Squashed 'third_party/blasfeo/' content from commit 2a828ca
Change-Id: If1c3caa4799b2d4eb287ef83fa17043587ef07a3
git-subtree-dir: third_party/blasfeo
git-subtree-split: 2a828ca5442108c4c58e4b42b061a0469043f6ea
diff --git a/auxiliary/m_aux_lib.c b/auxiliary/m_aux_lib.c
new file mode 100644
index 0000000..30cb333
--- /dev/null
+++ b/auxiliary/m_aux_lib.c
@@ -0,0 +1,112 @@
+/**************************************************************************************************
+* *
+* This file is part of BLASFEO. *
+* *
+* BLASFEO -- BLAS For Embedded Optimization. *
+* Copyright (C) 2016-2017 by Gianluca Frison. *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
+* All rights reserved. *
+* *
+* HPMPC is free software; you can redistribute it and/or *
+* modify it under the terms of the GNU Lesser General Public *
+* License as published by the Free Software Foundation; either *
+* version 2.1 of the License, or (at your option) any later version. *
+* *
+* HPMPC is distributed in the hope that it will be useful, *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. *
+* See the GNU Lesser General Public License for more details. *
+* *
+* You should have received a copy of the GNU Lesser General Public *
+* License along with HPMPC; if not, write to the Free Software *
+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
+* *
+* Author: Gianluca Frison, giaf (at) dtu.dk *
+* gianluca.frison (at) imtek.uni-freiburg.de *
+* *
+**************************************************************************************************/
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "../include/blasfeo_common.h"
+
+
+
+#if defined(LA_REFERENCE) | defined(LA_BLAS)
+
+
+
+
+void m_cvt_d2s_strvec(int m, struct d_strvec *vd, int vdi, struct s_strvec *vs, int vsi)
+ {
+ double *pd = vd->pa+vdi;
+ float *ps = vs->pa+vsi;
+ int ii;
+ for(ii=0; ii<m; ii++)
+ {
+ ps[ii] = (float) pd[ii];
+ }
+ return;
+ }
+
+
+
+void m_cvt_s2d_strvec(int m, struct s_strvec *vs, int vsi, struct d_strvec *vd, int vdi)
+ {
+ double *pd = vd->pa+vdi;
+ float *ps = vs->pa+vsi;
+ int ii;
+ for(ii=0; ii<m; ii++)
+ {
+ pd[ii] = (double) ps[ii];
+ }
+ return;
+ }
+
+
+
+void m_cvt_d2s_strmat(int m, int n, struct d_strmat *Md, int mid, int nid, struct s_strmat *Ms, int mis, int nis)
+ {
+ int lda = Md->m;
+ int ldb = Ms->m;
+ double *pA = Md->pA+mid+nid*lda;
+ float *pB = Ms->pA+mis+nis*ldb;
+ int ii, jj;
+ for(jj=0; jj<n; jj++)
+ {
+ for(ii=0; ii<m; ii++)
+ {
+ pB[ii+jj*ldb] = (float) pA[ii+jj*lda];
+ }
+ }
+ return;
+ }
+
+
+
+void m_cvt_s2d_strmat(int m, int n, struct s_strmat *Ms, int mis, int nis, struct d_strmat *Md, int mid, int nid)
+ {
+ int lda = Ms->m;
+ int ldb = Md->m;
+ float *pA = Ms->pA+mis+nis*lda;
+ double *pB = Md->pA+mid+nid*ldb;
+ int ii, jj;
+ for(jj=0; jj<n; jj++)
+ {
+ for(ii=0; ii<m; ii++)
+ {
+ pB[ii+jj*ldb] = (double) pA[ii+jj*lda];
+ }
+ }
+ return;
+ }
+
+
+
+#else
+
+#error : wrong LA choice
+
+#endif