text: /**************************************************************************************************
  *                                                                                                 *
  * This file is part of BLASFEO.                                                                   *
  *                                                                                                 *
  * BLASFEO -- BLAS for embedded optimization.                                                      *
  * Copyright (C) 2019 by Gianluca Frison.                                                          *
  * Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
  * All rights reserved.                                                                            *
  *                                                                                                 *
  * The 2-Clause BSD License                                                                        *
  *                                                                                                 *
  * Redistribution and use in source and binary forms, with or without                              *
  * modification, are permitted provided that the following conditions are met:                     *
  *                                                                                                 *
  * 1. Redistributions of source code must retain the above copyright notice, this                  *
  *    list of conditions and the following disclaimer.                                             *
  * 2. Redistributions in binary form must reproduce the above copyright notice,                    *
  *    this list of conditions and the following disclaimer in the documentation                    *
  *    and/or other materials provided with the distribution.                                       *
  *                                                                                                 *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
  * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
  *                                                                                                 *
  * Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
  *                                                                                                 *
  **************************************************************************************************/
  
  #include <stdlib.h>
  #include <stdio.h>
  
  #include <blasfeo_common.h>
  #include <blasfeo_s_kernel.h>
  #include <blasfeo_s_aux.h>
  #if defined(BLASFEO_REF_API)
  #include <blasfeo_s_blasfeo_ref_api.h>
  #endif
  
  
  
  
  void blasfeo_hp_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m<0)
  		return;
  
  	const int bs = 4;
  
  	int i;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs + ai/bs*bs*sda;
  	float *x = sx->pa + xi;
  	float *y = sy->pa + yi;
  	float *z = sz->pa + zi;
  
  	i = 0;
  	// clean up at the beginning
  	if(ai%bs!=0)
  		{
  		kernel_sgemv_n_4_gen_lib4(n, &alpha, pA, x, &beta, y-ai%bs, z-ai%bs, ai%bs, m+ai%bs);
  		pA += bs*sda;
  		y += 4 - ai%bs;
  		z += 4 - ai%bs;
  		m -= 4 - ai%bs;
  		}
  	// main loop
  	for( ; i<m-3; i+=4)
  		{
  		kernel_sgemv_n_4_lib4(n, &alpha, &pA[i*sda], x, &beta, &y[i], &z[i]);
  		}
  	if(i<m)
  		{
  		kernel_sgemv_n_4_vs_lib4(n, &alpha, &pA[i*sda], x, &beta, &y[i], &z[i], m-i);
  		}
  		
  	return;
  
  	}
  
  
  
  void blasfeo_hp_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(n<=0)
  		return;
  	
  	const int bs = 4;
  
  	int i;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs + ai/bs*bs*sda + ai%bs;
  	int offsetA = ai%bs;
  	float *x = sx->pa + xi;
  	float *y = sy->pa + yi;
  	float *z = sz->pa + zi;
  
  	i = 0;
  	for( ; i<n-3; i+=4)
  		{
  		kernel_sgemv_t_4_lib4(m, &alpha, offsetA, &pA[i*bs], sda, x, &beta, &y[i], &z[i]);
  		}
  	if(i<n)
  		{
  		kernel_sgemv_t_4_vs_lib4(m, &alpha, offsetA, &pA[i*bs], sda, x, &beta, &y[i], &z[i], n-i);
  		}
  	
  	return;
  
  	}
  
  
  
  void blasfeo_hp_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t)
  	{
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_sgemv_nt(m, n, alpha_n, alpha_t, sA, ai, aj, sx_n, xi_n, sx_t, xi_t, beta_n, beta_t, sy_n, yi_n, sy_t, yi_t, sz_n, zi_n, sz_t, zi_t);
  		return;
  #else
  		printf("\nblasfeo_sgemv_nt: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *x_n = sx_n->pa + xi_n;
  	float *x_t = sx_t->pa + xi_t;
  	float *y_n = sy_n->pa + yi_n;
  	float *y_t = sy_t->pa + yi_t;
  	float *z_n = sz_n->pa + zi_n;
  	float *z_t = sz_t->pa + zi_t;
  
  //	sgemv_nt_lib(m, n, alpha_n, alpha_t, pA, sda, x_n, x_t, beta_n, beta_t, y_n, y_t, z_n, z_t);
  
