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
- more documentation
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 |