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giaf / blasfeo

Basic linear algebra subroutines for embedded optimization
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Incorrect documentation for dtrmm in blasfeo_d_blasfeo_api.h? #161

Closed markisus closed 2 years ago

markisus commented 2 years ago

These two functions have the same description but one is llnn and the other is llnu https://github.com/giaf/blasfeo/blob/eb0568f18b2aaa49954ca9e92215d2cfe3dd5aa2/include/blasfeo_d_blasfeo_api.h#L169 https://github.com/giaf/blasfeo/blob/eb0568f18b2aaa49954ca9e92215d2cfe3dd5aa2/include/blasfeo_d_blasfeo_api.h#L171

The same issue applies to many of the other functions for the dtrmm. I believe the llnn translates to

  1. l: multiply from the [l]eft
  2. l: [l]ower triangular
  3. n: [n]ot transposed
  4. n: ? not sure what the last n stands for
markisus commented 2 years ago

From cross-referencing LAPACK documentation http://www.netlib.org/lapack/explore-html/d1/d54/group__double__blas__level3_gaf07edfbb2d2077687522652c9e283e1e.html I believe the last letter corresponds to whether the matrix is [u]nit diagonal or [n]ot.

giaf commented 2 years ago

Yes I confirm that this is correct. Thanks for reporting the issue, that has now been improved in the header files. https://github.com/giaf/blasfeo/commit/504d0ec80cd5c940f030a03afdbc5bb9ee7d72be

markisus commented 2 years ago

Thanks so much!!