  //	if(m<=0 | n<=0)
  //		return;
  
  	int ii;
  
  	// copy and scale y_n int z_n
  	ii = 0;
  	for(; ii<m-3; ii+=4)
  		{
  		z_n[ii+0] = beta_n*y_n[ii+0];
  		z_n[ii+1] = beta_n*y_n[ii+1];
  		z_n[ii+2] = beta_n*y_n[ii+2];
  		z_n[ii+3] = beta_n*y_n[ii+3];
  		}
  	for(; ii<m; ii++)
  		{
  		z_n[ii+0] = beta_n*y_n[ii+0];
  		}
  	
  	ii = 0;
  	for(; ii<n-3; ii+=4)
  		{
  		kernel_sgemv_nt_4_lib4(m, &alpha_n, &alpha_t, pA+ii*bs, sda, x_n+ii, x_t, &beta_t, y_t+ii, z_n, z_t+ii);
  		}
  	if(ii<n)
  		{
  		kernel_sgemv_nt_4_vs_lib4(m, &alpha_n, &alpha_t, pA+ii*bs, sda, x_n+ii, x_t, &beta_t, y_t+ii, z_n, z_t+ii, n-ii);
  		}
  	
  		return;
  	}
  
  
  
  void blasfeo_hp_ssymv_l(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m<=0 | n<=0)
  		return;
  	
  	const int bs = 4;
  
  	int ii, n1;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs + ai/bs*bs*sda + ai%bs;
  	float *x = sx->pa + xi;
  	float *y = sy->pa + yi;
  	float *z = sz->pa + zi;
  
  	// copy and scale y int z
  	ii = 0;
  	for(; ii<m-3; ii+=4)
  		{
  		z[ii+0] = beta*y[ii+0];
  		z[ii+1] = beta*y[ii+1];
  		z[ii+2] = beta*y[ii+2];
  		z[ii+3] = beta*y[ii+3];
  		}
  	for(; ii<m; ii++)
  		{
  		z[ii+0] = beta*y[ii+0];
  		}
  	
  	// clean up at the beginning
  	if(ai%bs!=0) // 1, 2, 3
  		{
  		n1 = 4-ai%bs;
  		kernel_ssymv_l_4_gen_lib4(m, &alpha, ai%bs, &pA[0], sda, &x[0], &z[0], n<n1 ? n : n1);
  		pA += n1 + n1*bs + (sda-1)*bs;
  		x += n1;
  		z += n1;
  		m -= n1;
  		n -= n1;
  		}
  	// main loop
  	ii = 0;
  	for(; ii<n-3; ii+=4)
  		{
  		kernel_ssymv_l_4_lib4(m-ii, &alpha, &pA[ii*bs+ii*sda], sda, &x[ii], &z[ii]);
  		}
  	// clean up at the end
  	if(ii<n)
  		{
  		kernel_ssymv_l_4_gen_lib4(m-ii, &alpha, 0, &pA[ii*bs+ii*sda], sda, &x[ii], &z[ii], n-ii);
  		}
  	
  	return;
  	}
  
  
  
  // m >= n
  void blasfeo_hp_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m<=0)
  		return;
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs + ai/bs*bs*sda + ai%bs;
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	if(m-n>0)
  		blasfeo_hp_sgemv_n(m-n, n, 1.0, sA, ai+n, aj, sx, xi, 0.0, sz, zi+n, sz, zi+n);
  
  	float *pA2 = pA;
  	float *z2 = z;
  	int m2 = n;
  	int n2 = 0;
  	float *pA3, *x3;
  
  	float alpha = 1.0;
  	float beta = 1.0;
  
  	float zt[4];
  
  	int ii, jj, jj_end;
  
  	ii = 0;
  
  	if(ai%4!=0)
  		{
  		pA2 += sda*bs - ai%bs;
  		z2 += bs-ai%bs;
  		m2 -= bs-ai%bs;
  		n2 += bs-ai%bs;
  		}
  	
  	pA2 += m2/bs*bs*sda;
  	z2 += m2/bs*bs;
  	n2 += m2/bs*bs;
  
