source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/sba-1.3/sba_lapack.c @ 37

/////////////////////////////////////////////////////////////////////////////////
//// 
////  Linear algebra operations for the sba package
////  Copyright (C) 2004  Manolis Lourakis (lourakis@ics.forth.gr)
////  Institute of Computer Science, Foundation for Research & Technology - Hellas
////  Heraklion, Crete, Greece.
////
////  This program is free software; you can redistribute it and/or modify
////  it under the terms of the GNU General Public License as published by
////  the Free Software Foundation; either version 2 of the License, or
////  (at your option) any later version.
////
////  This program 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
////  GNU General Public License for more details.
////
///////////////////////////////////////////////////////////////////////////////////

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <float.h>

/* inline */
#ifdef _MSC_VER
#define inline __inline //MSVC
#elif !defined(__GNUC__)
#define inline //other than MSVC, GCC: define empty
#endif

#include "sba.h"

#ifdef SBA_APPEND_UNDERSCORE_SUFFIX
#define F77_FUNC(func)    func ## _
#else
#define F77_FUNC(func)    func 
#endif /* SBA_APPEND_UNDERSCORE_SUFFIX */


/* declarations of LAPACK routines employed */

/* QR decomposition */
extern int F77_FUNC(dgeqrf)(int *m, int *n, double *a, int *lda, double *tau, double *work, int *lwork, int *info);
extern int F77_FUNC(dorgqr)(int *m, int *n, int *k, double *a, int *lda, double *tau, double *work, int *lwork, int *info);

/* solution of triangular system */
extern int F77_FUNC(dtrtrs)(char *uplo, char *trans, char *diag, int *n, int *nrhs, double *a, int *lda, double *b, int *ldb, int *info);

/* cholesky decomposition, matrix inversion */
extern int F77_FUNC(dpotf2)(char *uplo, int *n, double *a, int *lda, int *info);
extern int F77_FUNC(dpotrf)(char *uplo, int *n, double *a, int *lda, int *info); /* block version of dpotf2 */
extern int F77_FUNC(dpotri)(char *uplo, int *n, double *a, int *lda, int *info);

/* LU decomposition, linear system solution and matrix inversion */
extern int F77_FUNC(dgetrf)(int *m, int *n, double *a, int *lda, int *ipiv, int *info);
extern int F77_FUNC(dgetrs)(char *trans, int *n, int *nrhs, double *a, int *lda, int *ipiv, double *b, int *ldb, int *info);
extern int F77_FUNC(dgetri)(int *n, double *a, int *lda, int *ipiv, double *work, int *lwork, int *info);

/* SVD */
extern int F77_FUNC(dgesvd)(char *jobu, char *jobvt, int *m, int *n,
           double *a, int *lda, double *s, double *u, int *ldu,
           double *vt, int *ldvt, double *work, int *lwork,
           int *info);

/* lapack 3.0 routine, faster than dgesvd() */
extern int F77_FUNC(dgesdd)(char *jobz, int *m, int *n, double *a, int *lda,
           double *s, double *u, int *ldu, double *vt, int *ldvt,
           double *work, int *lwork, int *iwork, int *info);


/* Bunch-Kaufman factorization of a real symmetric matrix A and solution of linear systems */
extern int F77_FUNC(dsytrf)(char *uplo, int *n, double *a, int *lda, int *ipiv, double *work, int *lwork, int *info);
extern int F77_FUNC(dsytrs)(char *uplo, int *n, int *nrhs, double *a, int *lda, int *ipiv, double *b, int *ldb, int *info);


/*
 * This function returns the solution of Ax = b
 *
 * The function is based on QR decomposition with explicit computation of Q:
 * If A=Q R with Q orthogonal and R upper triangular, the linear system becomes
 * Q R x = b or R x = Q^T b.
 *
 * A is mxm, b is mx1. Argument iscolmaj specifies whether A is
 * stored in column or row major order. Note that if iscolmaj==1
 * this function modifies A!
 *
 * The function returns 0 in case of error, 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_QR(double *A, double *B, double *x, int m, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;

double *a, *qtb, *r, *tau, *work;
int a_sz, qtb_sz, r_sz, tau_sz, tot_sz;
register int i, j;
int info, worksz, nrhs=1;
register double sum;
   
    /* calculate required memory size */
    a_sz=(iscolmaj)? 0 : m*m;
    qtb_sz=m;
    r_sz=m*m; /* only the upper triangular part really needed */
    tau_sz=m;
    worksz=3*m; /* this is probably too much */
    tot_sz=a_sz + qtb_sz + r_sz + tau_sz + worksz;

