[216] | 1 | /* generated code, do not edit. */ |
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| 2 | |
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| 3 | #include "ode/matrix.h" |
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| 4 | |
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| 5 | /* solve L*X=B, with B containing 1 right hand sides. |
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| 6 | * L is an n*n lower triangular matrix with ones on the diagonal. |
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| 7 | * L is stored by rows and its leading dimension is lskip. |
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| 8 | * B is an n*1 matrix that contains the right hand sides. |
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| 9 | * B is stored by columns and its leading dimension is also lskip. |
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| 10 | * B is overwritten with X. |
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| 11 | * this processes blocks of 4*4. |
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| 12 | * if this is in the factorizer source file, n must be a multiple of 4. |
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| 13 | */ |
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| 14 | |
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| 15 | void dSolveL1 (const dReal *L, dReal *B, int n, int lskip1) |
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| 16 | { |
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| 17 | /* declare variables - Z matrix, p and q vectors, etc */ |
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| 18 | dReal Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex; |
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| 19 | const dReal *ell; |
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| 20 | int lskip2,lskip3,i,j; |
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| 21 | /* compute lskip values */ |
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| 22 | lskip2 = 2*lskip1; |
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| 23 | lskip3 = 3*lskip1; |
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| 24 | /* compute all 4 x 1 blocks of X */ |
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| 25 | for (i=0; i <= n-4; i+=4) { |
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| 26 | /* compute all 4 x 1 block of X, from rows i..i+4-1 */ |
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| 27 | /* set the Z matrix to 0 */ |
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| 28 | Z11=0; |
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| 29 | Z21=0; |
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| 30 | Z31=0; |
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| 31 | Z41=0; |
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| 32 | ell = L + i*lskip1; |
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| 33 | ex = B; |
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| 34 | /* the inner loop that computes outer products and adds them to Z */ |
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| 35 | for (j=i-12; j >= 0; j -= 12) { |
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| 36 | /* load p and q values */ |
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| 37 | p1=ell[0]; |
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| 38 | q1=ex[0]; |
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| 39 | p2=ell[lskip1]; |
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| 40 | p3=ell[lskip2]; |
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| 41 | p4=ell[lskip3]; |
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| 42 | /* compute outer product and add it to the Z matrix */ |
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| 43 | Z11 += p1 * q1; |
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| 44 | Z21 += p2 * q1; |
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| 45 | Z31 += p3 * q1; |
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| 46 | Z41 += p4 * q1; |
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| 47 | /* load p and q values */ |
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| 48 | p1=ell[1]; |
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| 49 | q1=ex[1]; |
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| 50 | p2=ell[1+lskip1]; |
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| 51 | p3=ell[1+lskip2]; |
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| 52 | p4=ell[1+lskip3]; |
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| 53 | /* compute outer product and add it to the Z matrix */ |
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| 54 | Z11 += p1 * q1; |
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| 55 | Z21 += p2 * q1; |
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| 56 | Z31 += p3 * q1; |
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| 57 | Z41 += p4 * q1; |
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| 58 | /* load p and q values */ |
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| 59 | p1=ell[2]; |
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| 60 | q1=ex[2]; |
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| 61 | p2=ell[2+lskip1]; |
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| 62 | p3=ell[2+lskip2]; |
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| 63 | p4=ell[2+lskip3]; |
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| 64 | /* compute outer product and add it to the Z matrix */ |
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| 65 | Z11 += p1 * q1; |
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| 66 | Z21 += p2 * q1; |
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| 67 | Z31 += p3 * q1; |
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| 68 | Z41 += p4 * q1; |
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| 69 | /* load p and q values */ |
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| 70 | p1=ell[3]; |
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| 71 | q1=ex[3]; |
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| 72 | p2=ell[3+lskip1]; |
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| 73 | p3=ell[3+lskip2]; |
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| 74 | p4=ell[3+lskip3]; |
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| 75 | /* compute outer product and add it to the Z matrix */ |
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| 76 | Z11 += p1 * q1; |
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| 77 | Z21 += p2 * q1; |
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| 78 | Z31 += p3 * q1; |
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| 79 | Z41 += p4 * q1; |
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| 80 | /* load p and q values */ |
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| 81 | p1=ell[4]; |
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| 82 | q1=ex[4]; |
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| 83 | p2=ell[4+lskip1]; |
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| 84 | p3=ell[4+lskip2]; |
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| 85 | p4=ell[4+lskip3]; |
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| 86 | /* compute outer product and add it to the Z matrix */ |
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| 87 | Z11 += p1 * q1; |
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| 88 | Z21 += p2 * q1; |
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| 89 | Z31 += p3 * q1; |
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| 90 | Z41 += p4 * q1; |
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| 91 | /* load p and q values */ |
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| 92 | p1=ell[5]; |
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| 93 | q1=ex[5]; |
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| 94 | p2=ell[5+lskip1]; |
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| 95 | p3=ell[5+lskip2]; |
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| 96 | p4=ell[5+lskip3]; |
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| 97 | /* compute outer product and add it to the Z matrix */ |
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| 98 | Z11 += p1 * q1; |
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| 99 | Z21 += p2 * q1; |