  	if(m2%bs!=0)
  		{
  		//
  		pA3 = pA2 + bs*n2;
  		x3 = x + n2;
  		zt[3] = pA3[3+bs*0]*x3[0] + pA3[3+bs*1]*x3[1] + pA3[3+bs*2]*x3[2] + pA3[3+bs*3]*x3[3];
  		zt[2] = pA3[2+bs*0]*x3[0] + pA3[2+bs*1]*x3[1] + pA3[2+bs*2]*x3[2];
  		zt[1] = pA3[1+bs*0]*x3[0] + pA3[1+bs*1]*x3[1];
  		zt[0] = pA3[0+bs*0]*x3[0];
  		kernel_sgemv_n_4_lib4(n2, &alpha, pA2, x, &beta, zt, zt);
  		for(jj=0; jj<m2%bs; jj++)
  			z2[jj] = zt[jj];
  		}
  	for(; ii<m2-3; ii+=4)
  		{
  		pA2 -= bs*sda;
  		z2 -= 4;
  		n2 -= 4;
  		pA3 = pA2 + bs*n2;
  		x3 = x + n2;
  		z2[3] = pA3[3+bs*0]*x3[0] + pA3[3+bs*1]*x3[1] + pA3[3+bs*2]*x3[2] + pA3[3+bs*3]*x3[3];
  		z2[2] = pA3[2+bs*0]*x3[0] + pA3[2+bs*1]*x3[1] + pA3[2+bs*2]*x3[2];
  		z2[1] = pA3[1+bs*0]*x3[0] + pA3[1+bs*1]*x3[1];
  		z2[0] = pA3[0+bs*0]*x3[0];
  		kernel_sgemv_n_4_lib4(n2, &alpha, pA2, x, &beta, z2, z2);
  		}
  	if(ai%4!=0)
  		{
  		if(ai%bs==1)
  			{
  			zt[2] = pA[2+bs*0]*x[0] + pA[2+bs*1]*x[1] + pA[2+bs*2]*x[2];
  			zt[1] = pA[1+bs*0]*x[0] + pA[1+bs*1]*x[1];
  			zt[0] = pA[0+bs*0]*x[0];
  			jj_end = 4-ai%bs<n ? 4-ai%bs : n;
  			for(jj=0; jj<jj_end; jj++)
  				z[jj] = zt[jj];
  			}
  		else if(ai%bs==2)
  			{
  			zt[1] = pA[1+bs*0]*x[0] + pA[1+bs*1]*x[1];
  			zt[0] = pA[0+bs*0]*x[0];
  			jj_end = 4-ai%bs<n ? 4-ai%bs : n;
  			for(jj=0; jj<jj_end; jj++)
  				z[jj] = zt[jj];
  			}
  		else // if (ai%bs==3)
  			{
  			z[0] = pA[0+bs*0]*x[0];
  			}
  		}
  
  	return;
  
  	}
  
  
  
  // m >= n
  void blasfeo_hp_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m<=0)
  		return;
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs + ai/bs*bs*sda + ai%bs;
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	float xt[4];
  	float zt[4];
  
  	float alpha = 1.0;
  	float beta = 1.0;
  
  	int ii, jj, ll, ll_max;
  
  	jj = 0;
  
