qpOASES-3.2.0/src/LAPACKReplacement.cpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include <qpOASES/Utils.hpp>


extern "C" void dpotrf_(        const char *uplo, const unsigned long *_n, double *a,
                                                        const unsigned long *_lda, long *info
                                                        )
{
        double sum;
        long i, j, k;
        long n = (long)(*_n);
        long lda = (long)(*_lda);

        for( i=0; i<n; ++i )
        {
                /* j == i */
                sum = a[i + lda*i];

                for( k=(i-1); k>=0; --k )
                        sum -= a[k+lda*i] * a[k+lda*i];

                if ( sum > 0.0 )
                        a[i+lda*i] = REFER_NAMESPACE_QPOASES getSqrt( sum );
                else
                {
                        a[0] = sum; /* tunnel negative diagonal element to caller */
                        if (info != 0)
                                *info = (long)i+1;
                        return;
                }

                for( j=(i+1); j<n; ++j )
                {
                        sum = a[j*lda + i];

                        for( k=(i-1); k>=0; --k )
                                sum -= a[k+lda*i] * a[k+lda*j];

                        a[i+lda*j] = sum / a[i+lda*i];
                }
        }
        if (info != 0)
                *info = 0;
}


extern "C" void spotrf_(        const char *uplo, const unsigned long *_n, float *a,
                                                        const unsigned long *_lda, long *info
                                                        )
{
        float sum;
        long i, j, k;
        long n = (long)(*_n);
        long lda = (long)(*_lda);

        for( i=0; i<n; ++i )
        {
                /* j == i */
                sum = a[i + lda*i];

                for( k=(i-1); k>=0; --k )
                        sum -= a[k+lda*i] * a[k+lda*i];

                if ( sum > 0.0 )
                        a[i+lda*i] = (float)(REFER_NAMESPACE_QPOASES getSqrt( sum ));
                else
                {
                        a[0] = sum; /* tunnel negative diagonal element to caller */
                        if (info != 0)
                                *info = (long)i+1;
                        return;
                }

                for( j=(i+1); j<n; ++j )
                {
                        sum = a[j*lda + i];

                        for( k=(i-1); k>=0; --k )
                                sum -= a[k+lda*i] * a[k+lda*j];

                        a[i+lda*j] = sum / a[i+lda*i];
                }
        }
        if (info != 0)
                *info = 0;
}

extern "C" 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
                                                        )
{
        ; /* Dummy. If SQProblemSchur is to be used, system LAPACK must be used */
}

extern "C" 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
                                                        )
{
        ; /* Dummy. If SQProblemSchur is to be used, system LAPACK must be used */
}

extern "C" 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
                                                        )
{
        ; /* Dummy. If SQProblemSchur is to be used, system LAPACK must be used */
}

extern "C" 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
                                                        )
{
        ; /* Dummy. If SQProblemSchur is to be used, system LAPACK must be used */
}