🤏 tinyHPIPM

This project is an opinionated and stripped down version of HPIPM packaged with the linear algebra subroutines in BLASFEO. I created it based on my own personal needs (which were mostly oriented around QCQPs and the Python interface), but if you want me to add something, don't hesitate to open a PR.
Currently, the main differences with the original project(s) are:

• for BLASFEO: a lot of the compilation options have been removed to keep only those actually used in HPIPM (high performance implementation with panel major matrix format, no external BLAS interface).
• for HPIPM: no tree OCP interface
• the compilation targets for both have been merged, simplified and renamed (based on CPU capabilities instead of vendor architectures)
• no more Make build system, only modern CMake that simplifies the usage from other project
• no more Matlab interface
• some small bugfixes in the OCP QCQP interface

WARNING: This project is in its early stages, a lot can change unexpectedly (especially in the C interface that I have not yet finished cleaning up), so this is currently not production ready.

In the future I would like to add:

• automatic compilation target selection
• a more extensive Python interface
• more testing and code analysis to ensure space grade software quality
  • unit testing (probably with CTest in the beginning but I could switch to a more complete C framework)
  • high MCDC coverage
  • use static analysis tools like SonarLint, IKOS, COBRA to ensure standards like MISRA-C.
• more documentation

New compilation targets

The table below is a summary of the correspondance between the old compilation targets of BLASFEO and the new compilation targets of tinyHPIPM.

old target	new target	cflags	asm flags
TARGET_X86_AMD_BARCELONA	TARGET_X86_SSE3	-m32 -msse3
TARGET_X86_AMD_JAGUAR	TARGET_X86_AVX	-m32 -mavx
TARGET_X64_INTEL_CORE	TARGET_X64_SSE3	-m64 -msse3
TARGET_X64_INTEL_SANDY_BRIDGE	TARGET_X64_AVX	-m64 -mavx
TARGET_X64_AMD_BULLDOZER	TARGET_X64_AVX_FMA	-m64 -mavx -mfma
TARGET_X64_INTEL_HASWELL	TARGET_X64_AVX2_FMA	-m64 -mavx2 -mfma
TARGET_X64_INTEL_SKYLAKE_X	TARGET_X64_AVX512_FMA	-m64 -mavx512f -mavx512vl -mfma
TARGET_ARMV7A_...	TARGET_ARMV7A_NEON_VPFV3	-marm -mfloat-abi=hard -mfpu=neon-vfpv3	-mfpu=neon-vfpv4
TARGET_ARMV8A_...	TARGET_ARMV8A_NEON2_VPFV4	-march=armv8-a+crc+crypto+simd
TARGET_GENERIC	TARGET_GENERIC