  	if(ai%bs!=0)
  		{
  
  		if(ai%bs==1)
  			{
  			ll_max = m-jj<3 ? m-jj : 3;
  			for(ll=0; ll<ll_max; ll++)
  				xt[ll] = x[ll];
  			for(; ll<3; ll++)
  				xt[ll] = 0.0;
  			zt[0] = pA[0+bs*0]*xt[0] + pA[1+bs*0]*xt[1] + pA[2+bs*0]*xt[2];
  			zt[1] = pA[1+bs*1]*xt[1] + pA[2+bs*1]*xt[2];
  			zt[2] = pA[2+bs*2]*xt[2];
  			pA += bs*sda - 1;
  			x += 3;
  			kernel_sgemv_t_4_lib4(m-3-jj, &alpha, 0, pA, sda, x, &beta, zt, zt);
  			ll_max = n-jj<3 ? n-jj : 3;
  			for(ll=0; ll<ll_max; ll++)
  				z[ll] = zt[ll];
  			pA += bs*3;
  			z += 3;
  			jj += 3;
  			}
  		else if(ai%bs==2)
  			{
  			ll_max = m-jj<2 ? m-jj : 2;
  			for(ll=0; ll<ll_max; ll++)
  				xt[ll] = x[ll];
  			for(; ll<2; ll++)
  				xt[ll] = 0.0;
  			zt[0] = pA[0+bs*0]*xt[0] + pA[1+bs*0]*xt[1];
  			zt[1] = pA[1+bs*1]*xt[1];
  			pA += bs*sda - 2;
  			x += 2;
  			kernel_sgemv_t_4_lib4(m-2-jj, &alpha, 0, pA, sda, x, &beta, zt, zt);
  			ll_max = n-jj<2 ? n-jj : 2;
  			for(ll=0; ll<ll_max; ll++)
  				z[ll] = zt[ll];
  			pA += bs*2;
  			z += 2;
  			jj += 2;
  			}
  		else // if(ai%bs==3)
  			{
  			ll_max = m-jj<1 ? m-jj : 1;
  			for(ll=0; ll<ll_max; ll++)
  				xt[ll] = x[ll];
  			for(; ll<1; ll++)
  				xt[ll] = 0.0;
  			zt[0] = pA[0+bs*0]*xt[0];
  			pA += bs*sda - 3;
  			x += 1;
  			kernel_sgemv_t_4_lib4(m-1-jj, &alpha, 0, pA, sda, x, &beta, zt, zt);
  			ll_max = n-jj<1 ? n-jj : 1;
  			for(ll=0; ll<ll_max; ll++)
  				z[ll] = zt[ll];
  			pA += bs*1;
  			z += 1;
  			jj += 1;
  			}
  
  		}
  	
  	for(; jj<n-3; jj+=4)
  		{
  		zt[0] = pA[0+bs*0]*x[0] + pA[1+bs*0]*x[1] + pA[2+bs*0]*x[2] + pA[3+bs*0]*x[3];
  		zt[1] = pA[1+bs*1]*x[1] + pA[2+bs*1]*x[2] + pA[3+bs*1]*x[3];
  		zt[2] = pA[2+bs*2]*x[2] + pA[3+bs*2]*x[3];
  		zt[3] = pA[3+bs*3]*x[3];
  		pA += bs*sda;
  		x += 4;
  		kernel_sgemv_t_4_lib4(m-4-jj, &alpha, 0, pA, sda, x, &beta, zt, z);
  		pA += bs*4;
  		z += 4;
  		}
  	if(jj<n)
  		{
  		ll_max = m-jj<4 ? m-jj : 4;
  		for(ll=0; ll<ll_max; ll++)
  			xt[ll] = x[ll];
  		for(; ll<4; ll++)
  			xt[ll] = 0.0;
  		zt[0] = pA[0+bs*0]*xt[0] + pA[1+bs*0]*xt[1] + pA[2+bs*0]*xt[2] + pA[3+bs*0]*xt[3];
  		zt[1] = pA[1+bs*1]*xt[1] + pA[2+bs*1]*xt[2] + pA[3+bs*1]*xt[3];
  		zt[2] = pA[2+bs*2]*xt[2] + pA[3+bs*2]*xt[3];
  		zt[3] = pA[3+bs*3]*xt[3];
  		pA += bs*sda;
  		x += 4;
  		kernel_sgemv_t_4_lib4(m-4-jj, &alpha, 0, pA, sda, x, &beta, zt, zt);
  		for(ll=0; ll<n-jj; ll++)
  			z[ll] = zt[ll];
  //		pA += bs*4;
  //		z += 4;
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m<=0)
  		return;
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_strmv_unn(m, sA, ai, aj, sx, xi, sz, zi);
  		return;
  #else
  		printf("\nblasfeo_strmv_unn: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	int i;
  	
