+++ /dev/null
-/*************************************************************************
- * *
- * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
- * All rights reserved. Email: russ@q12.org Web: www.q12.org *
- * *
- * This library is free software; you can redistribute it and/or *
- * modify it under the terms of EITHER: *
- * (1) 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. The text of the GNU Lesser *
- * General Public License is included with this library in the *
- * file LICENSE.TXT. *
- * (2) The BSD-style license that is included with this library in *
- * the file LICENSE-BSD.TXT. *
- * *
- * This library 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 files *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
- * *
- *************************************************************************/
-
-#ifndef _ODE_MATRIX_COOP_H_
-#define _ODE_MATRIX_COOP_H_
-
-
-#include <ode/common.h>
-#include <ode/cooperative.h>
-#include <ode/threading.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @defgroup matrix_coop Matrix Cooperative Algorithms
- *
- * Cooperative algorithms operating on matrices and vectors.
- *
- * @ingroup coop
- */
-
-
-/**
- * @brief Estimates resource requirements for a @c dCooperativelyFactorLDLT call
- *
- * The function updates the contents of @a requirements to also suffice for calling
- * @c dCooperativelyFactorLDLT with the given parameters.
- *
- * Note: The requirements that could have already been in the @a requirements parameter
- * are never decreased.
- *
- * @param requirements The ResourceRequirements object to update
- * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used
- * @param maximalRowCount Maximal value of rowCount parameter that is going to be used
- * @ingroup matrix_coop
- * @see dCooperativelyFactorLDLT
- * @see dResourceRequirementsCreate
- */
-ODE_API void dEstimateCooperativelyFactorLDLTResourceRequirements(dResourceRequirementsID requirements,
- unsigned maximalAllowedThreadCount, unsigned maximalRowCount);
-
-/**
- * @brief Cooperatively factorizes a matrix `A' into L*D*L'
- *
- * The function factorizes a matrix `A' into L*D*L', where `L' is lower triangular with ones on
- * the diagonal, and `D' is diagonal.
- * @a A is a rowCount*rowCount matrix stored by rows, with a leading dimension of @a rowCount rounded
- * up at least to 4 elements. `L; is written into the strict lower triangle of @a A
- * (the ones are not written) and the reciprocal of the diagonal elements of `D' are written into @a d.
- *
- * The @a resources must have had been allocated from a ResourceRequirements object
- * estimated in @c dEstimateCooperativelyFactorLDLTResourceRequirements.
- *
- * The operation is performed cooperatively by up to @a allowedThreadCount threads
- * from thread pool available in @a resources. The threading must must not be simultaneously
- * used (via other @c dResourceContainerID instances) in other calls that employ its features.
- *
- * @param resources The resources allocated for the function
- * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters)
- * @param A The `A' matrix
- * @param d The `d' vector
- * @param rowCount The row count in @a A and @a d
- * @param rowskip The actual number of elements to be added to skip to next row in @a A
- * @ingroup matrix_coop
- * @see dEstimateCooperativelyFactorLDLTResourceRequirements
- * @see dResourceContainerAcquire
- * @see dCooperativelySolveLDLT
- */
-ODE_API void dCooperativelyFactorLDLT(dResourceContainerID resources, unsigned allowedThreadCount,
- dReal *A, dReal *d, unsigned rowCount, unsigned rowSkip);
-
-
-/**
- * @brief Estimates resource requirements for a @c dCooperativelySolveLDLT call
- *
- * The function updates the contents of @a requirements to also suffice for calling
- * @c dCooperativelySolveLDLT with the given parameters.
- *
- * Note: The requirements that could have already been in the @a requirements parameter
- * are never decreased.