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz*sizeof(double));
      if(!buf){
        fprintf(stderr, "memory allocation in sba_Axb_QR() failed!\n");
        exit(1);
      }
    }

    if(!iscolmaj){
        a=buf;
            /* store A (column major!) into a */
            for(i=0; i<m; i++)
                    for(j=0; j<m; j++)
                            a[i+j*m]=A[i*m+j];
    }
    else a=A; /* no copying required */

    qtb=buf+a_sz;
    r=qtb+qtb_sz;
    tau=r+r_sz;
    work=tau+tau_sz;

  /* QR decomposition of A */
  F77_FUNC(dgeqrf)((int *)&m, (int *)&m, a, (int *)&m, tau, work, (int *)&worksz, (int *)&info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dgeqrf in sba_Axb_QR()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "Unknown LAPACK error %d for dgeqrf in sba_Axb_QR()\n", info);
      return 0;
    }
  }

  /* R is now stored in the upper triangular part of a; copy it in r so that dorgqr() below won't destroy it */
  for(i=0; i<r_sz; i++)
    r[i]=a[i];

  /* compute Q using the elementary reflectors computed by the above decomposition */
  F77_FUNC(dorgqr)((int *)&m, (int *)&m, (int *)&m, a, (int *)&m, tau, work, (int *)&worksz, (int *)&info);
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dorgqr in sba_Axb_QR()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "Unknown LAPACK error (%d) in sba_Axb_QR()\n", info);
      return 0;
    }
  }

  /* Q is now in a; compute Q^T b in qtb */
  for(i=0; i<m; i++){
    for(j=0, sum=0.0; j<m; j++)
      sum+=a[i*m+j]*B[j];
    qtb[i]=sum;
  }

  /* solve the linear system R x = Q^t b */
  F77_FUNC(dtrtrs)("U", "N", "N", (int *)&m, (int *)&nrhs, r, (int *)&m, qtb, (int *)&m, &info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dtrtrs in sba_Axb_QR()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the %d-th diagonal element of A is zero (singular matrix) in sba_Axb_QR()\n", info);
      return 0;
    }
  }

        /* copy the result in x */
        for(i=0; i<m; i++)
    x[i]=qtb[i];

        return 1;
}

/*
 * This function returns the solution of Ax = b
 *
 * The function is based on QR decomposition without computation of Q:
 * If A=Q R with Q orthogonal and R upper triangular, the linear system becomes
 * (A^T A) x = A^T b or (R^T Q^T Q R) x = A^T b or (R^T R) x = A^T b.
 * This amounts to solving R^T y = A^T b for y and then R x = y for x
 * Note that Q does not need to be explicitly computed
 *
 * A is mxm, b is mx1. Argument iscolmaj specifies whether A is
 * stored in column or row major order. Note that if iscolmaj==1
 * this function modifies A!
 *
 * The function returns 0 in case of error, 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_QRnoQ(double *A, double *B, double *x, int m, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;

double *a, *atb, *tau, *work;
int a_sz, atb_sz, tau_sz, tot_sz;
register int i, j;
int info, worksz, nrhs=1;
register double sum;
   
    /* calculate required memory size */
    a_sz=(iscolmaj)? 0 : m*m;
    atb_sz=m;
    tau_sz=m;
    worksz=3*m; /* this is probably too much */
    tot_sz=a_sz + atb_sz + tau_sz + worksz;

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz*sizeof(double));
      if(!buf){
        fprintf(stderr, "memory allocation in sba_Axb_QRnoQ() failed!\n");
        exit(1);
      }
    }

    if(!iscolmaj){
        a=buf;
        /* store A (column major!) into a */
        for(i=0; i<m; i++)
                for(j=0; j<m; j++)
                        a[i+j*m]=A[i*m+j];
    }
    else a=A; /* no copying required */

    atb=buf+a_sz;
    tau=atb+atb_sz;
    work=tau+tau_sz;

  /* compute A^T b in atb */
  for(i=0; i<m; i++){
    for(j=0, sum=0.0; j<m; j++)
      sum+=a[i*m+j]*B[j];
    atb[i]=sum;
  }

  /* QR decomposition of A */
  F77_FUNC(dgeqrf)((int *)&m, (int *)&m, a, (int *)&m, tau, work, (int *)&worksz, (int *)&info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dgeqrf in sba_Axb_QRnoQ()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "Unknown LAPACK error %d for dgeqrf in sba_Axb_QRnoQ()\n", info);
      return 0;
    }
  }

  /* R is stored in the upper triangular part of a */

  /* solve the linear system R^T y = A^t b */
  F77_FUNC(dtrtrs)("U", "T", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, atb, (int *)&m, &info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dtrtrs in sba_Axb_QRnoQ()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the %d-th diagonal element of A is zero (singular matrix) in sba_Axb_QRnoQ()\n", info);
      return 0;
    }
  }

