auto &)
void	print_traces (std::ostream &)
template<index_t VL, qp::StorageOrder Order>
void	run_benchmark (benchmark::State &state, const std::string &param_name, const SpringMassParams &params, qp::CyQPALMBackendSettings backend_settings, qp::Settings settings, bool warm=false, bool trace=false)
std::generator< Problem >	get_spring_mass_params (const Options &opts)
void	export_problem (const Options &opts)
std::string_view	order (qp::StorageOrder o)
template<index_t VL, qp::StorageOrder O>
std::generator< Solver >	get_cyqlone_solvers (const Options &opts)
std::generator< Solver >	get_hpipm_solvers (const Options &opts)
template<qp::StorageOrder Order>
std::generator< Solver >	get_cyqlone_solvers_vl (const Options &opts)
std::generator< Solver >	get_solvers (const Options &opts)
auto	register_benchmarks (const Options &opts)
std::unique_ptr< benchmark::BenchmarkReporter >	make_custom_reporter (size_t problem_name_width, size_t solver_name_width, bool print_extra, bool with_color)
void	register_options (const char *program, CLI::App &app, Options &opts)
int	initialize_google_benchmark (char *program, auto bm_args)
void	register_context ()
int	main (int argc, char **argv)

Variables
constexpr auto	v_native = std::is_same_v<batmat::real_t, double> ? 4 : 8
constexpr auto	v = batmat::types::vl_at_most<batmat::real_t, v_native>
const std::map< std::string, ProblemType >	problem_type_map

Class Documentation

◆ Options

struct Options

Class Members
bool	cold = true
bool	warm_shift = true
bool	warm_copy = false
bool	no_updates = false
vector< int >	parallelism = {8}
vector< int >	vector_length = {v}
bool	rm = false
bool	cm = true
bool	pcr = true
bool	hpipm = false
vector< int >	horizon {32, 64, 96, 128, 192, 256}
vector< int >	masses {6, 12, 30}
uint64_t	num_instances = 50
uint64_t	seed = 0
ProblemType	problem_type = ProblemType::WangBoyd2008
double	pcr_max_update_fraction = 0.25
double	cr_max_update_fraction = 0.9
int	parallel_solve_cr_threshold = 10
int	parallel_factor_pcr_threshold = 20
double	changing_constr_factor = 0.01
bool	custom_reporter = true
bool	print_extra = false
bool	use_color = false
bool	trace = false
string	export_problem {}

◆ Problem

struct Problem

Class Members
string	name
SpringMassParams	params

Typedef Documentation

◆ seconds

using seconds = std::chrono::duration<double>

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 104 of file spring-mass.cpp.

Enumeration Type Documentation

◆ ProblemType

enum class ProblemType

strong

Enumerator
WangBoyd2008
WangBoyd2008Width
Domahidi2012
ActiveStateConstr

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 55 of file spring-mass.cpp.

◆ WarmStartHPIPM

enum class WarmStartHPIPM

strong

Enumerator
NoWarmStart
WarmZero
WarmCopy
WarmShift

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 234 of file spring-mass.cpp.

Function Documentation

◆ counter()

auto counter ( auto x )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 48 of file spring-mass.cpp.

◆ counter_avg()

auto counter_avg ( auto x )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 51 of file spring-mass.cpp.

◆ create_problem()

qp::problems::SpringMassProblem create_problem ( const SpringMassParams & params )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 106 of file spring-mass.cpp.

◆ disable_tracing()

void disable_tracing ( )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 162 of file spring-mass.cpp.

◆ trace_run()

void trace_run	(	auto &&	,
		const auto &	)

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 163 of file spring-mass.cpp.

◆ print_traces()

void print_traces ( std::ostream & )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 164 of file spring-mass.cpp.

◆ run_benchmark()

template<index_t VL, qp::StorageOrder Order>

void run_benchmark	(	benchmark::State &	state,
		const std::string &	param_name,
		const SpringMassParams &	params,
		qp::CyQPALMBackendSettings	backend_settings,
		qp::Settings	settings,
		bool	warm = false,
		bool	trace = false )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 168 of file spring-mass.cpp.

◆ get_spring_mass_params()

std::generator< Problem > get_spring_mass_params ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 286 of file spring-mass.cpp.

◆ export_problem()

void export_problem ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 320 of file spring-mass.cpp.

◆ order()

std::string_view order ( qp::StorageOrder o )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 340 of file spring-mass.cpp.

◆ get_cyqlone_solvers()

template<index_t VL, qp::StorageOrder O>

std::generator< Solver > get_cyqlone_solvers ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 343 of file spring-mass.cpp.

◆ get_hpipm_solvers()

std::generator< Solver > get_hpipm_solvers ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 401 of file spring-mass.cpp.

◆ get_cyqlone_solvers_vl()

template<qp::StorageOrder Order>

std::generator< Solver > get_cyqlone_solvers_vl ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 425 of file spring-mass.cpp.

◆ get_solvers()

std::generator< Solver > get_solvers ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 440 of file spring-mass.cpp.

◆ register_benchmarks()

auto register_benchmarks ( const Options & opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 448 of file spring-mass.cpp.

◆ make_custom_reporter()

std::unique_ptr< benchmark::BenchmarkReporter > make_custom_reporter	(	size_t	problem_name_width,
		size_t	solver_name_width,
		bool	print_extra,
		bool	with_color )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

◆ register_options()

void register_options	(	const char *	program,
		CLI::App &	app,
		Options &	opts )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 474 of file spring-mass.cpp.

◆ initialize_google_benchmark()

int initialize_google_benchmark	(	char *	program,
		auto	bm_args )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 531 of file spring-mass.cpp.

◆ register_context()

void register_context ( )

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 544 of file spring-mass.cpp.

◆ main()

int main	(	int	argc,
		char **	argv )

Definition at line 599 of file spring-mass.cpp.

Variable Documentation

◆ v_native

auto v_native = std::is_same_v<batmat::real_t, double> ? 4 : 8

constexpr

Examples: benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 44 of file spring-mass.cpp.

◆ v

auto v = batmat::types::vl_at_most<batmat::real_t, v_native>