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| 100 | Z31 += p3 * q1; |
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| 101 | Z41 += p4 * q1; |
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| 102 | /* load p and q values */ |
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| 103 | p1=ell[6]; |
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| 104 | q1=ex[6]; |
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| 105 | p2=ell[6+lskip1]; |
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| 106 | p3=ell[6+lskip2]; |
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| 107 | p4=ell[6+lskip3]; |
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| 108 | /* compute outer product and add it to the Z matrix */ |
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| 109 | Z11 += p1 * q1; |
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| 110 | Z21 += p2 * q1; |
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| 111 | Z31 += p3 * q1; |
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| 112 | Z41 += p4 * q1; |
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| 113 | /* load p and q values */ |
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| 114 | p1=ell[7]; |
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| 115 | q1=ex[7]; |
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| 116 | p2=ell[7+lskip1]; |
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| 117 | p3=ell[7+lskip2]; |
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| 118 | p4=ell[7+lskip3]; |
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| 119 | /* compute outer product and add it to the Z matrix */ |
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| 120 | Z11 += p1 * q1; |
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| 121 | Z21 += p2 * q1; |
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| 122 | Z31 += p3 * q1; |
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| 123 | Z41 += p4 * q1; |
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| 124 | /* load p and q values */ |
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| 125 | p1=ell[8]; |
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| 126 | q1=ex[8]; |
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| 127 | p2=ell[8+lskip1]; |
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| 128 | p3=ell[8+lskip2]; |
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| 129 | p4=ell[8+lskip3]; |
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| 130 | /* compute outer product and add it to the Z matrix */ |
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| 131 | Z11 += p1 * q1; |
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| 132 | Z21 += p2 * q1; |
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| 133 | Z31 += p3 * q1; |
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| 134 | Z41 += p4 * q1; |
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| 135 | /* load p and q values */ |
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| 136 | p1=ell[9]; |
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| 137 | q1=ex[9]; |
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| 138 | p2=ell[9+lskip1]; |
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| 139 | p3=ell[9+lskip2]; |
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| 140 | p4=ell[9+lskip3]; |
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| 141 | /* compute outer product and add it to the Z matrix */ |
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| 142 | Z11 += p1 * q1; |
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| 143 | Z21 += p2 * q1; |
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| 144 | Z31 += p3 * q1; |
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| 145 | Z41 += p4 * q1; |
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| 146 | /* load p and q values */ |
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| 147 | p1=ell[10]; |
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| 148 | q1=ex[10]; |
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| 149 | p2=ell[10+lskip1]; |
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| 150 | p3=ell[10+lskip2]; |
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| 151 | p4=ell[10+lskip3]; |
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| 152 | /* compute outer product and add it to the Z matrix */ |
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| 153 | Z11 += p1 * q1; |
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| 154 | Z21 += p2 * q1; |
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| 155 | Z31 += p3 * q1; |
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| 156 | Z41 += p4 * q1; |
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| 157 | /* load p and q values */ |
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| 158 | p1=ell[11]; |
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| 159 | q1=ex[11]; |
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| 160 | p2=ell[11+lskip1]; |
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| 161 | p3=ell[11+lskip2]; |
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| 162 | p4=ell[11+lskip3]; |
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| 163 | /* compute outer product and add it to the Z matrix */ |
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| 164 | Z11 += p1 * q1; |
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| 165 | Z21 += p2 * q1; |
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| 166 | Z31 += p3 * q1; |
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| 167 | Z41 += p4 * q1; |
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| 168 | /* advance pointers */ |
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| 169 | ell += 12; |
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| 170 | ex += 12; |
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| 171 | /* end of inner loop */ |
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| 172 | } |
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| 173 | /* compute left-over iterations */ |
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| 174 | j += 12; |
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| 175 | for (; j > 0; j--) { |
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| 176 | /* load p and q values */ |
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| 177 | p1=ell[0]; |
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| 178 | q1=ex[0]; |
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| 179 | p2=ell[lskip1]; |
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| 180 | p3=ell[lskip2]; |
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| 181 | p4=ell[lskip3]; |
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| 182 | /* compute outer product and add it to the Z matrix */ |
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| 183 | Z11 += p1 * q1; |
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| 184 | Z21 += p2 * q1; |
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| 185 | Z31 += p3 * q1; |
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| 186 | Z41 += p4 * q1; |
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| 187 | /* advance pointers */ |
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| 188 | ell += 1; |
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| 189 | ex += 1; |
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| 190 | } |
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| 191 | /* finish computing the X(i) block */ |
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| 192 | Z11 = ex[0] - Z11; |
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| 193 | ex[0] = Z11; |
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| 194 | p1 = ell[lskip1]; |
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| 195 | Z21 = ex[1] - Z21 - p1*Z11; |
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| 196 | ex[1] = Z21; |
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| 197 | p1 = ell[lskip2]; |
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| 198 | p2 = ell[1+lskip2]; |
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| 199 | Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21; |
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| 200 | ex[2] = Z31; |
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| 201 | p1 = ell[lskip3]; |
