#include <qpOASES_e/Matrices.h>

Include dependency graph for Matrices.c:

Functions
returnValue	DenseMatrix_addToDiag (DenseMatrix *_THIS, real_t alpha)

returnValue	DenseMatrix_bilinear (DenseMatrix _THIS, const Indexlist const icols, int xN, const real_t x, int xLD, real_t y, int yLD)

real_t	DenseMatrix_diag (DenseMatrix *_THIS, int i)

void	DenseMatrix_free (DenseMatrix *_THIS)

returnValue	DenseMatrix_getCol (DenseMatrix _THIS, int cNum, const Indexlist const irows, real_t alpha, real_t *col)

real_t	DenseMatrix_getNorm (DenseMatrix *_THIS, int type)

returnValue	DenseMatrix_getRow (DenseMatrix _THIS, int rNum, const Indexlist const icols, real_t alpha, real_t *row)

real_t	DenseMatrix_getRowNorm (DenseMatrix *_THIS, int rNum, int type)

returnValue	DenseMatrix_init (DenseMatrix _THIS, int m, int n, int lD, real_t v)

BooleanType	DenseMatrix_isDiag (DenseMatrix *_THIS)

returnValue	DenseMatrix_print (DenseMatrix *_THIS)

returnValue	DenseMatrix_subTimes (DenseMatrix _THIS, const Indexlist const irows, const Indexlist const icols, int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t *y, int yLD, BooleanType yCompr)

returnValue	DenseMatrix_subTransTimes (DenseMatrix _THIS, const Indexlist const irows, const Indexlist const icols, int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t *y, int yLD)

returnValue	DenseMatrix_times (DenseMatrix _THIS, int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t *y, int yLD)

returnValue	DenseMatrix_transTimes (DenseMatrix _THIS, int xN, real_t alpha, const real_t x, int xLD, real_t beta, real_t *y, int yLD)

BEGIN_NAMESPACE_QPOASES void	DenseMatrixCON (DenseMatrix _THIS, int m, int n, int lD, real_t v)

void	DenseMatrixCPY (DenseMatrix FROM, DenseMatrix TO)

void	dgemm_ (const char TRANSA, const char TRANSB, const unsigned long M, const unsigned long N, const unsigned long K, const double ALPHA, const double A, const unsigned long LDA, const double B, const unsigned long LDB, const double BETA, double C, const unsigned long *LDC)

void	dpotrf_ (const char uplo, const unsigned long _n, double a, const unsigned long _lda, long *info)

void	sgemm_ (const char TRANSA, const char TRANSB, const unsigned long M, const unsigned long N, const unsigned long K, const float ALPHA, const float A, const unsigned long LDA, const float B, const unsigned long LDB, const float BETA, float C, const unsigned long *LDC)

void	spotrf_ (const char uplo, const unsigned long _n, float a, const unsigned long _lda, long *info)

Detailed Description

Author: Hans Joachim Ferreau, Andreas Potschka, Christian Kirches

Version: 3.1embedded

Date: 2007-2015

Implementation of the matrix classes.

Definition in file Matrices.c.

Function Documentation

returnValue DenseMatrix_addToDiag	(	DenseMatrix *	_THIS,
		real_t	alpha
	)

Adds given offset to diagonal of matrix.

Returns: SUCCESSFUL_RETURN
RET_NO_DIAGONAL_AVAILABLE

Parameters

alpha Diagonal offset.

Definition at line 474 of file Matrices.c.

returnValue DenseMatrix_bilinear	(	DenseMatrix *	_THIS,
		const Indexlist *const	icols,
		int	xN,
		const real_t *	x,
		int	xLD,
		real_t *	y,
		int	yLD
	)

Compute bilinear form y = x'*H*x using submatrix given by index list.

Returns: SUCCESSFUL_RETURN

Parameters

icols	Index list specifying columns of x.
xN	Number of vectors to multiply.
x	Input vector to be multiplied (uncompressed).
xLD	Leading dimension of input x.
y	Output vector of results (compressed).
yLD	Leading dimension of output y.

Definition at line 490 of file Matrices.c.

real_t DenseMatrix_diag	(	DenseMatrix *	_THIS,
		int	i
	)

Returns i-th diagonal entry.

Returns: i-th diagonal entry

Parameters

i Index.

Definition at line 108 of file Matrices.c.

void DenseMatrix_free ( DenseMatrix * _THIS )

Frees all internal memory.

Definition at line 75 of file Matrices.c.

returnValue DenseMatrix_getCol	(	DenseMatrix *	_THIS,
		int	cNum,
		const Indexlist *const	irows,
		real_t	alpha,
		real_t *	col
	)

Retrieve indexed entries of matrix column multiplied by alpha.

Returns: SUCCESSFUL_RETURN

Parameters

cNum	Column number.
irows	Index list specifying rows.
alpha	Scalar factor.
col	Output column vector.

Definition at line 178 of file Matrices.c.

real_t DenseMatrix_getNorm	(	DenseMatrix *	_THIS,
		int	type
	)

Get the N-norm of the matrix

Returns: N-norm of the matrix

Parameters

type	Norm type, 1: one-norm, 2: Euclidean norm.

