nopenpilot/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h

162 lines
6.9 KiB
C

/**************************************************************************************************
* *
* This file is part of BLASFEO. *
* *
* BLASFEO -- BLAS For Embedded Optimization. *
* Copyright (C) 2019 by Gianluca Frison. *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. *
* All rights reserved. *
* *
* The 2-Clause BSD License *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
* *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de *
* *
**************************************************************************************************/
#ifndef BLASFEO_D_BLAS_API_H_
#define BLASFEO_D_BLAS_API_H_
#include "blasfeo_target.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef BLAS_API
#ifdef FORTRAN_BLAS_API
// BLAS 1
//
void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
//
void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
//
double ddot_(int *n, double *x, int *incx, double *y, int *incy);
// BLAS 3
//
void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
//
void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
//
void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
//
void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
// LAPACK
//
void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
//
void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
//
void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
//
void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
//
void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
#else // BLASFEO_API
// BLAS 1
//
void blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
//
double blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
//
void blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
// BLAS 3
//
void blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
//
void blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
//
void blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
//
void blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
// LAPACK
//
void blas_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void blas_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
//
void blas_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
//
void blas_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
//
void blas_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
//
void blas_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void blas_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
//
void blas_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
//
void blas_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
#endif // BLASFEO_API
#endif // BLAS_API
#ifdef __cplusplus
}
#endif
#endif // BLASFEO_D_BLAS_API_H_