8000 Replace `fmax` & `fmin` in acados with MAX, MIN macros by FreyJo · Pull Request #1570 · acados/acados · GitHub
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Replace fmax & fmin in acados with MAX, MIN macros #1570

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Merged
merged 1 commit into from
Jun 30, 2025
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Replace fmax & fmin in acados with MAX, MIN macros #1570

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9 changes: 5 additions & 4 deletions acados/ocp_nlp/ocp_nlp_common.c
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Expand Up @@ -46,6 +46,7 @@
// acados
#include "acados/utils/mem.h"
#include "acados/utils/print.h"
#include "acados/utils/math.h"
#include "acados/utils/strsep.h"
// openmp
#if defined(ACADOS_WITH_OPENMP)
Expand Down Expand Up @@ -2586,7 +2587,7 @@ double ocp_nlp_compute_dual_pi_norm_inf(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out
{
for (j=0; j<nx[i+1]; j++)
{
norm_pi = fmax(norm_pi, fabs(BLASFEO_DVECEL(nlp_out->pi+i, j)));
norm_pi = MAX(norm_pi, fabs(BLASFEO_DVECEL(nlp_out->pi+i, j)));
}
}
return norm_pi;
Expand All @@ -2603,7 +2604,7 @@ double ocp_nlp_compute_dual_lam_norm_inf(ocp_nlp_dims *dims, ocp_nlp_out *nlp_ou
{
for (j=0; j<2*dims->ni[i]; j++)
{
norm_lam = fmax(norm_lam, fabs(BLASFEO_DVECEL(nlp_out->lam+i, j)));
norm_lam = MAX(norm_lam, fabs(BLASFEO_DVECEL(nlp_out->lam+i, j)));
}
}
return norm_lam;
Expand Down Expand Up @@ -2850,13 +2851,13 @@ static void adaptive_levenberg_marquardt_update_mu(double iter, double step_size
if (step_size == 1.0)
{
double mu_tmp = mem->adaptive_levenberg_marquardt_mu;
mem->adaptive_levenberg_marquardt_mu = fmax(opts->adaptive_levenberg_marquardt_mu_min,
mem->adaptive_levenberg_marquardt_mu = MAX(opts->adaptive_levenberg_marquardt_mu_min,
mem->adaptive_levenberg_marquardt_mu_bar/(opts->adaptive_levenberg_marquardt_lam));
mem->adaptive_levenberg_marquardt_mu_bar = mu_tmp;
}
else
{
mem->adaptive_levenberg_marquardt_mu = fmin(opts->adaptive_levenberg_marquardt_lam * mem->adaptive_levenberg_marquardt_mu, 1.0);
mem->adaptive_levenberg_marquardt_mu = MIN(opts->adaptive_levenberg_marquardt_lam * mem->adaptive_levenberg_marquardt_mu, 1.0);
}
}
}
Expand Down
7 changes: 4 additions & 3 deletions acados/ocp_nlp/ocp_nlp_globalization_funnel.c
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Expand Up @@ -49,6 +49,7 @@
// acados
#include "acados/utils/mem.h"
#include "acados/utils/print.h"
#include "acados/utils/math.h"


/************************************************
Expand Down Expand Up @@ -226,7 +227,7 @@ void *ocp_nlp_globalization_funnel_memory_assign(void *config_, void *dims_, voi

void initialize_funnel_width(ocp_nlp_globalization_funnel_memory *mem, ocp_nlp_globalization_funnel_opts *opts, double initial_infeasibility)
{
mem->funnel_width = fmax(opts->initialization_upper_bound,
mem->funnel_width = MAX(opts->initialization_upper_bound,
opts->initialization_increase_factor*initial_infeasibility);
}

Expand All @@ -251,7 +252,7 @@ void update_funnel_penalty_parameter(ocp_nlp_globalization_funnel_memory *mem,
}
if (mem->penalty_parameter * pred_optimality + pred_infeasibility < opts->penalty_eta * pred_infeasibility)
{
mem->penalty_parameter = fmax(0.0, //objective multiplier should always be >= 0!
mem->penalty_parameter = MAX(0.0, //objective multiplier should always be >= 0!
fmin(opts->penalty_contraction * mem->penalty_parameter,
((1-opts->penalty_eta) * pred_infeasibility) / (-pred_optimality + 1e-9))
);
Expand Down Expand Up @@ -308,7 +309,7 @@ bool is_f_type_armijo_condition_satisfied(ocp_nlp_globalization_opts *globalizat
double pred,
double alpha)
{
if (negative_ared <= fmin(globalization_opts->eps_sufficient_descent * alpha * fmax(pred, 0) + 1e-18, 0))
if (negative_ared <= fmin(globalization_opts->eps_sufficient_descent * alpha * MAX(pred, 0) + 1e-18, 0))
{
return true;
}
Expand Down
3 changes: 2 additions & 1 deletion acados/ocp_nlp/ocp_nlp_globalization_merit_backtracking.c
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Expand Up @@ -44,6 +44,7 @@
#include "acados/ocp_nlp/ocp_nlp_globalization_common.h"
#include "acados/ocp_nlp/ocp_nlp_common.h"
#include "acados/utils/mem.h"
#include "acados/utils/math.h"

