35 #include <qpOASES/Utils.hpp> 38 extern "C" void dpotrf_(
const char *uplo,
const unsigned long *_n,
double *a,
39 const unsigned long *_lda,
long *info
45 long lda = (long)(*_lda);
52 for( k=(i-1); k>=0; --k )
53 sum -= a[k+lda*i] * a[k+lda*i];
65 for( j=(i+1); j<n; ++j )
69 for( k=(i-1); k>=0; --k )
70 sum -= a[k+lda*i] * a[k+lda*j];
72 a[i+lda*j] = sum / a[i+lda*i];
80 extern "C" void spotrf_(
const char *uplo,
const unsigned long *_n,
float *a,
81 const unsigned long *_lda,
long *info
87 long lda = (long)(*_lda);
94 for( k=(i-1); k>=0; --k )
95 sum -= a[k+lda*i] * a[k+lda*i];
107 for( j=(i+1); j<n; ++j )
111 for( k=(i-1); k>=0; --k )
112 sum -= a[k+lda*i] * a[k+lda*j];
114 a[i+lda*j] = sum / a[i+lda*i];
121 extern "C" void dtrtrs_(
const char *UPLO,
const char *
TRANS,
const char *DIAG,
122 const unsigned long *
N,
const unsigned long *NRHS,
123 double *
A,
const unsigned long *LDA,
double *B,
const unsigned long *LDB,
long *INFO
129 extern "C" void strtrs_(
const char *UPLO,
const char *
TRANS,
const char *DIAG,
130 const unsigned long *
N,
const unsigned long *NRHS,
131 float *
A,
const unsigned long *LDA,
float *B,
const unsigned long *LDB,
long *INFO
137 extern "C" void dtrcon_(
const char *NORM,
const char *UPLO,
const char *DIAG,
138 const unsigned long *
N,
double *
A,
const unsigned long *LDA,
139 double *RCOND,
double *
WORK,
const unsigned long *IWORK,
long *INFO
145 extern "C" void strcon_(
const char *NORM,
const char *UPLO,
const char *DIAG,
146 const unsigned long *
N,
float *
A,
const unsigned long *LDA,
147 float *RCOND,
float *
WORK,
const unsigned long *IWORK,
long *INFO
void strtrs_(const char *UPLO, const char *TRANS, const char *DIAG, const unsigned long *N, const unsigned long *NRHS, float *A, const unsigned long *LDA, float *B, const unsigned long *LDB, long *INFO)
void dpotrf_(const char *uplo, const unsigned long *_n, double *a, const unsigned long *_lda, long *info)
void dtrcon_(const char *NORM, const char *UPLO, const char *DIAG, const unsigned long *N, double *A, const unsigned long *LDA, double *RCOND, double *WORK, const unsigned long *IWORK, long *INFO)
void spotrf_(const char *uplo, const unsigned long *_n, float *a, const unsigned long *_lda, long *info)
void dtrtrs_(const char *UPLO, const char *TRANS, const char *DIAG, const unsigned long *N, const unsigned long *NRHS, double *A, const unsigned long *LDA, double *B, const unsigned long *LDB, long *INFO)
void strcon_(const char *NORM, const char *UPLO, const char *DIAG, const unsigned long *N, float *A, const unsigned long *LDA, float *RCOND, float *WORK, const unsigned long *IWORK, long *INFO)
BEGIN_NAMESPACE_QPOASES const char *const TRANS
#define REFER_NAMESPACE_QPOASES