  /* solve the linear system R x = y */
  F77_FUNC(dtrtrs)("U", "N", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, atb, (int *)&m, &info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dtrtrs in sba_Axb_QRnoQ()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the %d-th diagonal element of A is zero (singular matrix) in sba_Axb_QRnoQ()\n", info);
      return 0;
    }
  }

        /* copy the result in x */
        for(i=0; i<m; i++)
    x[i]=atb[i];

        return 1;
}

/*
 * This function returns the solution of Ax=b
 *
 * The function assumes that A is symmetric & positive definite and employs
 * the Cholesky decomposition:
 * If A=U^T U with U upper triangular, the system to be solved becomes
 * (U^T U) x = b
 * This amount to solving U^T y = b for y and then U x = y for x
 *
 * A is mxm, b is mx1. Argument iscolmaj specifies whether A is
 * stored in column or row major order. Note that if iscolmaj==1
 * this function modifies A and B!
 *
 * The function returns 0 in case of error, 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_Chol(double *A, double *B, double *x, int m, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;

double *a, *b;
int a_sz, b_sz, tot_sz;
register int i, j;
int info, nrhs=1;
   
    /* calculate required memory size */
    a_sz=(iscolmaj)? 0 : m*m;
    b_sz=(iscolmaj)? 0 : m;
    tot_sz=a_sz + b_sz;

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz*sizeof(double));
      if(!buf){
        fprintf(stderr, "memory allocation in sba_Axb_Chol() failed!\n");
        exit(1);
      }
    }

    if(!iscolmaj){
        a=buf;
        b=a+a_sz;

  /* store A (column major!) into a anb B into b */
        for(i=0; i<m; i++){
                for(j=0; j<m; j++)
                        a[i+j*m]=A[i*m+j];

        b[i]=B[i];
        }
    }
    else{ /* no copying is necessary */
      a=A;
      b=B;
    }

  /* Cholesky decomposition of A */
  //F77_FUNC(dpotf2)("U", (int *)&m, a, (int *)&m, (int *)&info);
  F77_FUNC(dpotrf)("U", (int *)&m, a, (int *)&m, (int *)&info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dpotf2/dpotrf in sba_Axb_Chol()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the leading minor of order %d is not positive definite,\nthe factorization could not be completed for dpotf2/dpotrf in sba_Axb_Chol()\n", info);
      return 0;
    }
  }

  /* solve the linear system U^T y = b */
  F77_FUNC(dtrtrs)("U", "T", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, b, (int *)&m, &info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dtrtrs in sba_Axb_Chol()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the %d-th diagonal element of A is zero (singular matrix) in sba_Axb_Chol()\n", info);
      return 0;
    }
  }

  /* solve the linear system U x = y */
  F77_FUNC(dtrtrs)("U", "N", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, b, (int *)&m, &info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dtrtrs in sba_Axb_Chol()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the %d-th diagonal element of A is zero (singular matrix) in sba_Axb_Chol()\n", info);
      return 0;
    }
  }

        /* copy the result in x */
        for(i=0; i<m; i++)
    x[i]=b[i];

        return 1;
}

/*
 * This function returns the solution of Ax = b
 *
 * The function employs LU decomposition:
 * If A=L U with L lower and U upper triangular, then the original system
 * amounts to solving
 * L y = b, U x = y
 *
 * A is mxm, b is mx1. Argument iscolmaj specifies whether A is
 * stored in column or row major order. Note that if iscolmaj==1
 * this function modifies A and B!
 *
 * The function returns 0 in case of error,
 * 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_LU(double *A, double *B, double *x, int m, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;

int a_sz, ipiv_sz, b_sz, tot_sz;
register int i, j;
int info, *ipiv, nrhs=1;
double *a, *b;
   
    /* calculate required memory size */
    ipiv_sz=m;
    a_sz=(iscolmaj)? 0 : m*m;
    b_sz=(iscolmaj)? 0 : m;
    tot_sz=ipiv_sz*sizeof(int) + (a_sz + b_sz)*sizeof(double);

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz);
      if(!buf){
        fprintf(stderr, "memory allocation in sba_Axb_LU() failed!\n");
        exit(1);
      }
    }

    ipiv=(int *)buf;
    if(!iscolmaj){
        a=(double *)(ipiv + ipiv_sz);
        b=a+a_sz;

    /* store A (column major!) into a and B into b */
          for(i=0; i<m; i++){
                  for(j=0; j<m; j++)
                a[i+j*m]=A[i*m+j];

        b[i]=B[i];
        }
    }
    else{ /* no copying is necessary */
      a=A;
      b=B;
    }

  /* LU decomposition for A */
        F77_FUNC(dgetrf)((int *)&m, (int *)&m, a, (int *)&m, ipiv, (int *)&info);  
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dgetrf illegal in sba_Axb_LU()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "singular matrix A for dgetrf in sba_Axb_LU()\n");
                        return 0;
                }
        }