  	i=0;
  	for(; i<m-3; i+=4)
  		{
  		kernel_strmv_un_4_lib4(m-i, pA, x, z);
  		pA += 4*sda+4*bs;
  		x  += 4;
  		z  += 4;
  		}
  	if(m>i)
  		{
  		if(m-i==1)
  			{
  			z[0] = pA[0+bs*0]*x[0];
  			}
  		else if(m-i==2)
  			{
  			z[0] = pA[0+bs*0]*x[0] + pA[0+bs*1]*x[1];
  			z[1] = pA[1+bs*1]*x[1];
  			}
  		else // if(m-i==3)
  			{
  			z[0] = pA[0+bs*0]*x[0] + pA[0+bs*1]*x[1] + pA[0+bs*2]*x[2];
  			z[1] = pA[1+bs*1]*x[1] + pA[1+bs*2]*x[2];
  			z[2] = pA[2+bs*2]*x[2];
  			}
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m<=0)
  		return;
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_strmv_utn(m, sA, ai, aj, sx, xi, sz, zi);
  		return;
  #else
  		printf("\nblasfeo_strmv_utn: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	int ii, idx;
  	
  	float *ptrA;
  	
  	ii=0;
  	idx = m/bs*bs;
  	if(m%bs!=0)
  		{
  		kernel_strmv_ut_4_vs_lib4(m, pA+idx*bs, sda, x, z+idx, m%bs);
  		ii += m%bs;
  		}
  	idx -= 4;
  	for(; ii<m; ii+=4)
  		{
  		kernel_strmv_ut_4_lib4(idx+4, pA+idx*bs, sda, x, z+idx);
  		idx -= 4;
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m==0)
  		return;
  
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_lnn : m<0 : %d<0 *****\n", m);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_lnn : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_lnn : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_lnn : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_lnn : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_lnn : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+m > sA->n) printf("\n***** blasfeo_strsv_lnn : aj+m > col(A) : %d+%d > %d *****\n", aj, m, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_lnn : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_lnn : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_strsv_lnn(m, sA, ai, aj, sx, xi, sz, zi);
  		return;
  #else
  		printf("\nblasfeo_strsv_lnn: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *dA = sA->dA;
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	int ii;
  
  	if(ai==0 & aj==0)
  		{
  		if(sA->use_dA!=1)
  			{
  			sdiaex_lib(m, 1.0, ai, pA, sda, dA);
  			for(ii=0; ii<m; ii++)
  				dA[ii] = 1.0 / dA[ii];
  			sA->use_dA = 1;
  			}
  		}
  	else
  		{
  		sdiaex_lib(m, 1.0, ai, pA, sda, dA);
  		for(ii=0; ii<m; ii++)
  			dA[ii] = 1.0 / dA[ii];
  		sA->use_dA = 0;
  		}
  
  	int i;
  
  	if(x!=z)
  		{
  		for(i=0; i<m; i++)
  			z[i] = x[i];
  		}
  	
  	i = 0;
  	for( ; i<m-3; i+=4)
  		{
  		kernel_strsv_ln_inv_4_lib4(i, &pA[i*sda], &dA[i], z, &z[i], &z[i]);
  		}
  	if(i<m)
  		{
  		kernel_strsv_ln_inv_4_vs_lib4(i, &pA[i*sda], &dA[i], z, &z[i], &z[i], m-i, m-i);
  		i+=4;
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m==0 | n==0)
  		return;
  
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_lnn_mn : m<0 : %d<0 *****\n", m);
  	if(n<0) printf("\n****** blasfeo_strsv_lnn_mn : n<0 : %d<0 *****\n", n);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_lnn_mn : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_lnn_mn : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_lnn_mn : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_lnn_mn : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_lnn_mn : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+n > sA->n) printf("\n***** blasfeo_strsv_lnn_mn : aj+n > col(A) : %d+%d > %d *****\n", aj, n, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_lnn_mn : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_lnn_mn : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_strsv_lnn_mn(m, n, sA, ai, aj, sx, xi, sz, zi);
  		return;
  #else
  		printf("\nblasfeo_strsv_lnn_mn: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *dA = sA->dA;
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	int ii;
  
  	if(ai==0 & aj==0)
  		{
  		if(sA->use_dA!=1)
  			{
  			sdiaex_lib(n, 1.0, ai, pA, sda, dA);
  			for(ii=0; ii<n; ii++)
  				dA[ii] = 1.0 / dA[ii];
  			sA->use_dA = 1;
  			}
  		}
  	else
  		{
  		sdiaex_lib(n, 1.0, ai, pA, sda, dA);
  		for(ii=0; ii<n; ii++)
  			dA[ii] = 1.0 / dA[ii];
  		sA->use_dA = 0;
  		}
  
