casadi 3.7.2__cp314-none-manylinux2014_x86_64.whl

casadi/include/blasfeo_common.h

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+/**************************************************************************************************
+*                                                                                                 *
+* 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_COMMON_H_
+#define BLASFEO_COMMON_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
+#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
+#elif defined (_MSC_VER)
+#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
+#else
+#define ALIGNED(VEC, BYTES) VEC
+#endif
+
+
+
+
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
+
+#include "blasfeo_block_size.h"
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	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 m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	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 m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#else
+
+#error : wrong LA or MF choice
+
+#endif
+
+
+
+// Explicitly panel-major matrix structure
+struct blasfeo_pm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	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 m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	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 m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+// Explicitly column-major matrix structure
+struct blasfeo_cm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+
+#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_COMMON_H_

casadi/include/blasfeo_d_aux.h

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+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_H_
+#define BLASFEO_D_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory size calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// y <= y + alpha*x
+void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// z[idx] += alpha * x
+void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// z[idx] <= alpha * x
+void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// z <= alpha * x[idx]
+void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+// print
+void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_dmat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// aux
+void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_H_

casadi/include/blasfeo_d_aux_ext_dep.h

@@ -0,0 +1,145 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_H_
+#define BLASFEO_D_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/* column-major matrices */
+
+// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros(double **pA, int row, int col);
+// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align(double **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align_bytes(double **pA, int size);
+// free the memory allocated by d_zeros
+void d_free(double *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void d_free_align(double *pA);
+// print a column-major matrix
+void d_print_mat(int m, int n, double *A, int lda);
+// print the transposed of a column-major matrix
+void d_print_tran_mat(int row, int col, double *A, int lda);
+// print to file a column-major matrix
+void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file a column-major matrix in exponential format
+void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print to string a column-major matrix
+void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix
+void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print in exponential notation a column-major matrix
+void d_print_exp_mat(int m, int n, double *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void d_print_exp_tran_mat(int row, int col, double *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_dmat(struct blasfeo_dmat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_dvec(struct blasfeo_dvec *sa);
+// print a strmat
+void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print the transposed of a strmat
+void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_H_