  /* solve the system with the computed LU */
  F77_FUNC(dgetrs)("N", (int *)&m, (int *)&nrhs, a, (int *)&m, ipiv, b, (int *)&m, (int *)&info);
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dgetrs illegal in sba_Axb_LU()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "unknown error for dgetrs in sba_Axb_LU()\n");
                        return 0;
                }
        }

        /* copy the result in x */
        for(i=0; i<m; i++){
                x[i]=b[i];
        }

        return 1;
}

/*
 * This function returns the solution of Ax = b
 *
 * The function is based on SVD decomposition:
 * If A=U D V^T with U, V orthogonal and D diagonal, the linear system becomes
 * (U D V^T) x = b or x=V D^{-1} U^T b
 * Note that V D^{-1} U^T is the pseudoinverse A^+
 *
 * A is mxm, b is mx1. Argument iscolmaj specifies whether A is
 * stored in column or row major order. Note that if iscolmaj==1
 * this function modifies A!
 *
 * The function returns 0 in case of error, 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_SVD(double *A, double *B, double *x, int m, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;
static double eps=-1.0;

register int i, j;
double *a, *u, *s, *vt, *work;
int a_sz, u_sz, s_sz, vt_sz, tot_sz;
double thresh, one_over_denom;
register double sum;
int info, rank, worksz, *iwork, iworksz;
   
  /* calculate required memory size */
  worksz=-1; // workspace query. Keep in mind that dgesdd requires more memory than dgesvd
  /* note that optimal work size is returned in thresh */
  F77_FUNC(dgesdd)("A", (int *)&m, (int *)&m, NULL, (int *)&m, NULL, NULL, (int *)&m, NULL, (int *)&m,
          (double *)&thresh, (int *)&worksz, NULL, &info);
  /* F77_FUNC(dgesvd)("A", "A", (int *)&m, (int *)&m, NULL, (int *)&m, NULL, NULL, (int *)&m, NULL, (int *)&m,
          (double *)&thresh, (int *)&worksz, &info); */
  worksz=(int)thresh;
  iworksz=8*m;
  a_sz=(!iscolmaj)? m*m : 0;
  u_sz=m*m; s_sz=m; vt_sz=m*m;

  tot_sz=iworksz*sizeof(int) + (a_sz + u_sz + s_sz + vt_sz + worksz)*sizeof(double);

  if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
    if(buf) free(buf); /* free previously allocated memory */

    buf_sz=tot_sz;
    buf=(double *)malloc(buf_sz);
    if(!buf){
      fprintf(stderr, "memory allocation in sba_Axb_SVD() failed!\n");
      exit(1);
    }
  }

  iwork=(int *)buf;
  if(!iscolmaj){
    a=(double *)(iwork+iworksz);
    /* store A (column major!) into a */
    for(i=0; i<m; i++)
      for(j=0; j<m; j++)
        a[i+j*m]=A[i*m+j];
  }
  else{
    a=A; /* no copying required */
  }

  u=((double *)(iwork+iworksz)) + a_sz;
  s=u+u_sz;
  vt=s+s_sz;
  work=vt+vt_sz;

  /* SVD decomposition of A */
  F77_FUNC(dgesdd)("A", (int *)&m, (int *)&m, a, (int *)&m, s, u, (int *)&m, vt, (int *)&m, work, (int *)&worksz, iwork, &info);
  //F77_FUNC(dgesvd)("A", "A", (int *)&m, (int *)&m, a, (int *)&m, s, u, (int *)&m, vt, (int *)&m, work, (int *)&worksz, &info);

  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dgesdd/dgesvd in sba_Axb_SVD()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: dgesdd (dbdsdc)/dgesvd (dbdsqr) failed to converge in sba_Axb_SVD() [info=%d]\n", info);

      return 0;
    }
  }

  if(eps<0.0){
    double aux;

    /* compute machine epsilon. DBL_EPSILON should do also */
    for(eps=1.0; aux=eps+1.0, aux-1.0>0.0; eps*=0.5)
                              ;
    eps*=2.0;
  }

  /* compute the pseudoinverse in a */
  memset(a, 0, m*m*sizeof(double)); /* initialize to zero */
  for(rank=0, thresh=eps*s[0]; rank<m && s[rank]>thresh; rank++){
    one_over_denom=1.0/s[rank];

    for(j=0; j<m; j++)
      for(i=0; i<m; i++)
        a[i*m+j]+=vt[rank+i*m]*u[j+rank*m]*one_over_denom;
  }

