r1mpyq.h
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00001 namespace Eigen { 
00002 
00003 namespace internal {
00004 
00005 // TODO : move this to GivensQR once there's such a thing in Eigen
00006 
00007 template <typename Scalar>
00008 void r1mpyq(DenseIndex m, DenseIndex n, Scalar *a, const std::vector<JacobiRotation<Scalar> > &v_givens, const std::vector<JacobiRotation<Scalar> > &w_givens)
00009 {
00010     typedef DenseIndex Index;
00011 
00012     /*     apply the first set of givens rotations to a. */
00013     for (Index j = n-2; j>=0; --j)
00014         for (Index i = 0; i<m; ++i) {
00015             Scalar temp = v_givens[j].c() * a[i+m*j] - v_givens[j].s() * a[i+m*(n-1)];
00016             a[i+m*(n-1)] = v_givens[j].s() * a[i+m*j] + v_givens[j].c() * a[i+m*(n-1)];
00017             a[i+m*j] = temp;
00018         }
00019     /*     apply the second set of givens rotations to a. */
00020     for (Index j = 0; j<n-1; ++j)
00021         for (Index i = 0; i<m; ++i) {
00022             Scalar temp = w_givens[j].c() * a[i+m*j] + w_givens[j].s() * a[i+m*(n-1)];
00023             a[i+m*(n-1)] = -w_givens[j].s() * a[i+m*j] + w_givens[j].c() * a[i+m*(n-1)];
00024             a[i+m*j] = temp;
00025         }
00026 }
00027 
00028 } // end namespace internal
00029 
00030 } // end namespace Eigen


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:44