- *
- * @param requirements The ResourceRequirements object to update
- * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used
- * @param maximalRowCount Maximal value of rowCount parameter that is going to be used
- * @ingroup matrix_coop
- * @see dCooperativelySolveLDLT
- * @see dResourceRequirementsCreate
- */
-ODE_API void dEstimateCooperativelySolveLDLTResourceRequirements(dResourceRequirementsID requirements,
- unsigned maximalAllowedThreadCount, unsigned maximalRowCount);
-
-/**
- * @brief Cooperatively solves L*D*L'*x=b
- *
- * Given `L', a rowCount*rowCount lower triangular matrix with ones on the diagonal,
- * and `d', a rowCount*1 vector of the reciprocal diagonal elements of a rowCount*rowCount matrix
- * D, the function solves L*D*L'*x=b where `x' and `b' are rowCount*1.
- * The leading dimension of @a L is @a rowSkip. The resulting vector `x' overwrites @a b.
- *
- * The @a resources must have had been allocated from a ResourceRequirements object
- * estimated in @c dEstimateCooperativelySolveLDLTResourceRequirements.
- *
- * The operation is performed cooperatively by up to @a allowedThreadCount threads
- * from thread pool available in @a resources. The threading must must not be simultaneously
- * used (via other @c dResourceContainerID instances) in other calls that employ its features.
- *
- * @param resources The resources allocated for the function
- * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters)
- * @param L The `L' matrix
- * @param d The `d' vector
- * @param b The `b' vector; also the result is stored here
- * @param rowCount The row count in @a L, @a d and @a b
- * @param rowskip The actual number of elements to be added to skip to next row in @a L
- * @ingroup matrix_coop
- * @see dEstimateCooperativelySolveLDLTResourceRequirements
- * @see dResourceContainerAcquire
- * @see dCooperativelyFactorLDLT
- */
-ODE_API void dCooperativelySolveLDLT(dResourceContainerID resources, unsigned allowedThreadCount,
- const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip);
-
-
-/**
- * @brief Estimates resource requirements for a @c dCooperativelySolveL1Straight call
- *
- * The function updates the contents of @a requirements to also suffice for calling
- * @c dCooperativelySolveL1Straight with the given parameters.
- *
- * Note: The requirements that could have already been in the @a requirements parameter
- * are never decreased.
- *
- * @param requirements The ResourceRequirements object to update
- * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used
- * @param maximalRowCount Maximal value of rowCount parameter that is going to be used
- * @ingroup matrix_coop
- * @see dCooperativelySolveL1Straight
- * @see dResourceRequirementsCreate
- */
-ODE_API void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements,
- unsigned maximalAllowedThreadCount, unsigned maximalRowCount);
-
-/**
- * @brief Cooperatively solves L*x=b
- *
- * The function solves L*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal,
- * and `x', `b' are rowCount*1. The leading dimension of @a L is @a rowSkip.
- * @a b is overwritten with `x'.
- *
- * The @a resources must have had been allocated from a ResourceRequirements object
- * estimated in @c dEstimateCooperativelySolveL1StraightResourceRequirements.
- *
- * The operation is performed cooperatively by up to @a allowedThreadCount threads
- * from thread pool available in @a resources. The threading must must not be simultaneously
- * used (via other @c dResourceContainerID instances) in other calls that employ its features.
- *
- * @param resources The resources allocated for the function
- * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters)
- * @param L The `L' matrix
- * @param b The `b' vector; also the result is stored here
- * @param rowCount The row count in @a L and @a b
- * @param rowskip The actual number of elements to be added to skip to next row in @a L
- * @ingroup matrix_coop
- * @see dEstimateCooperativelySolveL1StraightResourceRequirements
- * @see dResourceContainerAcquire
- * @see dCooperativelyFactorLDLT
- */
-ODE_API void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount,
- const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip);
-
-
-/**
- * @brief Estimates resource requirements for a @c dCooperativelySolveL1Transposed call
- *
- * The function updates the contents of @a requirements to also suffice for calling
- * @c dCooperativelySolveL1Transposed with the given parameters.
