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103 lines
3.6 KiB
103 lines
3.6 KiB
/*
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* Copyright (c) The acados authors.
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*
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* This file is part of acados.
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*
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* The 2-Clause BSD License
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.;
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*/
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#ifndef ACADOS_UTILS_MATH_H_
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#define ACADOS_UTILS_MATH_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "acados/utils/types.h"
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#if defined(__MABX2__)
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double fmax(double a, double b);
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int isnan(double x);
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#endif
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#define MIN(a,b) (((a)<(b))?(a):(b))
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#define MAX(a,b) (((a)>(b))?(a):(b))
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void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
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// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
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// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
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// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
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void daxpy_3l(int n, double da, double *dx, double *dy);
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void dscal_3l(int n, double da, double *dx);
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double twonormv(int n, double *ptrv);
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/* copies a matrix into another matrix */
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void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
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/* solution of a system of linear equations */
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void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
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/* matrix exponential */
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void expm(int row, double *A);
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int idamax_3l(int n, double *x);
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void dswap_3l(int n, double *x, int incx, double *y, int incy);
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void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
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int lda);
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void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
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void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
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void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
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void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
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void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
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double onenorm(int row, int col, double *ptrA);
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// double twonormv(int n, double *ptrv);
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void padeapprox(int m, int row, double *A);
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void expm(int row, double *A);
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// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
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// int *nvd, int *ned, int *nbd, int *ngd);
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void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
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double minimum_of_doubles(double *x, int n);
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void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // ACADOS_UTILS_MATH_H_
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