casadi 3.7.2__cp314-none-manylinux2014_x86_64.whl

casadi/include/blasfeo_d_aux_ext_dep_ref.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 operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
+#define BLASFEO_D_AUX_EXT_DEP_REF_H_
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_d_aux_exp_dep.h for help
+
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
+void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
+void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
+void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_

casadi/include/blasfeo_d_aux_old.h

@@ -0,0 +1,75 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * ----------- TOMOVE
+ *
+ * expecting column major matrices
+ *
+ */
+
+#include "blasfeo_common.h"
+
+
+void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+// TODO remove ???
+void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// TODO ddiaad1
+void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
+
+
+void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+void drowin_lib(int kmax, double alpha, double *x, double *pD);
+void drowex_lib(int kmax, double alpha, double *pD, double *x);
+void drowad_lib(int kmax, double alpha, double *x, double *pD);
+void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dvecin_libsp(int kmax, int *idx, double *x, double *y);
+void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);

casadi/include/blasfeo_d_aux_ref.h

@@ -0,0 +1,208 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* 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_AUX_REF_H_
+#define BLASFEO_D_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_ref_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_ref_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_ref_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_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_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_ref_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_ref_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_ref_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_ref_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_ref_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_ref_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_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_ref_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_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_ref_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_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
+// y <= y + alpha*x
+void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_ref_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_ref_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_ref_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_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ref_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_ref_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_ref_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_ref_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_ref_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_ref_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_ref_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_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_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_ref_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_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_REF_H_

casadi/include/blasfeo_d_aux_test.h

@@ -0,0 +1,226 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_TEST_H_
+#define BLASFEO_D_AUX_TEST_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// --- memory calculations
+int test_blasfeo_memsize_dmat(int m, int n);
+int test_blasfeo_memsize_diag_dmat(int m, int n);
+int test_blasfeo_memsize_dvec(int m);
+
+// --- creation
+void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- conversion
+void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
+void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+
+// --- cast
+void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
+void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
+void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
+
+// ------ copy / scale
+
+// B <= A
+void test_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 test_blasfeo_dgesc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj);
+
+// B <= alpha*A
+void test_blasfeo_dgecpsc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// // --- insert/extract
+// //
+// // <= sA[ai, aj]
+// void test_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);
+// // sx[xi] <= a
+// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// // <= sx[xi]
+// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// // A <= alpha
+
+// // --- set
+// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// // B <= A
+
+
+// // --- vector
+// // y <= x
+// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+// // x <= alpha*x
+// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
+// // TODO
+// // x <= alpha*x
+// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+
+
+// // B <= A, A lower triangular
+// void test_blasfeo_dtrcp_l(int m,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrcpsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj);
+
+
+// // B <= B + alpha*A
+// void test_blasfeo_dgead(int m, int n, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sC, int ci, int cj);
+
+// // y <= y + alpha*x
+// void test_blasfeo_dvecad(int m, double alpha,
+//                     struct blasfeo_dvec *sa, int ai,
+//                     struct blasfeo_dvec *sc, int ci);
+
+// // --- traspositions
+// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+// void test_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);
+// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
+// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+// void test_drowsw_lib(int kmax, double *pA, double *pC);
+// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
+// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
+// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// void test_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 test_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 test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+// ext_dep
+
+void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+
+void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
+void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
+
+void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_TEST_H_

casadi/include/blasfeo_d_blas.h

@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_H_
+#define BLASFEO_D_BLAS_H_
+
+
+
+#include "blasfeo_d_blasfeo_api.h"
+#include "blasfeo_d_blas_api.h"
+
+
+
+#endif  // BLASFEO_D_BLAS_H_