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| 202 | p2 = ell[1+lskip3]; |
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| 203 | p3 = ell[2+lskip3]; |
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| 204 | Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31; |
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| 205 | ex[3] = Z41; |
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| 206 | /* end of outer loop */ |
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| 207 | } |
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| 208 | /* compute rows at end that are not a multiple of block size */ |
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| 209 | for (; i < n; i++) { |
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| 210 | /* compute all 1 x 1 block of X, from rows i..i+1-1 */ |
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| 211 | /* set the Z matrix to 0 */ |
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| 212 | Z11=0; |
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| 213 | ell = L + i*lskip1; |
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| 214 | ex = B; |
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| 215 | /* the inner loop that computes outer products and adds them to Z */ |
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| 216 | for (j=i-12; j >= 0; j -= 12) { |
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| 217 | /* load p and q values */ |
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| 218 | p1=ell[0]; |
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| 219 | q1=ex[0]; |
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| 220 | /* compute outer product and add it to the Z matrix */ |
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| 221 | Z11 += p1 * q1; |
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| 222 | /* load p and q values */ |
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| 223 | p1=ell[1]; |
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| 224 | q1=ex[1]; |
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| 225 | /* compute outer product and add it to the Z matrix */ |
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| 226 | Z11 += p1 * q1; |
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| 227 | /* load p and q values */ |
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| 228 | p1=ell[2]; |
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| 229 | q1=ex[2]; |
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| 230 | /* compute outer product and add it to the Z matrix */ |
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| 231 | Z11 += p1 * q1; |
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| 232 | /* load p and q values */ |
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| 233 | p1=ell[3]; |
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| 234 | q1=ex[3]; |
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| 235 | /* compute outer product and add it to the Z matrix */ |
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| 236 | Z11 += p1 * q1; |
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| 237 | /* load p and q values */ |
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| 238 | p1=ell[4]; |
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| 239 | q1=ex[4]; |
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| 240 | /* compute outer product and add it to the Z matrix */ |
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| 241 | Z11 += p1 * q1; |
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| 242 | /* load p and q values */ |
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| 243 | p1=ell[5]; |
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| 244 | q1=ex[5]; |
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| 245 | /* compute outer product and add it to the Z matrix */ |
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| 246 | Z11 += p1 * q1; |
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| 247 | /* load p and q values */ |
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| 248 | p1=ell[6]; |
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| 249 | q1=ex[6]; |
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| 250 | /* compute outer product and add it to the Z matrix */ |
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| 251 | Z11 += p1 * q1; |
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| 252 | /* load p and q values */ |
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| 253 | p1=ell[7]; |
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| 254 | q1=ex[7]; |
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| 255 | /* compute outer product and add it to the Z matrix */ |
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| 256 | Z11 += p1 * q1; |
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| 257 | /* load p and q values */ |
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| 258 | p1=ell[8]; |
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| 259 | q1=ex[8]; |
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| 260 | /* compute outer product and add it to the Z matrix */ |
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| 261 | Z11 += p1 * q1; |
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| 262 | /* load p and q values */ |
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| 263 | p1=ell[9]; |
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| 264 | q1=ex[9]; |
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| 265 | /* compute outer product and add it to the Z matrix */ |
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| 266 | Z11 += p1 * q1; |
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| 267 | /* load p and q values */ |
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| 268 | p1=ell[10]; |
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| 269 | q1=ex[10]; |
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| 270 | /* compute outer product and add it to the Z matrix */ |
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| 271 | Z11 += p1 * q1; |
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| 272 | /* load p and q values */ |
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| 273 | p1=ell[11]; |
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| 274 | q1=ex[11]; |
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| 275 | /* compute outer product and add it to the Z matrix */ |
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| 276 | Z11 += p1 * q1; |
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| 277 | /* advance pointers */ |
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| 278 | ell += 12; |
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| 279 | ex += 12; |
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| 280 | /* end of inner loop */ |
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| 281 | } |
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| 282 | /* compute left-over iterations */ |
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| 283 | j += 12; |
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| 284 | for (; j > 0; j--) { |
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| 285 | /* load p and q values */ |
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| 286 | p1=ell[0]; |
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| 287 | q1=ex[0]; |
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| 288 | /* compute outer product and add it to the Z matrix */ |
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| 289 | Z11 += p1 * q1; |
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| 290 | /* advance pointers */ |
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| 291 | ell += 1; |
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| 292 | ex += 1; |
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| 293 | } |
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| 294 | /* finish computing the X(i) block */ |
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| 295 | Z11 = ex[0] - Z11; |
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| 296 | ex[0] = Z11; |
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| 297 | } |
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| 298 | } |
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