Squashed 'third_party/blasfeo/' content from commit 2a828ca
Change-Id: If1c3caa4799b2d4eb287ef83fa17043587ef07a3
git-subtree-dir: third_party/blasfeo
git-subtree-split: 2a828ca5442108c4c58e4b42b061a0469043f6ea
diff --git a/include/blasfeo_common.h b/include/blasfeo_common.h
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+/**************************************************************************************************
+* *
+* 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 *
+* *
+**************************************************************************************************/
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifndef BLASFEO_COMMON
+#define BLASFEO_COMMON
+
+
+
+#if defined(LA_HIGH_PERFORMANCE)
+
+#include "blasfeo_block_size.h"
+
+// matrix structure
+struct d_strmat
+ {
+ int m; // rows
+ int n; // cols
+ int pm; // packed number or rows
+ int cn; // packed number or cols
+ double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+ double *dA; // pointer to a min(m,n) (or max???) array of doubles
+ int use_dA; // flag to tell if dA can be used
+ int memory_size; // size of needed memory
+ };
+
+struct s_strmat
+ {
+ int m; // rows
+ int n; // cols
+ int pm; // packed number or rows
+ int cn; // packed number or cols
+ float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+ float *dA; // pointer to a min(m,n) (or max???) array of floats
+ int use_dA; // flag to tell if dA can be used
+ int memory_size; // size of needed memory
+ };
+
+// vector structure
+struct d_strvec
+ {
+ int m; // size
+ int pm; // packed size
+ double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+ int memory_size; // size of needed memory
+ };
+
+struct s_strvec
+ {
+ int m; // size
+ int pm; // packed size
+ float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+ int memory_size; // size of needed memory
+ };
+
+#define DMATEL_LIBSTR(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
+#define SMATEL_LIBSTR(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
+#define DVECEL_LIBSTR(sa,ai) ((sa)->pa[ai])
+#define SVECEL_LIBSTR(sa,ai) ((sa)->pa[ai])
+
+#elif defined(LA_BLAS) | defined(LA_REFERENCE)
+
+// matrix structure
+struct d_strmat
+ {
+ int m; // rows
+ int n; // cols
+ double *pA; // pointer to a m*n array of doubles
+ double *dA; // pointer to a min(m,n) (or max???) array of doubles
+ int use_dA; // flag to tell if dA can be used
+ int memory_size; // size of needed memory
+ };
+
+struct s_strmat
+ {
+ int m; // rows
+ int n; // cols
+ float *pA; // pointer to a m*n array of floats
+ float *dA; // pointer to a min(m,n) (or max???) array of floats
+ int use_dA; // flag to tell if dA can be used
+ int memory_size; // size of needed memory
+ };
+
+// vector structure
+struct d_strvec
+ {
+ int m; // size
+ double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+ int memory_size; // size of needed memory
+ };
+
+struct s_strvec
+ {
+ int m; // size
+ float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+ int memory_size; // size of needed memory
+ };
+
+#define DMATEL_LIBSTR(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define SMATEL_LIBSTR(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define DVECEL_LIBSTR(sa,ai) ((sa)->pa[ai])
+#define SVECEL_LIBSTR(sa,ai) ((sa)->pa[ai])
+
+#else
+
+#error : wrong LA choice
+
+#endif
+
+#endif // BLASFEO_COMMON
+
+
+#ifdef __cplusplus
+}
+#endif