  	if(m<n)
  		m = n;
  
  	float alpha = -1.0;
  	float beta = 1.0;
  
  	int i;
  
  	if(x!=z)
  		{
  		for(i=0; i<m; i++)
  			z[i] = x[i];
  		}
  	
  	i = 0;
  	for( ; i<n-3; i+=4)
  		{
  		kernel_strsv_ln_inv_4_lib4(i, &pA[i*sda], &dA[i], z, &z[i], &z[i]);
  		}
  	if(i<n)
  		{
  		kernel_strsv_ln_inv_4_vs_lib4(i, &pA[i*sda], &dA[i], z, &z[i], &z[i], m-i, n-i);
  		i+=4;
  		}
  	for( ; i<m-3; i+=4)
  		{
  		kernel_sgemv_n_4_lib4(n, &alpha, &pA[i*sda], z, &beta, &z[i], &z[i]);
  		}
  	if(i<m)
  		{
  		kernel_sgemv_n_4_vs_lib4(n, &alpha, &pA[i*sda], z, &beta, &z[i], &z[i], m-i);
  		i+=4;
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m==0)
  		return;
  
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_ltn : m<0 : %d<0 *****\n", m);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_ltn : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_ltn : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_ltn : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_ltn : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_ltn : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+m > sA->n) printf("\n***** blasfeo_strsv_ltn : aj+m > col(A) : %d+%d > %d *****\n", aj, m, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_ltn : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_ltn : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_strsv_ltn(m, sA, ai, aj, sx, xi, sz, zi);
  		return;
  #else
  		printf("\nblasfeo_strsv_ltn: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *dA = sA->dA;
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	int ii;
  
  	if(ai==0 & aj==0)
  		{
  		if(sA->use_dA!=1)
  			{
  			sdiaex_lib(m, 1.0, ai, pA, sda, dA);
  			for(ii=0; ii<m; ii++)
  				dA[ii] = 1.0 / dA[ii];
  			sA->use_dA = 1;
  			}
  		}
  	else
  		{
  		sdiaex_lib(m, 1.0, ai, pA, sda, dA);
  		for(ii=0; ii<m; ii++)
  			dA[ii] = 1.0 / dA[ii];
  		sA->use_dA = 0;
  		}
  
  	int i;
  	
  	if(x!=z)
  		for(i=0; i<m; i++)
  			z[i] = x[i];
  			
  	i=0;
  	if(m%4==1)
  		{
  		kernel_strsv_lt_inv_1_lib4(i+1, &pA[m/bs*bs*sda+(m-i-1)*bs], sda, &dA[m-i-1], &z[m-i-1], &z[m-i-1], &z[m-i-1]);
  		i++;
  		}
  	else if(m%4==2)
  		{
  		kernel_strsv_lt_inv_2_lib4(i+2, &pA[m/bs*bs*sda+(m-i-2)*bs], sda, &dA[m-i-2], &z[m-i-2], &z[m-i-2], &z[m-i-2]);
  		i+=2;
  		}
  	else if(m%4==3)
  		{
  		kernel_strsv_lt_inv_3_lib4(i+3, &pA[m/bs*bs*sda+(m-i-3)*bs], sda, &dA[m-i-3], &z[m-i-3], &z[m-i-3], &z[m-i-3]);
  		i+=3;
  		}
  	for(; i<m-3; i+=4)
  		{
  		kernel_strsv_lt_inv_4_lib4(i+4, &pA[(m-i-4)/bs*bs*sda+(m-i-4)*bs], sda, &dA[m-i-4], &z[m-i-4], &z[m-i-4], &z[m-i-4]);
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  
  	if(m==0)
  		return;
  
