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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / fffe2e35a05ee9cc76265e7de31f49394590bdd1 / . / third_party / blasfeo / doc / guide.tex
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Austin Schuh9a24b372018-01-28 16:12:29 -0800[diff] [blame]1\documentclass[a4paper]{report}
2
3\usepackage[margin=3.0cm]{geometry}
4\usepackage{amsmath}
5\usepackage[pdftex]{graphicx}
6%\usepackage{graphics}
7\usepackage{subfig}
8
9
10
11\title{BLASFEO reference guide}
12\author{Gianluca Frison}
13
14
15
16\begin{document}
17
18\maketitle
19\tableofcontents
20
21
22
23
24
25%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
26\chapter{Introduction}
27%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
28
29BLASFEO - BLAS For Embedded Optimization.
30
31
32
33
34
35%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36\chapter{Matrix data type}
37%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38
39The fundamental data type in BLASFEO is a C struct defining a matrix, called {\tt strmat}.
40Depending on the chosen linear algebra library, the struct is defined differently.
41
42
43
44\section{{\tt strmat} definition}
45
46
47\subsection{BLASFEO}
48
49\begin{verbatim}
50struct d_strmat
51 {
52 int bs;
53 int m;
54 int n;
55 int pm;
56 int cn;
57 double *pA;
58 double *dA;
59 int use_dA;
60 int memory_size;
61 };
62\end{verbatim}
63where the struct members are
64\begin{description}
65\item[bs] height of the panel
66\item[m] number of rows
67\item[n] number of columns
68\item[pm] number of rows of the matrix as allocated in memory, used for memory alignment
69\item[cn] number of rows of the matrix as allocated in memory, used for memory alignment
70\item[pA] pointer to a pm$\times$pn array of doubles, the first element is aligned to cache line size
71\item[dA] pointer to a min(m,n) array of doubles, used e.g. to store the inverse of the diagonal of the matrix
72\item[use\_dA] flag to tell if dA contains useful information
73\item[memory\_size] size of the memory (in bytes) needed for pA and pD
74\end{description}
75
76
77\subsection{BLAS}
78
79\begin{verbatim}
80struct d_strmat
81 {
82 int m; // rows
83 int n; // cols
84 double *pA; // pointer to a m*n array of doubles
85 int memory_size; // size of needed memory
86 };
87\end{verbatim}
88\begin{description}
89\item[m] number of rows
90\item[n] number of columns
91\item[pA] pointer to a m$\times$n array of doubles
92\item[memory\_size] size of the memory (in bytes) needed for pA
93\end{description}
94
95
96
97\section{{\tt strmat} management}
98
99\begin{verbatim}
100void d_allocate_strmat(int m, int n, struct d_strmat *sA);
101\end{verbatim}
102
103\begin{verbatim}
104void d_free_strmat(struct d_strmat *sA);
105\end{verbatim}
106
107\begin{verbatim}
108int d_size_strmat(int m, int n);
109\end{verbatim}
110
111\begin{verbatim}
112void d_create_strmat(int m, int n, struct d_strmat *sA, void *memory);
113\end{verbatim}
114
115
116
117\section{{\tt strmat} conversion}
118
119\begin{verbatim}
120void d_cvt_mat2strmat(int m, int n, double *A, int lda, struct d_strmat *sA,
121 int ai, int aj);
122\end{verbatim}
123
124\begin{verbatim}
125void d_cvt_tran_mat2strmat(int m, int n, double *A, int lda, struct d_strmat *sA,
126 int ai, int aj);
127\end{verbatim}
128
129\begin{verbatim}
130void d_cvt_strmat2mat(int m, int n, struct d_strmat *sA, int ai, int aj,
131 double *A, int lda);
132\end{verbatim}
133
134\begin{verbatim}
135void d_cvt_tran_strmat2mat(int m, int n, struct d_strmat *sA, int ai, int aj,
136 double *A, int lda);
137\end{verbatim}
138
139
140
141\section{{\tt strmat} print}
142
143\begin{verbatim}
144void d_print_strmat(int m, int n, struct d_strmat *sA, int ai, int aj);
145\end{verbatim}
146
147
148
149\end{document}