// blasfeo
#include "blasfeo_d_aux.h"
Expand Down Expand Up @@ -945,7 +946,7 @@ static int ocp_nlp_ddp_backtracking_line_search(ocp_nlp_config *config, ocp_nlp_

negative_ared = trial_cost - nlp_mem->cost_value;
// Check Armijo sufficient decrease condition
if (negative_ared <= fmin(-globalization_opts->eps_sufficient_descent*alpha* fmax(pred, 0) + 1e-18, 0))
if (negative_ared <= fmin(-globalization_opts->eps_sufficient_descent*alpha* MAX(pred, 0) + 1e-18, 0))
{
// IF step accepted: update x
// reset evaluation point to SQP iterate
Expand Down
14 changes: 7 additions & 7 deletions acados/ocp_nlp/ocp_nlp_qpscaling.c
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Expand Up @@ -295,7 +295,7 @@ static double norm_inf_matrix_col(int col_idx, int col_length, struct blasfeo_d
for (int j = 0; j < col_length; ++j)
{
double tmp = BLASFEO_DMATEL(At, j, col_idx);
norm = fmax(norm, fabs(tmp));
norm = MAX(norm, fabs(tmp));
}
return norm;
}
Expand Down Expand Up @@ -475,14 +475,14 @@ void ocp_nlp_qpscaling_compute_obj_scaling_factor(ocp_nlp_qpscaling_dims *dims,
for (int stage = 0; stage <= dim->N; stage++)
{
compute_gershgorin_max_abs_eig_estimate(nx[stage]+nu[stage], RSQrq+stage, &tmp);
max_abs_eig = fmax(max_abs_eig, tmp);
max_abs_eig = MAX(max_abs_eig, tmp);
// take Z into account
blasfeo_dvecnrm_inf(2*ns[stage], qp_in->Z+stage, 0, &tmp);
max_abs_eig = fmax(max_abs_eig, tmp);
max_abs_eig = MAX(max_abs_eig, tmp);

// norm gradient
blasfeo_dvecnrm_inf(nx[stage]+nu[stage]+2*ns[stage], qp_in->rqz+stage, 0, &tmp);
nrm_inf_grad_obj = fmax(nrm_inf_grad_obj, fabs(tmp));
nrm_inf_grad_obj = MAX(nrm_inf_grad_obj, fabs(tmp));
}

if (max_abs_eig < opts->ub_max_abs_eig)
Expand All @@ -507,7 +507,7 @@ void ocp_nlp_qpscaling_compute_obj_scaling_factor(ocp_nlp_qpscaling_dims *dims,
}
lb_grad_norm_factor = opts->lb_norm_inf_grad_obj / nrm_inf_grad_obj;
tmp = fmin(max_upscale_factor, lb_grad_norm_factor);
mem->obj_factor = fmax(mem->obj_factor, tmp);
mem->obj_factor = MAX(mem->obj_factor, tmp);
mem->status = ACADOS_QPSCALING_BOUNDS_NOT_SATISFIED;
}
if (opts->print_level > 0)
Expand Down Expand Up @@ -552,10 +552,10 @@ void ocp_nlp_qpscaling_scale_constraints(ocp_nlp_qpscaling_dims *dims, void *opt
mask_value_upper = BLASFEO_DVECEL(qp_in->d_mask+i, 2*nb[i]+ng[i]+j);

// calculate scaling factor from row norm
double bound_max = fmax(fabs(mask_value_lower * BLASFEO_DVECEL(qp_in->d+i, nb[i]+j)),
double bound_max = MAX(fabs(mask_value_lower * BLASFEO_DVECEL(qp_in->d+i, nb[i]+j)),
fabs(mask_value_upper * BLASFEO_DVECEL(qp_in->d+i, 2*nb[i]+ng[i]+j)));
// only scale down.
scaling_factor = 1.0 / fmax(1.0, fmax(bound_max, coeff_norm));
scaling_factor = 1.0 / MAX(1.0, MAX(bound_max, coeff_norm));

// store scaling factor
BLASFEO_DVECEL(mem->constraints_scaling_vec+i, j) = scaling_factor;
Expand Down
17 changes: 9 additions & 8 deletions acados/ocp_nlp/ocp_nlp_sqp_with_feasible_qp.c
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Expand Up @@ -56,6 +56,7 @@
#include "acados/utils/print.h"
#include "acados/utils/timing.h"
#include "acados/utils/types.h"
#include "acados/utils/math.h"
#include "acados_c/ocp_qp_interface.h"

