[zanellia]

Intrinsics (or directly assembly) are used in BLASFEO (https://github.com/giaf/blasfeo) the linear package used by prometeo. It would be cool to generate assembly directly for a few things, but that would require quite a bit of work!

[giaf]

Indeed, and that would make the code machine-dependent too. On top of that, BLASFEO is already used for the most computationally intensive operations (e.g. matrix-matrix operations and factorizations, involving O(n^3) flops on O(n^2) data) providing high performance and low overhead, and the other operations on vector and matrices are anyway usually memory bounded and would see little to no benefit from directly using the assembly language.

[4w4s]

On top of linear algebra, is it also possible to interface it directly to standalone, well optimized existing QP solvers, like HPIPM (https://github.com/giaf/hpipm)? In case one is interested in implementing MPC controllers.

[giaf]

You are not the only one request this :p So, if I understand correctly, at the end what you would like is a tool to write your MPC problem more conveniently in a high-level language and still be able to deploy your code using HPIPM on an embedded device? [BTW, I happen to be the main HPIPM developer, so very glad about your comment!]

[zanellia]

Interfacing existing C code would be an important thing to be addressed. It is currently a missing feature, unfortunately.