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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 9a24b370cbc07492fa6c205f1027367fa55b6742 / . / include / blasfeo_s_blas.h
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Austin Schuh9a24b372018-01-28 16:12:29 -0800[diff] [blame^]1/**************************************************************************************************
2* *
3* This file is part of BLASFEO. *
4* *
5* BLASFEO -- BLAS For Embedded Optimization. *
6* Copyright (C) 2016-2017 by Gianluca Frison. *
7* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
8* All rights reserved. *
9* *
10* HPMPC is free software; you can redistribute it and/or *
11* modify it under the terms of the GNU Lesser General Public *
12* License as published by the Free Software Foundation; either *
13* version 2.1 of the License, or (at your option) any later version. *
14* *
15* HPMPC is distributed in the hope that it will be useful, *
16* but WITHOUT ANY WARRANTY; without even the implied warranty of *
17* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. *
18* See the GNU Lesser General Public License for more details. *
19* *
20* You should have received a copy of the GNU Lesser General Public *
21* License along with HPMPC; if not, write to the Free Software *
22* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
23* *
24* Author: Gianluca Frison, giaf (at) dtu.dk *
25* gianluca.frison (at) imtek.uni-freiburg.de *
26* *
27**************************************************************************************************/
28
29
30
31#ifdef __cplusplus
32extern "C" {
33#endif
34
35
36
37//
38// level 1 BLAS
39//
40
41// y = y + alpha*x
42void saxpy_libstr(int kmax, float alpha, struct s_strvec *sx, int xi, struct s_strvec *sy, int yi, struct s_strvec *sz, int zi);
43// z = x .* y, return sum(z) = x^T * y
44float svecmuldot_libstr(int m, struct s_strvec *sx, int xi, struct s_strvec *sy, int yi, struct s_strvec *sz, int zi);
45// return x^T * y
46float sdot_libstr(int m, struct s_strvec *sx, int xi, struct s_strvec *sy, int yi);
47
48
49
50//
51// level 2 BLAS
52//
53
54// dense
55
56// z <= beta * y + alpha * A * x
57void sgemv_n_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, float beta, struct s_strvec *sy, int yi, struct s_strvec *sz, int zi);
58// z <= beta * y + alpha * A' * x
59void sgemv_t_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, float beta, struct s_strvec *sy, int yi, struct s_strvec *sz, int zi);
60// y <= inv( A ) * x, A (m)x(n)
61void strsv_lnn_mn_libstr(int m, int n, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
62// y <= inv( A' ) * x, A (m)x(n)
63void strsv_ltn_mn_libstr(int m, int n, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
64// y <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
65void strsv_lnn_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
66// y <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
67void strsv_lnu_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
68// y <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
69void strsv_ltn_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
70// y <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
71void strsv_ltu_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
72// y <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
73void strsv_unn_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
74// y <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
75void strsv_utn_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
76// z <= beta * y + alpha * A * x ; A upper triangular
77void strmv_unn_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
78// z <= A' * x ; A upper triangular
79void strmv_utn_libstr(int m, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
80// z <= A * x ; A lower triangular
81void strmv_lnn_libstr(int m, int n, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
82// z <= A' * x ; A lower triangular
83void strmv_ltn_libstr(int m, int n, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, struct s_strvec *sz, int zi);
84// z_n <= beta_n * y_n + alpha_n * A * x_n
85// z_t <= beta_t * y_t + alpha_t * A' * x_t
86void sgemv_nt_libstr(int m, int n, float alpha_n, float alpha_t, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx_n, int xi_n, struct s_strvec *sx_t, int xi_t, float beta_n, float beta_t, struct s_strvec *sy_n, int yi_n, struct s_strvec *sy_t, int yi_t, struct s_strvec *sz_n, int zi_n, struct s_strvec *sz_t, int zi_t);
87// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
88void ssymv_l_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strvec *sx, int xi, float beta, struct s_strvec *sy, int yi, struct s_strvec *sz, int zi);
89
90// diagonal
91
92// z <= beta * y + alpha * A * x, A diagonal
93void sgemv_diag_libstr(int m, float alpha, struct s_strvec *sA, int ai, struct s_strvec *sx, int xi, float beta, struct s_strvec *sy, int yi, struct s_strvec *sz, int zi);
94
95
96
97//
98// level 3 BLAS
99//
100
101// dense
102
103// D <= beta * C + alpha * A * B^T
104void sgemm_nt_libstr(int m, int n, int k, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, float beta, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
105// D <= beta * C + alpha * A * B
106void sgemm_nn_libstr(int m, int n, int k, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, float beta, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
107// D <= beta * C + alpha * A * B^T ; C, D lower triangular
108void ssyrk_ln_libstr(int m, int k, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, float beta, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
109void ssyrk_ln_mn_libstr(int m, int n, int k, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, float beta, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
110// D <= alpha * B * A^T ; B upper triangular
111void strmm_rutn_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
112// D <= alpha * B * A ; A lower triangular
113void strmm_rlnn_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
114// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
115void strsm_rltn_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
116// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
117void strsm_rltu_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
118// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
119void strsm_rutn_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
120// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
121void strsm_llnu_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
122// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
123void strsm_lunn_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sD, int di, int dj);
124
125// diagonal
126
127// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
128void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
129void sgemm_l_diag_libstr(int m, int n, float alpha, struct s_strvec *sA, int ai, struct s_strmat *sB, int bi, int bj, float beta, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
130// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
131void sgemm_r_diag_libstr(int m, int n, float alpha, struct s_strmat *sA, int ai, int aj, struct s_strvec *sB, int bi, float beta, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
132
133
134
135//
136// LAPACK
137//
138
139// D <= chol( C ) ; C, D lower triangular
140void spotrf_l_libstr(int m, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
141void spotrf_l_mn_libstr(int m, int n, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
142// D <= chol( C + A * B' ) ; C, D lower triangular
143void ssyrk_spotrf_ln_libstr(int m, int n, int k, struct s_strmat *sA, int ai, int aj, struct s_strmat *sB, int bi, int bj, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
144// D <= lu( C ) ; no pivoting
145void sgetrf_nopivot_libstr(int m, int n, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj);
146// D <= lu( C ) ; pivoting
147void sgetrf_libstr(int m, int n, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj, int *ipiv);
148// D <= qr( C )
149void sgeqrf_libstr(int m, int n, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj, void *work);
150int sgeqrf_work_size_libstr(int m, int n); // in bytes
151// D <= lq( C )
152void sgelqf_libstr(int m, int n, struct s_strmat *sC, int ci, int cj, struct s_strmat *sD, int di, int dj, void *work);
153int sgelqf_work_size_libstr(int m, int n); // in bytes
154
155
156
157
158#ifdef __cplusplus
159}
160#endif