1 files changed, 98 insertions, 0 deletions
diff --git a/thirdparty/linux/include/coin/spla.h b/thirdparty/linux/include/coin/spla.h
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+++ b/thirdparty/linux/include/coin/spla.h
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+/*
+ * ECOS - Embedded Conic Solver.
+ * Copyright (C) 2012-2015 A. Domahidi [domahidi@embotech.com],
+ * Automatic Control Lab, ETH Zurich & embotech GmbH, Zurich, Switzerland.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Sparse linear algebra library for solver, i.e. no memory manager
+ * such as malloc is accessed by this module.
+ */
+
+#ifndef __SPLA_H__
+#define __SPLA_H__
+
+#include "glblopts.h"
+
+/* Data structure for sparse matrices */
+typedef struct spmat{    
+   idxint* jc;
+   idxint* ir;
+   pfloat* pr;
+   idxint n;
+   idxint m;
+   idxint nnz;   
+} spmat;
+
+
+/* SPARSE MATRIX OPERATIONS PROVIDED BY THIS MODULE -------------------- */
+
+/* 
+ * Sparse matrix-vector multiply for operations
+ * 
+ *		y  =  A*x  (if a > 0 && newVector == 1)
+ *		y +=  A*x  (if a > 0 && newVector == 0)
+ *		y  = -A*x  (if a < 0 && newVector == 1)
+ *		y -=  A*x  (if a < 0 && newVector == 0)
+ *
+ * where A is a sparse matrix and both x and y are assumed to be dense.
+ */
+void sparseMV(spmat* A, pfloat* x, pfloat* y, idxint a, idxint newVector);
+
+
+/* 
+ * Sparse matrix-transpose-vector multiply with subtraction.
+ *
+ * If newVector > 0, then this computes y = -A'*x,
+ *                           otherwise  y -= A'*x,
+ *
+ * where A is a sparse matrix and both x and y are assumed to be dense.
+ * If skipDiagonal == 1, then the contributions of diagonal elements are
+ * not counted.
+ *
+ * NOTE: The product is calculating without explicitly forming the
+ *       transpose.
+ */
+void sparseMtVm(spmat* A, pfloat* x, pfloat* y, idxint newVector, idxint skipDiagonal);
+
+
+/*
+ * Vector addition y += x of size n. 
+ */
+void vadd(idxint n, pfloat* x, pfloat* y);
+
+/*
+ * Vector subtraction with scaling: y -= a*x of size n. 
+ */
+void vsubscale(idxint n, pfloat a, pfloat* x, pfloat* y);
+
+/*
+ * 2-norm of a vector.
+ */
+pfloat norm2(pfloat* v, idxint n);
+
+/*
+ * inf-norm of a vector.
+ */
+pfloat norminf(pfloat* v, idxint n);
+
+/*
+ * ECOS dot product z = x'*y of size n.
+ */
+pfloat eddot(idxint n, pfloat* x, pfloat* y);
+
+
+#endif