        /* compute A^+ b in x */
        for(i=0; i<m; i++){
          for(j=0, sum=0.0; j<m; j++)
      sum+=a[i*m+j]*B[j];
    x[i]=sum;
  }

        return 1;
}

/*
 * This function returns the solution of Ax = b for a real symmetric matrix A
 *
 * The function is based on Bunch-Kaufman factorization:
 * A is factored as U*D*U^T where U is upper triangular and
 * D symmetric and block diagonal
 *
 * A is mxm, b is mx1. Argument iscolmaj specifies whether A is
 * stored in column or row major order. Note that if iscolmaj==1
 * this function modifies A and B!
 *
 * The function returns 0 in case of error,
 * 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_BK(double *A, double *B, double *x, int m, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;

int a_sz, ipiv_sz, b_sz, work_sz, tot_sz;
register int i, j;
int info, *ipiv, nrhs=1;
double *a, *b, *work;
   
    /* calculate required memory size */
    ipiv_sz=m;
    a_sz=(iscolmaj)? 0 : m*m;
    b_sz=(iscolmaj)? 0 : m;
    work_sz=16*m; /* this is probably too much */
    tot_sz=ipiv_sz*sizeof(int) + (a_sz + b_sz + work_sz)*sizeof(double);

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz);
      if(!buf){
        fprintf(stderr, "memory allocation in sba_Axb_BK() failed!\n");
        exit(1);
      }
    }

    ipiv=(int *)buf;
    if(!iscolmaj){
        a=(double *)(ipiv + ipiv_sz);
        b=a+a_sz;
        work=b+b_sz;

    /* store A (column major!) into a and B into b */
          for(i=0; i<m; i++){
                  for(j=0; j<m; j++)
                a[i+j*m]=A[i*m+j];

        b[i]=B[i];
        }
    }
    else{ /* no copying is necessary */
      a=A;
      b=B;
        work=(double *)(ipiv + ipiv_sz);
    }

  /* factorization for A */
        F77_FUNC(dsytrf)("U", (int *)&m, a, (int *)&m, ipiv, work, (int *)&work_sz, (int *)&info);
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dsytrf illegal in sba_Axb_BK()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "singular block diagonal matrix D for dsytrf in sba_Axb_BK() [D(%d, %d) is zero]\n", info, info);
                        return 0;
                }
        }

  /* solve the system with the computed factorization */
  F77_FUNC(dsytrs)("U", (int *)&m, (int *)&nrhs, a, (int *)&m, ipiv, b, (int *)&m, (int *)&info);
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dsytrs illegal in sba_Axb_BK()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "unknown error for dsytrs in sba_Axb_BK()\n");
                        return 0;
                }
        }

        /* copy the result in x */
        for(i=0; i<m; i++){
                x[i]=b[i];
        }

        return 1;
}

/*
 * This function computes the inverse of a square matrix A into B
 * using LU decomposition
 *
 * The function returns 0 in case of error (e.g. A is singular),
 * 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_mat_invert_LU(double *A, double *B, int m)
{
static double *buf=NULL;
static int buf_sz=0;

int a_sz, ipiv_sz, work_sz, tot_sz;
register int i, j;
int info, *ipiv;
double *a, *work;
   
    /* calculate required memory size */
          ipiv_sz=m;
    a_sz=m*m;
    work_sz=16*m; /* this is probably too much */
    tot_sz=ipiv_sz*sizeof(int) + (a_sz + work_sz)*sizeof(double); 

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz);
      if(!buf){
        fprintf(stderr, "memory allocation in sba_mat_invert_LU() failed!\n");
        exit(1);
      }
    }

          ipiv=(int *)buf;
    a=(double *)(ipiv + ipiv_sz);
    work=a+a_sz;

  /* store A (column major!) into a */
        for(i=0; i<m; i++)
                for(j=0; j<m; j++)
                        a[i+j*m]=A[i*m+j];

  /* LU decomposition for A */
        F77_FUNC(dgetrf)((int *)&m, (int *)&m, a, (int *)&m, ipiv, (int *)&info);  
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dgetrf illegal in sba_mat_invert_LU()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "singular matrix A for dgetrf in sba_mat_invert_LU()\n");
                        return 0;
                }
        }

  /* (A)^{-1} from LU */
        F77_FUNC(dgetri)((int *)&m, a, (int *)&m, ipiv, work, (int *)&work_sz, (int *)&info);
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dgetri illegal in sba_mat_invert_LU()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "singular matrix A for dgetri in sba_mat_invert_LU()\n");
                        return 0;
                }
        }

        /* store (A)^{-1} in B */
        for(i=0; i<m; i++)
                for(j=0; j<m; j++)
      B[i*m+j]=a[i+j*m];

        return 1;
}

/*
 * This function computes the inverse of a square symmetric positive definite 
 * matrix A into B using Cholesky factorization
 *
 * The function returns 0 in case of error (e.g. A is not positive definite or singular),
 * 1 if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_mat_invert_Chol(double *A, double *B, int m)
{
static double *buf=NULL;
static int buf_sz=0;

int a_sz, tot_sz;
register int i, j;
int info;
double *a;
   
