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Hoist loop-invariant scaling reciprocal out of the LDP inner loops #160

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Merged
darnstrom merged 2 commits into from
Jul 18, 2026
Merged

Hoist loop-invariant scaling reciprocal out of the LDP inner loops #160

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0b9f4cf
Hoist scaling reciprocal out of the QP->LDP inner loops
cl445 Jul 10, 2026
5556799
Combine a multiplication in the new inv_scaling
darnstrom Jul 12, 2026
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10 changes: 6 additions & 4 deletions src/utils.c
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Original file line number Diff line number Diff line change
Expand Up @@ -241,9 +241,10 @@ int daqp_update_M(DAQPWorkspace *work, c_float *A, const int mask){
work->M[disp2-j]=work->Rinv[--disp]*A[disp2-j];
}
for(; j<n; ++j){// Take into account scaling in Rinv
c_float col_scaling = A[disp2-j]/work->scaling[n-j-1];
for(i=0;i<j;++i)
work->M[disp2-i] += (work->Rinv[--disp]/work->scaling[n-j-1])*A[disp2-j];
work->M[disp2-j]=(work->Rinv[--disp]/work->scaling[n-j-1])*A[disp2-j];
work->M[disp2-i] += work->Rinv[--disp]*col_scaling;
work->M[disp2-j]= work->Rinv[--disp]*col_scaling;
}
}
}
Expand Down Expand Up @@ -284,9 +285,10 @@ void daqp_update_v(c_float *f, DAQPWorkspace *work, const int mask){
work->v[j]=work->Rinv[--disp]*f[j];
}
for(;j>=0;j--){// Take into accoutn scaling in Rinv
c_float col_scaling = f[j]/work->scaling[j];
for(i=n-1;i>j;i--)
work->v[i] +=(work->Rinv[--disp]/work->scaling[j])*f[j];
work->v[j]=(work->Rinv[--disp]/work->scaling[j])*f[j];
work->v[i] +=work->Rinv[--disp]*col_scaling;
work->v[j]=work->Rinv[--disp]*col_scaling;
}
}

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