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add parallelization to multiple shooting #313

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merged 10 commits into from Jul 30, 2018

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giaf commented Jul 20, 2018

work in progress

@@ -77,7 +79,10 @@ typedef struct
ocp_nlp_memory *nlp_mem;
int sqp_iter;
int dummy; // NOTE(dimitris): make struct size multiple of 8

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@dkouzoup

dkouzoup Jul 23, 2018

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Is this not relevant any more? I vaguely remember that we should have an even number of ints in our structs to make sure that we are 8-byte aligned every += sizeof(struct) at the beginning of the assign routines.

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dkouzoup Jul 23, 2018

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Is this not relevant any more? I vaguely remember that we should have an even number of ints in our structs to make sure that we are 8-byte aligned every += sizeof(struct) at the beginning of the assign routines.

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@roversch

roversch Jul 23, 2018

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Good point. Don't we anyway always align to 8 bytes ?

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roversch Jul 23, 2018

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Good point. Don't we anyway always align to 8 bytes ?

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@dkouzoup

dkouzoup Jul 23, 2018

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I think not every +sizeof(struct), coz it would be a bit tedious, but I haven't checked that since quite a while now..

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dkouzoup Jul 23, 2018

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I think not every +sizeof(struct), coz it would be a bit tedious, but I haven't checked that since quite a while now..

@@ -1121,7 +1121,7 @@ int main()
ocp_nlp_solver_plan *plan = ocp_nlp_plan_create(NN);
// TODO(dimitris): not necessarily GN, depends on cost module

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@dkouzoup

dkouzoup Jul 23, 2018

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maybe remove this comment now?

@dkouzoup

dkouzoup Jul 23, 2018

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maybe remove this comment now?

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@roversch

roversch Jul 23, 2018

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👍

@roversch

roversch Jul 23, 2018

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👍

// plan->sim_solver_plan[i].sim_solver = ERK;
plan->sim_solver_plan[i].sim_solver = IRK;
// plan->sim_solver_plan[i].sim_solver = NEW_LIFTED_IRK;
// plan->sim_solver_plan[i].sim_solver = GNSF;

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@dkouzoup

dkouzoup Jul 23, 2018

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someone should clean up the examples since we test anyway all exotic combinations in the unit tests now..

@dkouzoup

dkouzoup Jul 23, 2018

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someone should clean up the examples since we test anyway all exotic combinations in the unit tests now..

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@giaf

giaf Jul 23, 2018

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I would keep this stuff, this is how I found there was another bug in GNSF+BLASFEO

I don't trust unit tests alone...

@giaf

giaf Jul 23, 2018

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I would keep this stuff, this is how I found there was another bug in GNSF+BLASFEO

I don't trust unit tests alone...

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dkouzoup Jul 23, 2018

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Looks great! Can you either lint the code or delegate it to someone in order to merge soon?

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dkouzoup commented Jul 23, 2018

Looks great! Can you either lint the code or delegate it to someone in order to merge soon?

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giaf Jul 23, 2018

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This PR was not intended to be reviewed yet, I just made the PR so that Jonathan could check what was going on with GNSF... ;)

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giaf commented Jul 23, 2018

This PR was not intended to be reviewed yet, I just made the PR so that Jonathan could check what was going on with GNSF... ;)

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giaf Jul 23, 2018

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For example, it only works with make, someone should figure out how to do OpenMP with cmake

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giaf commented Jul 23, 2018

For example, it only works with make, someone should figure out how to do OpenMP with cmake

giaf added some commits Jul 24, 2018

@giaf giaf merged commit 4550b73 into acados:master Jul 30, 2018

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@giaf giaf referenced this pull request Jul 30, 2018

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Add OpenMP to cmake #316

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