Sleipnir C++ API
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time_trace.hpp
1// Copyright (c) Sleipnir contributors
2
3#pragma once
4
5#include <stdint.h>
6
7#include <array>
8
9#include "sleipnir/util/time_tracer.hpp"
10
11namespace slp {
12
16enum class SetupTimeTracerID : uint8_t {
18 SETUP,
20 GRADIENT,
22 HESSIAN,
24 HESSIAN_COST,
26 HESSIAN_CONSTRAINTS,
28 EQUALITY_JACOBIAN,
30 INEQUALITY_JACOBIAN,
31};
32
36enum class SolveTimeTracerID : uint8_t {
38 SOLVER,
40 SETUP,
42 ITERATION,
44 CALLBACKS,
46 KKT_MATRIX_BUILD,
48 KKT_MATRIX_DECOMP,
50 KKT_SYSTEM_SOLVE,
52 LINE_SEARCH,
54 SOC,
56 FEASIBILITY_RESTORATION,
58 COST,
60 GRADIENT,
62 HESSIAN,
64 HESSIAN_CONSTRAINTS,
66 EQUALITY_CONSTRAINTS,
68 EQUALITY_JACOBIAN,
70 INEQUALITY_CONSTRAINTS,
72 INEQUALITY_JACOBIAN,
73};
74
76inline constexpr std::array newton_setup_time_trace{
77 TimeTraceEntry{SetupTimeTracerID::SETUP, "setup", 0},
78 TimeTraceEntry{SetupTimeTracerID::GRADIENT, "∇f(x)", 1},
79 TimeTraceEntry{SetupTimeTracerID::HESSIAN, "∇²ₓₓL", 1},
80};
81
83inline constexpr std::array sqp_setup_time_trace{
84 TimeTraceEntry{SetupTimeTracerID::SETUP, "setup", 0},
85 TimeTraceEntry{SetupTimeTracerID::GRADIENT, "∇f(x)", 1},
86 TimeTraceEntry{SetupTimeTracerID::HESSIAN, "∇²ₓₓL", 1},
87 TimeTraceEntry{SetupTimeTracerID::HESSIAN_COST, "∇²ₓₓL_f", 2},
88 TimeTraceEntry{SetupTimeTracerID::HESSIAN_CONSTRAINTS, "∇²ₓₓL_c", 2},
89 TimeTraceEntry{SetupTimeTracerID::EQUALITY_JACOBIAN, "∂cₑ/∂x", 1},
90};
91
93inline constexpr std::array ipm_setup_time_trace{
94 TimeTraceEntry{SetupTimeTracerID::SETUP, "setup", 0},
95 TimeTraceEntry{SetupTimeTracerID::GRADIENT, "∇f(x)", 1},
96 TimeTraceEntry{SetupTimeTracerID::HESSIAN, "∇²ₓₓL", 1},
97 TimeTraceEntry{SetupTimeTracerID::HESSIAN_COST, "∇²ₓₓL_f", 2},
98 TimeTraceEntry{SetupTimeTracerID::HESSIAN_CONSTRAINTS, "∇²ₓₓL_c", 2},
99 TimeTraceEntry{SetupTimeTracerID::EQUALITY_JACOBIAN, "∂cₑ/∂x", 1},
100 TimeTraceEntry{SetupTimeTracerID::INEQUALITY_JACOBIAN, "∂cᵢ/∂x", 1},
101};
102
104inline constexpr std::array newton_time_trace{
105 TimeTraceEntry{SolveTimeTracerID::SOLVER, "solver", 0},
106 TimeTraceEntry{SolveTimeTracerID::SETUP, "setup", 1},
107 TimeTraceEntry{SolveTimeTracerID::ITERATION, "iteration", 1},
108 TimeTraceEntry{SolveTimeTracerID::CALLBACKS, "callbacks", 2},
109 TimeTraceEntry{SolveTimeTracerID::KKT_MATRIX_DECOMP, "KKT matrix decomp",
110 2},
111 TimeTraceEntry{SolveTimeTracerID::KKT_SYSTEM_SOLVE, "KKT system solve", 2},
112 TimeTraceEntry{SolveTimeTracerID::LINE_SEARCH, "line search", 2},
113 TimeTraceEntry{SolveTimeTracerID::COST, "f(x)", 2},
