Computational routine
eng

##
mat_pinv

### File content

    # include "scicos_block4.h"
    # include "../machine.h"
    #include <stdio.h>
    extern int C2F(dgesvd)();
    extern int C2F(dlaset)();
    extern int C2F(dlacpy)();
    extern int C2F(dmmul)();

    #if WIN32
    #define NULL    0
    #endif

    #ifndef min
    #define min(a,b) ((a) <= (b) ? (a) : (b))
    #endif

    #ifndef max
    #define max(a,b) ((a) >= (b) ? (a) : (b))
    #endif

    typedef struct
    {         double *l0;
    	  double *LA;
     	  double *LC;
              double *LS;
              double *LSV;
              double *LSW;
              double *LU;
              double *LUT;
              double *LV;
              double *LVT;
              double *dwork;
    } mat_pinv_struct ;
    void mat_pinv(scicos_block *block,int flag)
    {
     double *u;
     double *y;
     int nu,mu;
     int info;
     int i,j,ij,ji,ii,lwork;
     mat_pinv_struct *ptr;
     mu=GetInPortRows(block,1);
     nu=GetInPortCols(block,1);
     u=GetRealInPortPtrs(block,1);
     y=GetRealOutPortPtrs(block,1);
     lwork=max(3*min(mu,nu)+max(mu,nu),5*min(mu,nu)-4);
                 /*init : initialization*/
    if (flag==4)
       {if((*(block->work)=(mat_pinv_struct*) scicos_malloc(sizeof(mat_pinv_struct)))==NULL)
    	{set_block_error(-16);
    	 return;}
        ptr=*(block->work);
        if((ptr->l0=(double*) scicos_malloc(sizeof(double)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LA=(double*) scicos_malloc(sizeof(double)*(mu*nu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LC=(double*) scicos_malloc(sizeof(double)*(nu*mu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LS=(double*) scicos_malloc(sizeof(double)*(nu*mu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LSV=(double*) scicos_malloc(sizeof(double)*(min(mu,nu))))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LSW=(double*) scicos_malloc(sizeof(double)*(min(mu,nu))))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LSV);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LU=(double*) scicos_malloc(sizeof(double)*(mu*mu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LSW);
    	 scicos_free(ptr->LSV);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LUT=(double*) scicos_malloc(sizeof(double)*(mu*mu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LU);
    	 scicos_free(ptr->LSW);
    	 scicos_free(ptr->LSV);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LV=(double*) scicos_malloc(sizeof(double)*(nu*nu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LUT);
    	 scicos_free(ptr->LU);
    	 scicos_free(ptr->LSW);
    	 scicos_free(ptr->LSV);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->LVT=(double*) scicos_malloc(sizeof(double)*(nu*nu)))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LV);
    	 scicos_free(ptr->LUT);
    	 scicos_free(ptr->LU);
    	 scicos_free(ptr->LSW);
    	 scicos_free(ptr->LSV);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
        if((ptr->dwork=(double*) scicos_malloc(sizeof(double)*lwork))==NULL)
    	{set_block_error(-16);
    	 scicos_free(ptr->LVT);
    	 scicos_free(ptr->LV);
    	 scicos_free(ptr->LUT);
    	 scicos_free(ptr->LU);
    	 scicos_free(ptr->LSW);
    	 scicos_free(ptr->LSV);
    	 scicos_free(ptr->LS);
    	 scicos_free(ptr->LC);
    	 scicos_free(ptr->LA);
    	 scicos_free(ptr->l0);
    	 scicos_free(ptr);
    	 return;}
       }

           /* Terminaison */
    else if (flag==5)
       {ptr=*(block->work);
        if((ptr->dwork)!=0){
        	scicos_free(ptr->LC);
        	scicos_free(ptr->l0);
        	scicos_free(ptr->LA);
        	scicos_free(ptr->LSW);
        	scicos_free(ptr->LS);
        	scicos_free(ptr->LSV);
        	scicos_free(ptr->LU);
        	scicos_free(ptr->LUT);
        	scicos_free(ptr->LV);
        	scicos_free(ptr->LVT);
        	scicos_free(ptr->dwork);
        	scicos_free(ptr);
        	return;}
       }

    else
       {
        ptr=*(block->work);
        for(i=0;i<mu*nu;i++) y[i]=0;
        C2F(dlacpy)("F",&mu,&nu,u,&mu,ptr->LA,&mu);
        C2F(dgesvd)("A","A",&mu,&nu,ptr->LA,&mu,ptr->LSV,ptr->LU,&mu,ptr->LVT,&nu,ptr->dwork,&lwork,&info);
         if (info !=0)
           {if (flag!=6)
       	{set_block_error(-7);
            return;}}
        for (i=0;i<min(mu,nu);i++)
    	 {if (*(ptr->LSV+i)!=0)
    	      {*(ptr->LSW+i)=1/(*(ptr->LSV+i));}
    	 else
    	      {*(ptr->LSW+i)=0;}}
        *(ptr->l0)=0;
         C2F(dlaset)("F",&nu,&mu,ptr->l0,ptr->l0,ptr->LS,&nu);
        for (i=0;i<min(mu,nu);i++)
    	{ii=i+i*nu;
    	 *(ptr->LS+ii)=*(ptr->LSW+i);}
        for (j=0;j<mu;j++)
    	{for (i=j;i<mu;i++)
    		{ij=i+j*mu;
    	 	 ji=j+i*mu;
    		 *(ptr->LUT+ij)=*(ptr->LU+ji);
    		 *(ptr->LUT+ji)=*(ptr->LU+ij);}
    	}
        for (j=0;j<nu;j++)
    	{for (i=j;i<nu;i++)
    		{ij=i+j*nu;
    	 	 ji=j+i*nu;
    		 *(ptr->LV+ij)=*(ptr->LVT+ji);
    		 *(ptr->LV+ji)=*(ptr->LVT+ij);}
    	}
          C2F(dmmul)(ptr->LV,&nu,ptr->LS,&nu,ptr->LC,&nu,&nu,&nu,&mu);
          C2F(dmmul)(ptr->LC,&nu,ptr->LUT,&mu,y,&nu,&nu,&mu,&mu);
       }
    }