    /* calculate required memory size */
    a_sz=m*m;
    tot_sz=a_sz; 

    if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
      if(buf) free(buf); /* free previously allocated memory */

      buf_sz=tot_sz;
      buf=(double *)malloc(buf_sz*sizeof(double));
      if(!buf){
        fprintf(stderr, "memory allocation in sba_mat_invert_Chol() failed!\n");
        exit(1);
      }
    }

    a=(double *)buf;

  /* store A (column major!) into a */
        for(i=0; i<m; i++)
                for(j=0; j<m; j++)
                        a[i+j*m]=A[i*m+j];

  /* Cholesky factorization for A */
  F77_FUNC(dpotrf)("L", (int *)&m, a, (int *)&m, (int *)&info);
  /* error treatment */
  if(info!=0){
    if(info<0){
      fprintf(stderr, "LAPACK error: illegal value for argument %d of dpotrf in sba_mat_invert_Chol()\n", -info);
      exit(1);
    }
    else{
      fprintf(stderr, "LAPACK error: the leading minor of order %d is not positive definite,\nthe factorization could not be completed for dpotrf in sba_mat_invert_Chol()\n", info);
      return 0;
    }
  }

  /* (A)^{-1} from Cholesky */
  F77_FUNC(dpotri)("L", (int *)&m, a, (int *)&m, (int *)&info);
        if(info!=0){
                if(info<0){
                        fprintf(stderr, "argument %d of dpotri illegal in sba_mat_invert_Chol()\n", -info);
                        exit(1);
                }
                else{
                        fprintf(stderr, "the (%d, %d) element of the factor U or L is zero, singular matrix A for dpotri in sba_mat_invert_Chol()\n", info, info);
                        return 0;
                }
        }

        /* store (A)^{-1} in B. The lower triangle of the symmetric A^{-1} is in the lower triangle of a */
        for(i=0; i<m; i++)
                for(j=0; j<=i; j++)
      B[i*m+j]=B[j*m+i]=a[i+j*m];

        return 1;
}


#define __CG_LINALG_BLOCKSIZE           8

/* Dot product of two vectors x and y using loop unrolling and blocking.
 * see http://www.abarnett.demon.co.uk/tutorial.html
 */

inline static double dprod(int n, double *x, double *y)
{ 
register int i, j1, j2, j3, j4, j5, j6, j7; 
int blockn;
register double sum0=0.0, sum1=0.0, sum2=0.0, sum3=0.0,
                sum4=0.0, sum5=0.0, sum6=0.0, sum7=0.0;

  /* n may not be divisible by __CG_LINALG_BLOCKSIZE, 
  * go as near as we can first, then tidy up.
  */ 
  blockn = (n / __CG_LINALG_BLOCKSIZE) * __CG_LINALG_BLOCKSIZE; 

  /* unroll the loop in blocks of `__CG_LINALG_BLOCKSIZE' */ 
  for(i=0; i<blockn; i+=__CG_LINALG_BLOCKSIZE){
            sum0+=x[i]*y[i];
    j1=i+1; sum1+=x[j1]*y[j1];
    j2=i+2; sum2+=x[j2]*y[j2];
    j3=i+3; sum3+=x[j3]*y[j3];
    j4=i+4; sum4+=x[j4]*y[j4];
    j5=i+5; sum5+=x[j5]*y[j5];
    j6=i+6; sum6+=x[j6]*y[j6];
    j7=i+7; sum7+=x[j7]*y[j7];
  } 

 /* 
  * There may be some left to do.
  * This could be done as a simple for() loop, 
  * but a switch is faster (and more interesting) 
  */ 

  if(i<n){ 
    /* Jump into the case at the place that will allow
    * us to finish off the appropriate number of items. 
    */ 

    switch(n - i){ 
      case 7 : sum0+=x[i]*y[i]; ++i;
      case 6 : sum1+=x[i]*y[i]; ++i;
      case 5 : sum2+=x[i]*y[i]; ++i;
      case 4 : sum3+=x[i]*y[i]; ++i;
      case 3 : sum4+=x[i]*y[i]; ++i;
      case 2 : sum5+=x[i]*y[i]; ++i;
      case 1 : sum6+=x[i]*y[i]; ++i;
    }
  } 

  return sum0+sum1+sum2+sum3+sum4+sum5+sum6+sum7;
}


/* Compute z=x+a*y for two vectors x and y and a scalar a; z can be one of x, y.
 * Similarly to the dot product routine, this one uses loop unrolling and blocking
 */

inline static void daxpy(int n, double *z, double *x, double a, double *y)
{ 
register int i, j1, j2, j3, j4, j5, j6, j7; 
int blockn;

