Comments (6)
Next suspects for improvement are the many d_free
and d_zeros
calls in ocp_qp_qpoases_condensing
. Rewrite after condensing interface is completed.
from acados.
Hey Robin. I would be reluctant to change qpoases without a deeper understanding of the code. Skipping Initialization to zeros might work for some operating systems and/or problem instances but not for others. Perhaps you can ping Joachim about this. Of course all the mallocs from the acados side should be gone once the new interface is in place.
from acados.
from acados.
Alright! By the way, I suspect that malloc is much slower in mac than in linux. At least on my system. Ps: you can have a shot at Greg's server for the benchmarking.
from acados.
The connection with Greg's box is too slow to do that from here. Could someone just try this for me? It's basically
- commenting out that line,
- building qpOASES and
- running
chen_nmpc_qpoases_example
again and see if it changes anything (put number of repetitions 10000).
If it also occurs on Linux, I will then write to Joachim.
from acados.
I can confirm, roughly the same speedup (~25%) can be seen on a Linux box. Note that this probably occurs because NVMAX
and NCMAX
are their default values (i.e. way bigger than the actual size of the problem). For smaller maximum dimensions, this would probably not occur, as other routines will become relatively more CPU-intensive.
Still, these lines are unnecessary, it seems. I will contact Joachim about this, see what his opinion is.
from acados.
Related Issues (20)
- Nonexistent include directories attached to acados cmake target HOT 2
- Nan in solution whenever square root is used in contraints. HOT 1
- Experiencing broken solver in 0.3.1 HOT 3
- race car example HOT 2
- Acados cannot be build with master (Commit: 72a605b435397ccb67f575eaca6f8b0dea5006ad) HOT 1
- DDP follow-up
- AcadosSimSolver missing `acados_lib_uses_omp` property HOT 1
- Error during make install on MacOS (Intel CPU) HOT 2
- Error compiling Cython HOT 10
- Batch OCP Solver
- Cmake find_package problem when using acados with daqp HOT 2
- Error compiling Acados with GCC 14.1.1: `implicit declaration of function ‘posix_memalign’` HOT 4
- cmakelists does not respect CMAKE_INSTALL_PREFIX HOT 2
- Linearly dependent constraints at solution due to the initial state constraint formulation HOT 6
- Update Problem Formulation/Missing docs
- Problems encountered when building the Python interface of acados on windows
- Error when cross-compiling for dSPACE MicroLabBox (DS1202) on Windows
- Add options to qpOASES
- processing the command: make shared_library with the following error HOT 5
- How is the cost at initial stage set up when using Moving horizon estimation? HOT 1
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