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+/*************************************************************************
+ *                                                                       *
+ * 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_