- *
- * Note: The requirements that could have already been in the @a requirements parameter
- * are never decreased.
- *
- * @param requirements The ResourceRequirements object to update
- * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used
- * @param maximalRowCount Maximal value of rowCount parameter that is going to be used
- * @ingroup matrix_coop
- * @see dCooperativelySolveL1Transposed
- * @see dResourceRequirementsCreate
- */
-ODE_API void dEstimateCooperativelySolveL1TransposedResourceRequirements(dResourceRequirementsID requirements,
- unsigned maximalAllowedThreadCount, unsigned maximalRowCount);
-
-/**
- * @brief Cooperatively solves L'*x=b
- *
- * The function solves L'*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal,
- * and `x', b are rowCount*1. The leading dimension of @a L is @a rowSkip.
- * @a b is overwritten with `x'.
- *
- * The @a resources must have had been allocated from a ResourceRequirements object
- * estimated in @c dEstimateCooperativelySolveL1TransposedResourceRequirements.
- *
- * The operation is performed cooperatively by up to @a allowedThreadCount threads
- * from thread pool available in @a resources. The threading must must not be simultaneously
- * used (via other @c dResourceContainerID instances) in other calls that employ its features.
- *
- * @param resources The resources allocated for the function
- * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters)
- * @param L The `L' matrix
- * @param b The `b' vector; also the result is stored here
- * @param rowCount The row count in @a L and @a b
- * @param rowskip The actual number of elements to be added to skip to next row in @a L
- * @ingroup matrix_coop
- * @see dEstimateCooperativelySolveL1TransposedResourceRequirements
- * @see dResourceContainerAcquire
- * @see dCooperativelyFactorLDLT
- */
-ODE_API void dCooperativelySolveL1Transposed(dResourceContainerID resources, unsigned allowedThreadCount,
- const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip);
-
-
-/**
- * @brief Estimates resource requirements for a @c dCooperativelyScaleVector call
- *
- * The function updates the contents of @a requirements to also suffice for calling
- * @c dCooperativelyScaleVector with the given parameters.
- *
- * Note: The requirements that could have already been in the @a requirements parameter
- * are never decreased.
- *
- * @param requirements The ResourceRequirements object to update
- * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used
- * @param maximalElementCount Maximal value of elementCount parameter that is going to be used
- * @ingroup matrix_coop
- * @see dCooperativelyScaleVector
- * @see dResourceRequirementsCreate
- */
-ODE_API void dEstimateCooperativelyScaleVectorResourceRequirements(dResourceRequirementsID requirements,
- unsigned maximalAllowedThreadCount, unsigned maximalElementCount);
-
-/**
- * @brief Multiplies elements of one vector by corresponding element of another one
- *
- * In matlab syntax, the operation performed is: dataVector(1:elementCount) = dataVector(1:elementCount) .* scaleVector(1:elementCount)
- *
- * The @a resources must have had been allocated from a ResourceRequirements object
- * estimated in @c dEstimateCooperativelyScaleVectorResourceRequirements.
- *
- * The operation is performed cooperatively by up to @a allowedThreadCount threads
- * from thread pool available in @a resources. The threading must must not be simultaneously
- * used (via other @c dResourceContainerID instances) in other calls that employ its features.
- *
- * @param resources The resources allocated for the function
- * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters)
- * @param dataVector The vector to be scaled in place
- * @param scaleVector The scale vector
- * @param elementCount The number of elements in @a dataVector and @a scaleVector
- * @ingroup matrix_coop
- * @see dEstimateCooperativelyScaleVectorResourceRequirements
- * @see dResourceContainerAcquire
- * @see dCooperativelyFactorLDLT
- */
-ODE_API void dCooperativelyScaleVector(dResourceContainerID resources, unsigned allowedThreadCount,
- dReal *dataVector, const dReal *scaleVector, unsigned elementCount);
-
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-
-#endif // #ifndef _ODE_MATRIX_COOP_H_
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