include/qpOASES/Matrices.hpp File Reference

#include <qpOASES/Utils.hpp>
#include <qpOASES/Indexlist.hpp>

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Classes
class	Matrix
	Abstract base class for interfacing tailored matrix-vector operations. More...
class	SymmetricMatrix
	Abstract base class for interfacing matrix-vector operations tailored to symmetric matrices. More...
class	DenseMatrix
	Interfaces matrix-vector operations tailored to general dense matrices. More...
class	SymDenseMat
	Interfaces matrix-vector operations tailored to symmetric dense matrices. More...
class	SparseMatrix
	Interfaces matrix-vector operations tailored to general sparse matrices. More...
class	SparseMatrixRow
	Interfaces matrix-vector operations tailored to general sparse matrices. More...
class	SymSparseMat
	Interfaces matrix-vector operations tailored to symmetric sparse matrices. More...
Defines
#define	GEMM   dgemm_
#define	SYR   dsyr_
#define	SYR2   dsyr2_
#define	POTRF   dpotrf_
Functions
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 *)
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 *)
void	dsyr_ (const char *, const unsigned long *, const double *, const double *, const unsigned long *, double *, const unsigned long *)
void	ssyr_ (const char *, const unsigned long *, const float *, const float *, const unsigned long *, float *, const unsigned long *)
void	dsyr2_ (const char *, const unsigned long *, const double *, const double *, const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *)
void	ssyr2_ (const char *, const unsigned long *, const float *, const float *, const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *)
void	dpotrf_ (const char *, const unsigned long *, double *, const unsigned long *, long *)
void	spotrf_ (const char *, const unsigned long *, float *, const unsigned long *, long *)
Variables
BEGIN_NAMESPACE_QPOASES typedef int	sparse_int_t

---

Detailed Description

Author:

Andreas Potschka, Hans Joachim Ferreau, Christian Kirches

Version:

3.0

Date:

2009-2014

Various matrix classes: Abstract base matrix class, dense and sparse matrices, including symmetry exploiting specializations.

---

Define Documentation

#define GEMM   dgemm_

Macro for calling level 3 BLAS operation in double precision.

Referenced by DenseMatrix::times(), and DenseMatrix::transTimes().

#define POTRF   dpotrf_

Macro for calling level 3 BLAS operation in double precision.

Referenced by QProblemB::computeCholesky(), and QProblem::computeProjectedCholesky().

#define SYR   dsyr_

Macro for calling level 3 BLAS operation in double precision.

#define SYR2   dsyr2_

Macro for calling level 3 BLAS operation in double precision.

---

Function Documentation

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.

References BT_FALSE, BT_TRUE, isEqual(), isZero(), and REFER_NAMESPACE_QPOASES.

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.

References getSqrt(), and REFER_NAMESPACE_QPOASES.

void dsyr2_	(	const char *	,
		const unsigned long *	,
		const double *	,
		const double *	,
		const unsigned long *	,
		const double *	,
		const unsigned long *	,
		double *	,
		const unsigned long *
	)

Performs a symmetric rank 2 operation in double precision.

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

Performs a symmetric rank 1 operation in double precision.

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.

References BT_FALSE, BT_TRUE, isEqual(), isZero(), and REFER_NAMESPACE_QPOASES.

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.

References getSqrt(), and REFER_NAMESPACE_QPOASES.

void ssyr2_	(	const char *	,
		const unsigned long *	,
		const float *	,
		const float *	,
		const unsigned long *	,
		const float *	,
		const unsigned long *	,
		float *	,
		const unsigned long *
	)

Performs a symmetric rank 2 operation in single precision.

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

Performs a symmetric rank 1 operation in single precision.

---

Variable Documentation

BEGIN_NAMESPACE_QPOASES typedef int sparse_int_t

Integer type for sparse matrix row/column entries. Make this "int" for 32 bit entries, and "long" for 64-bit entries on x86_64 platform.

Most sparse codes still assume 32-bit entries here (HSL, BQPD, ...)

Referenced by SparseMatrix::createDiagInfo(), SparseMatrixRow::createDiagInfo(), QProblemB::createDiagSparseMat(), SparseMatrix::duplicate(), SparseMatrixRow::duplicate(), SymSparseMat::duplicateSym(), SparseMatrix::SparseMatrix(), and SparseMatrixRow::SparseMatrixRow().