Merge pull request #366 from Simple-Robotics/new-allocator-resource

Introduce `mimalloc`-based memory resource

Author: ManifoldFR

CHANGELOG.md

@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- gar/blk-matrix : added `BlkMatrix::isApprox()` (https://github.com/Simple-Robotics/aligator/pull/366)
+- core : added [mimalloc](https://github.com/mimalloc/mimalloc)-based memory resource (https://github.com/Simple-Robotics/aligator/pull/366)
 - modelling/costs : add getter and setter for cost term weights (https://github.com/Simple-Robotics/aligator/pull/359)
 - support for Pinocchio 4 (https://github.com/Simple-Robotics/aligator/pull/361)
 - added a hash function `ExtendedStringHash` for string types (e.g. `std::string`) which supports transparent/heterogeneous lookup in compatible hash maps (e.g. `boost::unordered_map`) using types other than key type e.g. `std::string_view` (https://github.com/Simple-Robotics/aligator/pull/364)
@@ -17,6 +19,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+- tests/gar/block-matrix.cpp : test against BunchKaufman factorization
 - move headers `allocator.hpp` and `arena-matrix.hpp` to `aligator/core` dir (https://github.com/Simple-Robotics/aligator/pull/362)
 - python: aligator now requires eigenpy version 3.10.3 at least
 - python: remove eigenpy version checks

CMakeLists.txt

@@ -196,6 +196,11 @@ ADD_PROJECT_DEPENDENCY(
   PKG_CONFIG_REQUIRES "eigen3 >= 3.3.7"
 )
 ADD_PROJECT_DEPENDENCY(fmt REQUIRED PKG_CONFIG_REQUIRES "fmt >= 10.0.0")
+ADD_PROJECT_DEPENDENCY(
+  mimalloc
+  REQUIRED
+  PKG_CONFIG_REQUIRES "mimalloc >= 2.1.0"
+)
 
 if(BUILD_WITH_OPENMP_SUPPORT)
   ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
@@ -363,7 +368,7 @@ function(create_library)
   if(BUILD_WITH_OPENMP_SUPPORT)
     target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
   endif()
-  target_link_libraries(${PROJECT_NAME} PUBLIC fmt::fmt)
+  target_link_libraries(${PROJECT_NAME} PUBLIC fmt::fmt PRIVATE mimalloc)
   # set the install-tree include dirs used by dependent projects to consume this
   # target
   target_include_directories(

flake.nix

@@ -40,6 +40,9 @@
                   ./tests
                 ];
               };
+              buildInputs = (super.buildInputs or []) ++ [
+                pkgs.mimalloc
+              ];
               checkInputs = super.checkInputs ++ [
                 pkgs.catch2_3
               ];

include/aligator/core/mimalloc-resource.hpp

@@ -0,0 +1,24 @@
+/// @copyright Copyright (C) 2025 INRIA
+#pragma once
+
+#include <memory_resource>
+
+namespace aligator {
+
+/// @brief A memory_resource wrapping around mimalloc.
+class mimalloc_resource : public std::pmr::memory_resource {
+public:
+  mimalloc_resource() = default;
+
+private:
+  [[nodiscard]] void *do_allocate(size_t bytes, size_t alignment) override;
+
+  void do_deallocate(void *ptr, size_t bytes, size_t alignment) override;
+
+  bool do_is_equal(const memory_resource &other) const noexcept override {
+    // Check if 'other' is also a mimalloc_resource
+    return dynamic_cast<const mimalloc_resource *>(&other) != nullptr;
+  }
+};
+
+} // namespace aligator

include/aligator/gar/blk-matrix.hpp

@@ -171,6 +171,20 @@ template <typename _MatrixType, int _N, int _M> class BlkMatrix {
   MatrixType &matrix() { return m_data; }
   const MatrixType &matrix() const { return m_data; }
 
+  template <typename D>
+  inline bool isApprox(
+      const Eigen::EigenBase<D> &other,
+      const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision()) const {
+    return matrix().isApprox(other, prec);
+  }
+
+  template <typename D, int N2, int M2>
+  inline bool isApprox(
+      const BlkMatrix<D, N2, M2> &other,
+      const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision()) const {
+    return matrix().isApprox(other.matrix(), prec);
+  }
+
   const RowDimsType &rowDims() const { return m_rowDims; }
   const RowDimsType &rowIndices() const { return m_rowIndices; }
   const ColDimsType &colDims() const { return m_colDims; }
@@ -179,6 +193,7 @@ template <typename _MatrixType, int _N, int _M> class BlkMatrix {
   Index rows() const { return m_totalRows; }
   Index cols() const { return m_totalCols; }
 
+  /// @brief Take the top \c n block rows of the block matrix.
   auto topBlkRows(size_t n) {
     using OutType = BlkMatrix<Eigen::Ref<MatrixType>, -1, M>;
     std::vector<Index> subRowDims;
@@ -188,6 +203,8 @@ template <typename _MatrixType, int _N, int _M> class BlkMatrix {
     return OutType(m_data.topRows(ntr), subRowDims, m_colDims);
   }
 
+  /// @copybrief topBlkRows().
+  /// This version returns a fixed-size block.
   template <size_t n> auto topBlkRows() {
     static_assert(n <= N,
                   "Cannot take n block rows of matrix with <n block rows.");