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LAPACKReplacement.cpp
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LAPACKReplacement.cpp
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/*
* This file is part of qpOASES.
*
* qpOASES -- An Implementation of the Online Active Set Strategy.
* Copyright (C) 2007-2017 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
*
*/
/**
* \file src/LAPACKReplacement.cpp
* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
* \version 3.2
* \date 2007-2017
*
* LAPACK replacement routines.
*/
#include <qpOASES/Utils.hpp>
#include <qpOASES/LapackBlasReplacement.hpp>
extern "C" void DPOTRF( const char* uplo, const la_uint_t* _n, double* a,
const la_uint_t* _lda, la_int_t* info
)
{
double sum;
la_int_t i, j, k;
la_int_t n = (la_int_t)(*_n);
la_int_t lda = (la_int_t)(*_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 = (la_int_t)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 la_uint_t* _n, float* a,
const la_uint_t* _lda, la_int_t* info
)
{
float sum;
la_int_t i, j, k;
la_int_t n = (la_int_t)(*_n);
la_int_t lda = (la_int_t)(*_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 = (la_int_t)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 la_uint_t* N, const la_uint_t* NRHS,
double* A, const la_uint_t* LDA, double* B, const la_uint_t* LDB, la_int_t* INFO
)
{
INFO[0] = ((la_int_t)0xDEADBEEF); /* 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 la_uint_t* N, const la_uint_t* NRHS,
float* A, const la_uint_t* LDA, float* B, const la_uint_t* LDB, la_int_t* INFO
)
{
INFO[0] = ((la_int_t)0xDEADBEEF); /* 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 la_uint_t* N, double* A, const la_uint_t*LDA,
double* RCOND, double* WORK, const la_uint_t* IWORK, la_int_t* INFO
)
{
INFO[0] = ((la_int_t)0xDEADBEEF); /* 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 la_uint_t* N, float* A, const la_uint_t* LDA,
float* RCOND, float* WORK, const la_uint_t* IWORK, la_int_t* INFO
)
{
INFO[0] = ((la_int_t)0xDEADBEEF); /* Dummy. If SQProblemSchur is to be used, system LAPACK must be used */
}
/*
* end of file
*/