d_tools.h

/**************************************************************************************************
*                                                                                                 *
* This file is part of HPIPM.                                                                     *
*                                                                                                 *
* HPIPM -- High-Performance Interior Point Method.                                                *
* Copyright (C) 2019 by Gianluca Frison.                                                          *
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
* All rights reserved.                                                                            *
*                                                                                                 *
* The 2-Clause BSD License                                                                        *
*                                                                                                 *
* Redistribution and use in source and binary forms, with or without                              *
* modification, are permitted provided that the following conditions are met:                     *
*                                                                                                 *
* 1. Redistributions of source code must retain the above copyright notice, this                  *
*    list of conditions and the following disclaimer.                                             *
* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
*    this list of conditions and the following disclaimer in the documentation                    *
*    and/or other materials provided with the distribution.                                       *
*                                                                                                 *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
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*                                                                                                 *
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
*                                                                                                 *
**************************************************************************************************/

void dgemv_n_3l(int m, int n, double *A, int lda , double *x, double *z);
void dgemm_nn_3l(int m, int n, int k, double *A, int lda , double *B, int ldb, double *C, int ldc);
void daxpy_3l(int n, double da, double *dx, double *dy);
void dscal_3l(int n, double da, double *dx);

/* copies a matrix into another matrix */
void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);

/* solution of a system of linear equations */
void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);

/* matrix exponential */
void expm(int row, double *A);