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                             *
  *                                                                                                 *
  **************************************************************************************************/
  
  #ifndef BLASFEO_D_AUX_REF_H_
  #define BLASFEO_D_AUX_REF_H_
  
  
  
  #include <stdlib.h>
  
  #include "blasfeo_common.h"
  #include "blasfeo_d_aux_old.h"
  
  
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  
  // --- memory calculations
  //
  // returns the memory size (in bytes) needed for a dmat
  size_t blasfeo_ref_memsize_dmat(int m, int n);
  // returns the memory size (in bytes) needed for the diagonal of a dmat
  size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
  // returns the memory size (in bytes) needed for a dvec
  size_t blasfeo_ref_memsize_dvec(int m);
  
  // --- creation
  //
  // create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
  void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
  // create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
  void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
  
  // --- packing
  // pack the column-major matrix A into the matrix struct B
  void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
  // pack the lower-triangular column-major matrix A into the matrix struct B
  void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
  // pack the upper-triangular column-major matrix A into the matrix struct B
  void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
  // transpose and pack the column-major matrix A into the matrix struct B
  void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
  // pack the vector x into the vector structure y
  void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
  // unpack the matrix structure A into the column-major matrix B
  void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
  // transpose and unpack the matrix structure A into the column-major matrix B
  void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
  // pack the vector structure x into the vector y
  void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
  
  // --- cast
  //
  void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
  void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
  void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
  
  
  // ge
  // --- insert/extract
  //
  // sA[ai, aj] <= a
  void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
  // <= sA[ai, aj]
  double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
  
  // --- set
  // A <= alpha
  void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
  
  // --- copy / scale
  // B <= A
  void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  // A <= alpha*A
  void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
  // B <= alpha*A
  void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  // B <= A, A lower triangular
  void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
  
  // --- sum
  // B <= B + alpha*A
  void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
  // y <= y + alpha*x
  void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
  
  // --- traspositions
  // B <= A'
  void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  // B <= A', A lower triangular
  void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  // B <= A', A upper triangular
  void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
  
  // dia
  // diag(A) += alpha
  void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
  // diag(A) <= alpha*x
  void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
  // diag(A)[idx] <= alpha*x
  void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
  // x <= diag(A)
  void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
  // x <= diag(A)[idx]
  void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
  // diag(A) += alpha*x
  void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
  // diag(A)[idx] += alpha*x
  void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
  // diag(A)[idx] = y + alpha*x
  void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
  
  // row
  void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
  void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
  void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
  void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
  void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
  void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
  void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
  
  // col
  void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
  void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
  void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
  void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
  void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
  void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
  void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
  
  // vec
  // a <= alpha
  void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
  // sx[xi] <= a
  void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
  // <= sx[xi]
  double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
  // y <= x
  void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
  // x <= alpha*x
  void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
  // y <= alpha*x
  void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
  void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
  void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
  void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
  
  void blasfeo_ref_dveccl(int m,
  	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
  	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
  
  void blasfeo_ref_dveccl_mask(int m,
  	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
  	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
  	struct blasfeo_dvec *sm, int mi);
  
  void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
  void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
  void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
  void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
  
  
  
  #ifdef __cplusplus
  }
  #endif
  
  #endif  // BLASFEO_D_AUX_REF_H_
  