casadi 3.7.2__cp314-none-manylinux2014_x86_64.whl

casadi/include/blasfeo_s_aux_ext_dep.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_S_AUX_EXT_DEP_H_
+#define BLASFEO_S_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/************************************************
+* s_aux_extern_depend_lib.c
+************************************************/
+
+/* column-major matrices */
+
+// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros(float **pA, int row, int col);
+// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align(float **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align_bytes(float **pA, int size);
+// free the memory allocated by d_zeros
+void s_free(float *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void s_free_align(float *pA);
+// print a column-major matrix
+void s_print_mat(int m, int n, float *A, int lda);
+// print the transposed of a column-major matrix
+void s_print_tran_mat(int row, int col, float *A, int lda);
+// print to file a column-major matrix
+void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file a column-major matrix in exponential format
+void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print to string a column-major matrix
+void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix
+void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print in exponential notation a column-major matrix
+void s_print_exp_mat(int m, int n, float *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void s_print_exp_tran_mat(int row, int col, float *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_smat(struct blasfeo_smat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_svec(struct blasfeo_svec *sa);
+// print a strmat
+void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print the transpose of a strmat
+void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_H_

casadi/include/blasfeo_s_aux_ext_dep_ref.h

@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_S_AUX_EXT_DEP_REF_H_
+#define BLASFEO_S_AUX_EXT_DEP_REF_H_
+
+#if defined(EXT_DEP)
+
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_s_aux_exp_dep.h for help
+
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
+void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
+void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
+void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // EXT_DEP
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_

casadi/include/blasfeo_s_aux_old.h

@@ -0,0 +1,64 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+// TODO remove
+//
+void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+void srowin_lib(int kmax, float alpha, float *x, float *pD);
+void srowex_lib(int kmax, float alpha, float *pD, float *x);
+void srowad_lib(int kmax, float alpha, float *x, float *pD);
+void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+void srowsw_lib(int kmax, float *pA, float *pC);
+void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void svecin_libsp(int kmax, int *idx, float *x, float *y);
+void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);

casadi/include/blasfeo_s_aux_ref.h

@@ -0,0 +1,147 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* 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_S_AUX_REF_H_
+#define BLASFEO_S_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_ref_memsize_smat(int m, int n);
+size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_ref_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_ref_memsize_svec(int m);
+// 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_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *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_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// z += alpha * x[idx]
+void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_REF_H_
+

casadi/include/blasfeo_s_aux_test.h

@@ -0,0 +1,177 @@
+/**************************************************************************************************
+*                                                                                                 *
+* 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_S_AUX_TEST_H_
+#define BLASFEO_S_AUX_TEST_H_
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+int test_blasfeo_memsize_smat(int m, int n);
+int test_blasfeo_memsize_diag_smat(int m, int n);
+int test_blasfeo_memsize_svec(int m);
+
+void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+
+void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+
+void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+// copy and scale
+void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+
+// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+
+// // A <= alpha
+// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+
+
+// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+
+// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+
+// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
+// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+// void test_srowsw_lib(int kmax, float *pA, float *pC);
+// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
+// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
+// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+// ext_dep
+
+void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+
+void test_blasfeo_free_smat(struct blasfeo_smat *sA);
+void test_blasfeo_free_svec(struct blasfeo_svec *sa);
+
+void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_TEST_H_