openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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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 *
* *
**************************************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
// level 1
float sdot_(int *m, float *x, int *incx, float *y, int *incy);
void scopy_(int *m, float *x, int *incx, float *y, int *incy);
void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
void sscal_(int *m, float *alpha, float *x, int *incx);
void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
void srotg_(float *a, float *b, float *c, float *s);
// level 2
void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
// level 3
void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
// lapack
void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
#ifdef __cplusplus
}
#endif