FancySafeBot 0.0.1
A safe robotics library
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fsb_linalg.h
1
2#pragma once
3
4#ifdef __cplusplus
5extern "C"
6{
7#endif
8
9#include <math.h>
10#include <stddef.h>
11#include <stdbool.h>
12
23typedef double double_t;
24
59
83 const double_t mat[], size_t rows, size_t cols, bool u_full, bool v_full, size_t work_len, double_t work[], double_t unitary_u[],
84 double_t sing_val[], double_t unitary_vt[]);
85
101 const double_t mat[], size_t dim, size_t work_len, double_t work[],
102 double_t val_real[], double_t val_imag[],
103 double_t vec_real[], double_t vec_imag[]);
104
117 const double_t mat[], size_t dim, size_t work_len, double_t work[],
118 double_t val[], double_t vec[]);
119
129 const double_t mat[], size_t dim, double_t mat_chol[]);
130
148 size_t nrhs, size_t dim,
149 size_t work_len, double_t work[],
150 double_t x_vec[]);
151
162bool fsb_linalg_is_posdef(const double_t mat[], size_t dim, size_t work_len, double_t work[]);
163
179 const double_t mat[], const double_t y_vec[], size_t nrhs, size_t dim, size_t work_len,
180 size_t iwork_len, double_t work[], int iwork[], double_t x_vec[]);
181
186#ifdef __cplusplus
187}
188#endif
bool fsb_linalg_is_posdef(const double_t mat[], size_t dim, size_t work_len, double_t work[])
Check if lower triangular symmetric matrix is positive definite.
Definition fsb_linalg.c:398
FsbLapackErrorType
Error codes for linear algebra functions.
Definition fsb_linalg.h:29
FsbLinalgErrorType fsb_linalg_matrix_eig(const double_t mat[], size_t dim, size_t work_len, double_t work[], double_t val_real[], double_t val_imag[], double_t vec_real[], double_t vec_imag[])
Eigenvalue decomposition.
Definition fsb_linalg.c:88
FsbLinalgErrorType fsb_linalg_cholesky_decomposition(const double_t mat[], size_t dim, double_t mat_chol[])
Cholesky factorization for symmetric positive definite matrix.
Definition fsb_linalg.c:291
FsbLinalgErrorType fsb_linalg_svd(const double_t mat[], size_t rows, size_t cols, bool u_full, bool v_full, size_t work_len, double_t work[], double_t unitary_u[], double_t sing_val[], double_t unitary_vt[])
SVD decomposition.
Definition fsb_linalg.c:8
FsbLinalgErrorType fsb_linalg_matrix_sqr_solve(const double_t mat[], const double_t y_vec[], size_t nrhs, size_t dim, size_t work_len, size_t iwork_len, double_t work[], int iwork[], double_t x_vec[])
FsbLinalgErrorType fsb_linalg_cholesky_solve(const double_t mat[], const double_t b_vec[], size_t nrhs, size_t dim, size_t work_len, double_t work[], double_t x_vec[])
Cholesky solve.
Definition fsb_linalg.c:334
FsbLinalgErrorType fsb_linalg_sym_lt_eig(const double_t mat[], size_t dim, size_t work_len, double_t work[], double_t val[], double_t vec[])
Eigenvalue decomposition for symmetric lower triangular matrix.
Definition fsb_linalg.c:212
double double_t
Floating point type.
Definition fsb_linalg.h:23
enum FsbLapackErrorType FsbLinalgErrorType
Error codes for linear algebra functions.
@ EFSB_LAPACK_ERROR_INPUT
Input value error.
Definition fsb_linalg.h:37
@ EFSB_LAPACK_ERROR_QUERY
Work query failed.
Definition fsb_linalg.h:49
@ EFSB_LAPACK_ERROR_MEMORY
Not enough memory.
Definition fsb_linalg.h:41
@ EFSB_LAPACK_NOT_POSITIVE_DEFINITE
Matrix not positive definite.
Definition fsb_linalg.h:53
@ EFSB_LAPACK_ERROR_CONVERGE
Solution did not converge.
Definition fsb_linalg.h:45
@ EFSB_LAPACK_SINGULAR
Input matrix is singular.
Definition fsb_linalg.h:57
@ EFSB_LAPACK_ERROR_NONE
No error.
Definition fsb_linalg.h:33