Definition at line 135 of file Matrices.c.

returnValue DenseMatrix_getRow	(	DenseMatrix *	_THIS,
		int	rNum,
		const Indexlist *const	icols,
		real_t	alpha,
		real_t *	row
	)

Retrieve indexed entries of matrix row multiplied by alpha.

Returns: SUCCESSFUL_RETURN

Parameters

rNum	Row number.
icols	Index list specifying columns.
alpha	Scalar factor.
row	Output row vector.

Definition at line 147 of file Matrices.c.

real_t DenseMatrix_getRowNorm	(	DenseMatrix *	_THIS,
		int	rNum,
		int	type
	)

Get the N-norm of a row

Returns: N-norm of row rNum

Parameters

rNum	Row number.
type	Norm type, 1: one-norm, 2: Euclidean norm.

Definition at line 141 of file Matrices.c.

returnValue DenseMatrix_init	(	DenseMatrix *	_THIS,
		int	m,
		int	n,
		int	lD,
		real_t *	v
	)

Constructor from vector of values. Caution: Data pointer must be valid throughout lifetime

Parameters

m	Number of rows.
n	Number of columns.
lD	Leading dimension.
v	Values.

Definition at line 80 of file Matrices.c.

BooleanType DenseMatrix_isDiag ( DenseMatrix * _THIS )

Checks whether matrix is square and diagonal.

Returns: BT_TRUE iff matrix is square and diagonal;
BT_FALSE otherwise.

Definition at line 119 of file Matrices.c.

returnValue DenseMatrix_print ( DenseMatrix * _THIS )

Prints matrix to screen.

Returns: SUCCESSFUL_RETURN

Definition at line 484 of file Matrices.c.

returnValue DenseMatrix_subTimes	(	DenseMatrix *	_THIS,
		const Indexlist *const	irows,
		const Indexlist *const	icols,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD,
		BooleanType	yCompr
	)

Evaluate matrix vector product with submatrix given by Indexlist.

Returns: SUCCESSFUL_RETURN

Parameters

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.
yCompr	Compressed storage for y.

Definition at line 230 of file Matrices.c.

returnValue DenseMatrix_subTransTimes	(	DenseMatrix *	_THIS,
		const Indexlist *const	irows,
		const Indexlist *const	icols,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)

Evaluate matrix transpose vector product.

Returns: SUCCESSFUL_RETURN

Parameters

irows	Index list specifying rows.
icols	Index list specifying columns.
xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Definition at line 416 of file Matrices.c.

returnValue DenseMatrix_times	(	DenseMatrix *	_THIS,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)

Evaluate Y=alpha*A*X + beta*Y.

Returns: SUCCESSFUL_RETURN.

Parameters

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Definition at line 196 of file Matrices.c.

returnValue DenseMatrix_transTimes	(	DenseMatrix *	_THIS,
		int	xN,
		real_t	alpha,
		const real_t *	x,
		int	xLD,
		real_t	beta,
		real_t *	y,
		int	yLD
	)

Evaluate Y=alpha*A'*X + beta*Y.

Returns: SUCCESSFUL_RETURN.

Parameters

xN	Number of vectors to multiply.
alpha	Scalar factor for matrix vector product.
x	Input vector to be multiplied.
xLD	Leading dimension of input x.
beta	Scalar factor for y.
y	Output vector of results.
yLD	Leading dimension of output y.

Definition at line 213 of file Matrices.c.

BEGIN_NAMESPACE_QPOASES void DenseMatrixCON	(	DenseMatrix *	_THIS,
		int	m,
		int	n,
		int	lD,
		real_t *	v
	)

Constructor from vector of values. Caution: Data pointer must be valid throughout lifetime

Parameters

m	Number of rows.
n	Number of columns.
lD	Leading dimension.
v	Values.

Definition at line 47 of file Matrices.c.

void DenseMatrixCPY	(	DenseMatrix *	FROM,
		DenseMatrix *	TO
	)

Definition at line 58 of file Matrices.c.

void dgemm_	(	const char *	,
		const char *	,
		const unsigned long *	,
		const unsigned long *	,
		const unsigned long *	,
		const double *	,
		const double *	,
		const unsigned long *	,
		const double *	,
		const unsigned long *	,
		const double *	,
		double *	,
		const unsigned long *
	)

Performs one of the matrix-matrix operation in double precision.

Definition at line 531 of file Matrices.c.

void dpotrf_	(	const char *	,
		const unsigned long *	,
		double *	,
		const unsigned long *	,
		long *
	)

Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision.

Definition at line 643 of file Matrices.c.

void sgemm_	(	const char *	,
		const char *	,
		const unsigned long *	,
		const unsigned long *	,
		const unsigned long *	,
		const float *	,
		const float *	,
		const unsigned long *	,
		const float *	,
		const unsigned long *	,
		const float *	,
		float *	,
		const unsigned long *
	)

Performs one of the matrix-matrix operation in single precision.

Definition at line 586 of file Matrices.c.

void spotrf_	(	const char *	,
		const unsigned long *	,
		float *	,
		const unsigned long *	,
		long *
	)

Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision.

Definition at line 685 of file Matrices.c.

Functions

Detailed Description

Function Documentation