/************************************************
Expand Down Expand Up @@ -656,7 +657,7 @@ static double calculate_pred_l1_inf(ocp_nlp_sqp_wfqp_opts* opts, ocp_nlp_sqp_wfq
}
else
{
if (mem->l1_infeasibility < fmin(opts->nlp_opts->tol_ineq, opts->nlp_opts->tol_eq))
if (mem->l1_infeasibility < MIN(opts->nlp_opts->tol_ineq, opts->nlp_opts->tol_eq))
{
return 0.0;
}
Expand Down Expand Up @@ -689,11 +690,11 @@ static double calculate_qp_l1_infeasibility_from_slacks(ocp_nlp_dims *dims, ocp_
{
// Add lower slack
tmp1 = BLASFEO_DVECEL(qp_out->ux + i, nx[i]+nu[i]+ns[i] + j);
l1_inf += fmax(0.0, tmp1);
l1_inf += MAX(0.0, tmp1);

// Add upper slack
tmp2 = BLASFEO_DVECEL(qp_out->ux + i, nx[i]+nu[i]+2*ns[i]+nns[i] + j);
l1_inf += fmax(0.0, tmp2);
l1_inf += MAX(0.0, tmp2);
}
}
#if defined(ACADOS_DEVELOPER_DEBUG_CHECKS)
Expand Down Expand Up @@ -775,15 +776,15 @@ static double calculate_qp_l1_infeasibility_manually(ocp_nlp_dims *dims, ocp_nlp
if (j < nb[i] + ng[i])
{
// maximum(0, lower_bound - value)
l1_inf += fmax(0.0, tmp_bound-tmp);
// printf("lower bounds: bound: %.4e, value: %.4e, result: %.4e\n", tmp_bound, tmp, fmax(0.0, tmp_bound-tmp));
l1_inf += MAX(0.0, tmp_bound-tmp);
// printf("lower bounds: bound: %.4e, value: %.4e, result: %.4e\n", tmp_bound, tmp, MAX(0.0, tmp_bound-tmp));
}
else
{
// upper bounds have the wrong sign!
// it is lower_bounds <= value <= -upper_bounds, therefore plus below
// printf("upper bounds: value: %.4e, value: %.4e, result: %.4e\n", tmp_bound, tmp, fmax(0.0, tmp_bound+tmp));
l1_inf += fmax(0.0, tmp_bound+tmp);
// printf("upper bounds: value: %.4e, value: %.4e, result: %.4e\n", tmp_bound, tmp, MAX(0.0, tmp_bound+tmp));
l1_inf += MAX(0.0, tmp_bound+tmp);
}
}
}
Expand Down Expand Up @@ -1475,7 +1476,7 @@ static int calculate_search_direction(ocp_nlp_dims *dims,
mem->pred_l1_inf_QP = calculate_pred_l1_inf(opts, mem, l1_inf_QP_feasibility);
}

if (l1_inf_QP_feasibility/(fmax(1.0, (double) mem->absolute_nns)) < nlp_opts->tol_ineq)
if (l1_inf_QP_feasibility/(MAX(1.0, (double) mem->absolute_nns)) < nlp_opts->tol_ineq)
{
mem->watchdog_zero_slacks_counter += 1;
}
Expand Down
5 changes: 3 additions & 2 deletions acados/ocp_qp/ocp_qp_osqp.c
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Expand Up @@ -38,6 +38,7 @@
#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/ocp_qp/ocp_qp_osqp.h"
#include "acados/utils/mem.h"
#include "acados/utils/math.h"
#include "acados/utils/print.h"
#include "acados/utils/timing.h"
#include "acados/utils/types.h"
Expand Down Expand Up @@ -1026,8 +1027,8 @@ void ocp_qp_osqp_opts_set(void *config_, void *opts_, const char *field, void *v
// opts->osqp_opts->eps_rel = *tol;
// opts->osqp_opts->eps_dual_inf = *tol;

opts->osqp_opts->eps_rel = fmax(*tol, 1e-5);
opts->osqp_opts->eps_dual_inf = fmax(*tol, 1e-5);
opts->osqp_opts->eps_rel = MAX(*tol, 1e-5);
opts->osqp_opts->eps_dual_inf = MAX(*tol, 1e-5);

if (*tol <= 1e-3)
{
Expand Down
2 changes: 1 addition & 1 deletion acados/utils/math.c
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Expand Up @@ -1149,7 +1149,7 @@ void compute_gershgorin_min_eig_estimate(int n, struct blasfeo_dmat *A, double *
}
a = BLASFEO_DMATEL(A, ii, ii);
lam_i = a - r_i;
lam = fmin(lam, lam_i);
lam = MIN(lam, lam_i);
}
*out = lam;
}
Expand Down
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