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_ltn_mn : m<0 : %d<0 *****\n", m);
  	if(n<0) printf("\n****** blasfeo_strsv_ltn_mn : n<0 : %d<0 *****\n", n);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_ltn_mn : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_ltn_mn : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_ltn_mn : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_ltn_mn : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_ltn_mn : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+n > sA->n) printf("\n***** blasfeo_strsv_ltn_mn : aj+n > col(A) : %d+%d > %d *****\n", aj, n, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_ltn_mn : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_ltn_mn : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  
  	if(ai!=0)
  		{
  #if defined(BLASFEO_REF_API)
  		blasfeo_ref_strsv_ltn_mn(m, n, sA, ai, aj, sx, xi, sz, zi);
  		return;
  #else
  		printf("\nblasfeo_strsv_ltn_mn: feature not implemented yet: ai=%d\n", ai);
  		exit(1);
  #endif
  		}
  
  	const int bs = 4;
  
  	int sda = sA->cn;
  	float *pA = sA->pA + aj*bs; // TODO ai
  	float *dA = sA->dA;
  	float *x = sx->pa + xi;
  	float *z = sz->pa + zi;
  
  	int ii;
  
  	if(ai==0 & aj==0)
  		{
  		if(sA->use_dA!=1)
  			{
  			sdiaex_lib(n, 1.0, ai, pA, sda, dA);
  			for(ii=0; ii<n; ii++)
  				dA[ii] = 1.0 / dA[ii];
  			sA->use_dA = 1;
  			}
  		}
  	else
  		{
  		sdiaex_lib(n, 1.0, ai, pA, sda, dA);
  		for(ii=0; ii<n; ii++)
  			dA[ii] = 1.0 / dA[ii];
  		sA->use_dA = 0;
  		}
  
  	if(n>m)
  		n = m;
  	
  	int i;
  	
  	if(x!=z)
  		for(i=0; i<m; i++)
  			z[i] = x[i];
  			
  	i=0;
  	if(n%4==1)
  		{
  		kernel_strsv_lt_inv_1_lib4(m-n+i+1, &pA[n/bs*bs*sda+(n-i-1)*bs], sda, &dA[n-i-1], &z[n-i-1], &z[n-i-1], &z[n-i-1]);
  		i++;
  		}
  	else if(n%4==2)
  		{
  		kernel_strsv_lt_inv_2_lib4(m-n+i+2, &pA[n/bs*bs*sda+(n-i-2)*bs], sda, &dA[n-i-2], &z[n-i-2], &z[n-i-2], &z[n-i-2]);
  		i+=2;
  		}
  	else if(n%4==3)
  		{
  		kernel_strsv_lt_inv_3_lib4(m-n+i+3, &pA[n/bs*bs*sda+(n-i-3)*bs], sda, &dA[n-i-3], &z[n-i-3], &z[n-i-3], &z[n-i-3]);
  		i+=3;
  		}
  	for(; i<n-3; i+=4)
  		{
  		kernel_strsv_lt_inv_4_lib4(m-n+i+4, &pA[(n-i-4)/bs*bs*sda+(n-i-4)*bs], sda, &dA[n-i-4], &z[n-i-4], &z[n-i-4], &z[n-i-4]);
  		}
  
  	return;
  
  	}
  
  
  
  void blasfeo_hp_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	if(m==0)
  		return;
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_lnu : m<0 : %d<0 *****\n", m);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_lnu : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_lnu : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_lnu : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_lnu : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_lnu : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+m > sA->n) printf("\n***** blasfeo_strsv_lnu : aj+m > col(A) : %d+%d > %d *****\n", aj, m, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_lnu : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_lnu : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  #if defined(BLASFEO_REF_API)
  	blasfeo_ref_strsv_lnu(m, sA, ai, aj, sx, xi, sz, zi);
  	return;
  #else
  	printf("\nblasfeo_strsv_lnu: feature not implemented yet: ai=%d\n", ai);
  	exit(1);
  #endif
  	}
  
  
  
  void blasfeo_hp_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	if(m==0)
  		return;
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_ltu : m<0 : %d<0 *****\n", m);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_ltu : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_ltu : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_ltu : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_ltu : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_ltu : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+m > sA->n) printf("\n***** blasfeo_strsv_ltu : aj+m > col(A) : %d+%d > %d *****\n", aj, m, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_ltu : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_ltu : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  #if defined(BLASFEO_REF_API)
  	blasfeo_ref_strsv_ltu(m, sA, ai, aj, sx, xi, sz, zi);
  	return;
  #else
  	printf("\nblasfeo_strsv_ltu : feature not implemented yet *****\n");
  	exit(1);
  #endif
  	}
  