  /* n may not be divisible by __CG_LINALG_BLOCKSIZE, 
  * go as near as we can first, then tidy up.
  */ 
  blockn = (n / __CG_LINALG_BLOCKSIZE) * __CG_LINALG_BLOCKSIZE; 

  /* unroll the loop in blocks of `__CG_LINALG_BLOCKSIZE' */ 
  for(i=0; i<blockn; i+=__CG_LINALG_BLOCKSIZE){
            z[i]=x[i]+a*y[i];
    j1=i+1; z[j1]=x[j1]+a*y[j1];
    j2=i+2; z[j2]=x[j2]+a*y[j2];
    j3=i+3; z[j3]=x[j3]+a*y[j3];
    j4=i+4; z[j4]=x[j4]+a*y[j4];
    j5=i+5; z[j5]=x[j5]+a*y[j5];
    j6=i+6; z[j6]=x[j6]+a*y[j6];
    j7=i+7; z[j7]=x[j7]+a*y[j7];
  } 

 /* 
  * There may be some left to do.
  * This could be done as a simple for() loop, 
  * but a switch is faster (and more interesting) 
  */ 

  if(i<n){ 
    /* Jump into the case at the place that will allow
    * us to finish off the appropriate number of items. 
    */ 

    switch(n - i){ 
      case 7 : z[i]=x[i]+a*y[i]; ++i;
      case 6 : z[i]=x[i]+a*y[i]; ++i;
      case 5 : z[i]=x[i]+a*y[i]; ++i;
      case 4 : z[i]=x[i]+a*y[i]; ++i;
      case 3 : z[i]=x[i]+a*y[i]; ++i;
      case 2 : z[i]=x[i]+a*y[i]; ++i;
      case 1 : z[i]=x[i]+a*y[i]; ++i;
    }
  } 
}

/*
 * This function returns the solution of Ax = b where A is posititive definite,
 * based on the conjugate gradients method; see "An intro to the CG method" by J.R. Shewchuk, p. 50-51
 *
 * A is mxm, b, x are is mx1. Argument niter specifies the maximum number of 
 * iterations and eps is the desired solution accuracy. niter<0 signals that
 * x contains a valid initial approximation to the solution; if niter>0 then 
 * the starting point is taken to be zero. Argument prec selects the desired
 * preconditioning method as follows:
 * 0: no preconditioning
 * 1: jacobi (diagonal) preconditioning
 * 2: SSOR preconditioning
 * Argument iscolmaj specifies whether A is stored in column or row major order.
 *
 * The function returns 0 in case of error,
 * the number of iterations performed if successfull
 *
 * This function is often called repetitively to solve problems of identical
 * dimensions. To avoid repetitive malloc's and free's, allocated memory is
 * retained between calls and free'd-malloc'ed when not of the appropriate size.
 */
int sba_Axb_CG(double *A, double *B, double *x, int m, int niter, double eps, int prec, int iscolmaj)
{
static double *buf=NULL;
static int buf_sz=0;

register int i, j;
register double *aim;
int iter, a_sz, res_sz, d_sz, q_sz, s_sz, wk_sz, z_sz, tot_sz;
double *a, *res, *d, *q, *s, *wk, *z;
double delta0, deltaold, deltanew, alpha, beta, eps_sq=eps*eps;
register double sum;
int rec_res;

  /* calculate required memory size */
  a_sz=(iscolmaj)? m*m : 0;
        res_sz=m; d_sz=m; q_sz=m;
  if(prec!=SBA_CG_NOPREC){
    s_sz=m; wk_sz=m;
    z_sz=(prec==SBA_CG_SSOR)? m : 0;
  }
  else
    s_sz=wk_sz=z_sz=0;
 
        tot_sz=a_sz+res_sz+d_sz+q_sz+s_sz+wk_sz+z_sz;

  if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
    if(buf) free(buf); /* free previously allocated memory */

    buf_sz=tot_sz;
    buf=(double *)malloc(buf_sz*sizeof(double));
    if(!buf){
                  fprintf(stderr, "memory allocation request failed in sba_Axb_CG()\n");
                  exit(1);
          }
  }

  if(iscolmaj){ 
    a=buf;
    /* store A (row major!) into a */
    for(i=0; i<m; ++i)
      for(j=0, aim=a+i*m; j<m; ++j)
        aim[j]=A[i+j*m];
  }
  else a=A; /* no copying required */

        res=buf+a_sz;
        d=res+res_sz;
        q=d+d_sz;
  if(prec!=SBA_CG_NOPREC){
          s=q+q_sz;
    wk=s+s_sz;
    z=(prec==SBA_CG_SSOR)? wk+wk_sz : NULL;

