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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_
|