114 TimeTraceEntry{SolveTimeTracerID::GRADIENT, "∇f(x)", 2},
115 TimeTraceEntry{SolveTimeTracerID::HESSIAN, "∇²ₓₓL", 2},
116};
117
119inline constexpr std::array sqp_time_trace{
120 TimeTraceEntry{SolveTimeTracerID::SOLVER, "solver", 0},
121 TimeTraceEntry{SolveTimeTracerID::SETUP, "setup", 1},
122 TimeTraceEntry{SolveTimeTracerID::ITERATION, "iteration", 1},
123 TimeTraceEntry{SolveTimeTracerID::CALLBACKS, "callbacks", 2},
124 TimeTraceEntry{SolveTimeTracerID::KKT_MATRIX_BUILD, "KKT matrix build", 2},
125 TimeTraceEntry{SolveTimeTracerID::KKT_MATRIX_DECOMP, "KKT matrix decomp",
126 2},
127 TimeTraceEntry{SolveTimeTracerID::KKT_SYSTEM_SOLVE, "KKT system solve", 2},
128 TimeTraceEntry{SolveTimeTracerID::LINE_SEARCH, "line search", 2},
129 TimeTraceEntry{SolveTimeTracerID::SOC, "SOC", 3},
130 TimeTraceEntry{SolveTimeTracerID::FEASIBILITY_RESTORATION,
131 "feas. restoration", 2},
132 TimeTraceEntry{SolveTimeTracerID::COST, "f(x)", 2},
133 TimeTraceEntry{SolveTimeTracerID::GRADIENT, "∇f(x)", 2},
134 TimeTraceEntry{SolveTimeTracerID::HESSIAN, "∇²ₓₓL", 2},
135 TimeTraceEntry{SolveTimeTracerID::HESSIAN_CONSTRAINTS, "∇²ₓₓL_c", 2},
136 TimeTraceEntry{SolveTimeTracerID::EQUALITY_CONSTRAINTS, "cₑ(x)", 2},
137 TimeTraceEntry{SolveTimeTracerID::EQUALITY_JACOBIAN, "∂cₑ/∂x", 2},
138};
139
141inline constexpr std::array ipm_time_trace{
142 TimeTraceEntry{SolveTimeTracerID::SOLVER, "solver", 0},
143 TimeTraceEntry{SolveTimeTracerID::SETUP, "setup", 1},
144 TimeTraceEntry{SolveTimeTracerID::ITERATION, "iteration", 1},
145 TimeTraceEntry{SolveTimeTracerID::CALLBACKS, "callbacks", 2},
146 TimeTraceEntry{SolveTimeTracerID::KKT_MATRIX_BUILD, "KKT matrix build", 2},
147 TimeTraceEntry{SolveTimeTracerID::KKT_MATRIX_DECOMP, "KKT matrix decomp",
148 2},
149 TimeTraceEntry{SolveTimeTracerID::KKT_SYSTEM_SOLVE, "KKT system solve", 2},
150 TimeTraceEntry{SolveTimeTracerID::LINE_SEARCH, "line search", 2},
151 TimeTraceEntry{SolveTimeTracerID::SOC, "SOC", 3},
152 TimeTraceEntry{SolveTimeTracerID::FEASIBILITY_RESTORATION,
153 "feas. restoration", 2},
154 TimeTraceEntry{SolveTimeTracerID::COST, "f(x)", 2},
155 TimeTraceEntry{SolveTimeTracerID::GRADIENT, "∇f(x)", 2},
156 TimeTraceEntry{SolveTimeTracerID::HESSIAN, "∇²ₓₓL", 2},
157 TimeTraceEntry{SolveTimeTracerID::HESSIAN_CONSTRAINTS, "∇²ₓₓL_c", 2},
158 TimeTraceEntry{SolveTimeTracerID::EQUALITY_CONSTRAINTS, "cₑ(x)", 2},
159 TimeTraceEntry{SolveTimeTracerID::EQUALITY_JACOBIAN, "∂cₑ/∂x", 2},
160 TimeTraceEntry{SolveTimeTracerID::INEQUALITY_CONSTRAINTS, "cᵢ(x)", 2},
161 TimeTraceEntry{SolveTimeTracerID::INEQUALITY_JACOBIAN, "∂cᵢ/∂x", 2},
162};
163
164} // namespace slp