  
  
  void blasfeo_hp_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	if(m==0)
  		return;
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_unn : m<0 : %d<0 *****\n", m);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_unn : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_unn : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_unn : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_unn : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_unn : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+m > sA->n) printf("\n***** blasfeo_strsv_unn : aj+m > col(A) : %d+%d > %d *****\n", aj, m, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_unn : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_unn : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  #if defined(BLASFEO_REF_API)
  	blasfeo_ref_strsv_unn(m, sA, ai, aj, sx, xi, sz, zi);
  	return;
  #else
  	printf("\nblasfeo_strsv_unn : feature not implemented yet *****\n");
  	exit(1);
  #endif
  	}
  
  
  
  void blasfeo_hp_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	if(m==0)
  		return;
  #if defined(DIM_CHECK)
  	// non-negative size
  	if(m<0) printf("\n****** blasfeo_strsv_utn : m<0 : %d<0 *****\n", m);
  	// non-negative offset
  	if(ai<0) printf("\n****** blasfeo_strsv_utn : ai<0 : %d<0 *****\n", ai);
  	if(aj<0) printf("\n****** blasfeo_strsv_utn : aj<0 : %d<0 *****\n", aj);
  	if(xi<0) printf("\n****** blasfeo_strsv_utn : xi<0 : %d<0 *****\n", xi);
  	if(zi<0) printf("\n****** blasfeo_strsv_utn : zi<0 : %d<0 *****\n", zi);
  	// inside matrix
  	// A: m x k
  	if(ai+m > sA->m) printf("\n***** blasfeo_strsv_utn : ai+m > row(A) : %d+%d > %d *****\n", ai, m, sA->m);
  	if(aj+m > sA->n) printf("\n***** blasfeo_strsv_utn : aj+m > col(A) : %d+%d > %d *****\n", aj, m, sA->n);
  	// x: m
  	if(xi+m > sx->m) printf("\n***** blasfeo_strsv_utn : xi+m > size(x) : %d+%d > %d *****\n", xi, m, sx->m);
  	// z: m
  	if(zi+m > sz->m) printf("\n***** blasfeo_strsv_utn : zi+m > size(z) : %d+%d > %d *****\n", zi, m, sz->m);
  #endif
  #if defined(BLASFEO_REF_API)
  	blasfeo_ref_strsv_utn(m, sA, ai, aj, sx, xi, sz, zi);
  	return;
  #else
  	printf("\n***** blasfeo_strsv_utn : feature not implemented yet *****\n");
  	exit(1);
  #endif
  	}
  
  
  
  #if defined(LA_HIGH_PERFORMANCE)
  
  
  
  void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_sgemv_n(m, n, alpha, sA, ai, aj, sx, xi, beta, sy, yi, sz, zi);
  	}
  
  
  
  void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_sgemv_t(m, n, alpha, sA, ai, aj, sx, xi, beta, sy, yi, sz, zi);
  	}
  
  
  
  void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t)
  	{
  	blasfeo_hp_sgemv_nt(m, n, alpha_n, alpha_t, sA, ai, aj, sx_n, xi_n, sx_t, xi_t, beta_n, beta_t, sy_n, yi_n, sy_t, yi_t, sz_n, zi_n, sz_t, zi_t);
  	}
  
  
  
  void blasfeo_ssymv_l(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_ssymv_l(m, n, alpha, sA, ai, aj, sx, xi, beta, sy, yi, sz, zi);
  	}
  
  
  
  void blasfeo_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strmv_lnn(m, n, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  //void blasfeo_strmv_lnu(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  //	{
  //	blasfeo_hp_strmv_lnu(m, n, sA, ai, aj, sx, xi, sz, zi);
  //	}
  
  
  
  void blasfeo_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strmv_ltn(m, n, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  //void blasfeo_strmv_ltu(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  //	{
  //	blasfeo_hp_strmv_ltu(m, n, sA, ai, aj, sx, xi, sz, zi);
  //	}
  
  
  
  void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strmv_unn(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strmv_utn(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_lnn_mn(m, n, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_lnn(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_lnu(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_ltn_mn(m, n, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_ltn(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_ltu(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_unn(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi)
  	{
  	blasfeo_hp_strsv_utn(m, sA, ai, aj, sx, xi, sz, zi);
  	}
  
  
  
  #endif
  