    for(i=0; i<m; ++i){ // compute jacobi (i.e. diagonal) preconditioners and save them in wk
      sum=a[i*m+i];
      if(sum>DBL_EPSILON || -sum<-DBL_EPSILON) // != 0.0
        wk[i]=1.0/sum;
      else
        wk[i]=1.0/DBL_EPSILON;
    }
  }
  else{
    s=res;
    wk=z=NULL;
  }

  if(niter>0)
          for(i=0; i<m; ++i){ // clear solution and initialize residual vector:  res <-- B
                  x[i]=0.0;
      res[i]=B[i];
    }
  else{
    niter=-niter;

          for(i=0; i<m; ++i){ // initialize residual vector:  res <-- B - A*x
      for(j=0, aim=a+i*m, sum=0.0; j<m; ++j)
        sum+=aim[j]*x[j];
      res[i]=B[i]-sum;
    }
  }

  switch(prec){
    case SBA_CG_NOPREC:
      for(i=0, deltanew=0.0; i<m; ++i){
        d[i]=res[i];
        deltanew+=res[i]*res[i];
      }
      break;
    case SBA_CG_JACOBI: // jacobi preconditioning
      for(i=0, deltanew=0.0; i<m; ++i){
        d[i]=res[i]*wk[i];
        deltanew+=res[i]*d[i];
      }
      break;
    case SBA_CG_SSOR: // SSOR preconditioning; see the "templates" book, fig. 3.2, p. 44
      for(i=0; i<m; ++i){
        for(j=0, sum=0.0, aim=a+i*m; j<i; ++j)
          sum+=aim[j]*z[j];
        z[i]=wk[i]*(res[i]-sum);
      }

      for(i=m-1; i>=0; --i){
        for(j=i+1, sum=0.0, aim=a+i*m; j<m; ++j)
          sum+=aim[j]*d[j];
        d[i]=z[i]-wk[i]*sum;
      }
      deltanew=dprod(m, res, d);
      break;
    default:
      fprintf(stderr, "unknown preconditioning option %d in sba_Axb_CG\n", prec);
      exit(1);
  }

  delta0=deltanew;

        for(iter=1; deltanew>eps_sq*delta0 && iter<=niter; ++iter){
    for(i=0; i<m; ++i){ // q <-- A d
      aim=a+i*m;
/***
      for(j=0, sum=0.0; j<m; ++j)
        sum+=aim[j]*d[j];
***/
      q[i]=dprod(m, aim, d); //sum;
    }

/***
    for(i=0, sum=0.0; i<m; ++i)
      sum+=d[i]*q[i];
***/
    alpha=deltanew/dprod(m, d, q); // deltanew/sum;

/***
    for(i=0; i<m; ++i)
      x[i]+=alpha*d[i];
***/
    daxpy(m, x, x, alpha, d);

    if(!(iter%50)){
            for(i=0; i<m; ++i){ // accurate computation of the residual vector
        aim=a+i*m;
/***
        for(j=0, sum=0.0; j<m; ++j)
          sum+=aim[j]*x[j];
***/
        res[i]=B[i]-dprod(m, aim, x); //B[i]-sum;
      }
      rec_res=0;
    }
    else{
/***
            for(i=0; i<m; ++i) // approximate computation of the residual vector
        res[i]-=alpha*q[i];
***/
      daxpy(m, res, res, -alpha, q);
      rec_res=1;
    }

    if(prec){
      switch(prec){
      case SBA_CG_JACOBI: // jacobi
        for(i=0; i<m; ++i)
          s[i]=res[i]*wk[i];
        break;
      case SBA_CG_SSOR: // SSOR
        for(i=0; i<m; ++i){
          for(j=0, sum=0.0, aim=a+i*m; j<i; ++j)
            sum+=aim[j]*z[j];
          z[i]=wk[i]*(res[i]-sum);
        }

        for(i=m-1; i>=0; --i){
          for(j=i+1, sum=0.0, aim=a+i*m; j<m; ++j)
            sum+=aim[j]*s[j];
          s[i]=z[i]-wk[i]*sum;
        }
        break;
      }
    }

    deltaold=deltanew;
/***
          for(i=0, sum=0.0; i<m; ++i)
      sum+=res[i]*s[i];
***/
    deltanew=dprod(m, res, s); //sum;

    /* make sure that we get around small delta that are due to
     * accumulated floating point roundoff errors
     */
    if(rec_res && deltanew<=eps_sq*delta0){
      /* analytically  recompute delta */
            for(i=0; i<m; ++i){
        for(j=0, aim=a+i*m, sum=0.0; j<m; ++j)
          sum+=aim[j]*x[j];
        res[i]=B[i]-sum;
      }
      deltanew=dprod(m, res, s);
    }

    beta=deltanew/deltaold;

/***
          for(i=0; i<m; ++i)
      d[i]=s[i]+beta*d[i];
***/
    daxpy(m, d, s, beta, d);
  }

        return iter;
}