/*--------------------------------------------------------------------
 * project ....: Darpa Urban Challenge 2007
 * authors ....: Team AnnieWAY
 * organization: Transregional Collaborative Research Center 28 /
 *               Cognitive Automobiles
 * creation ...: xx/xx/2007
 * revisions ..: $Id:$
---------------------------------------------------------------------*/
#ifndef GSL_SUPPORT_H
#define GSL_SUPPORT_H

#include <gsl/gsl_blas.h>

namespace dgc {

#define matrix_get gsl_matrix_get
#define vector_get gsl_vector_get
#define matrix_set gsl_matrix_set
#define vector_set gsl_vector_set
#define vector_copy gsl_vector_memcpy
#define matrix_copy gsl_matrix_memcpy
#define matrix_set_identity gsl_matrix_set_identity
#define vector_set_zero gsl_vector_set_zero
#define matrix_set_zero gsl_matrix_set_zero
#define vector_scale gsl_vector_scale

gsl_vector *vector_init(int length);
void vector_fill(gsl_vector *v, ...);
void vector_free(gsl_vector *vector);
gsl_matrix *matrix_init(int rows, int cols);
void matrix_fill(gsl_matrix *m, ...);
void matrix_free(gsl_matrix *matrix);
void vector_add(gsl_vector *result, gsl_vector *a, gsl_vector *b);
void vector_add_ip(gsl_vector *a, gsl_vector *b);
void vector_elem_add(gsl_vector *v, int elem, double x);
void vector_subtract(gsl_vector *result, gsl_vector *a,
                                gsl_vector *b);
void vector_subtract_ip(gsl_vector *a, gsl_vector *b);
void matrix_add(gsl_matrix *result, gsl_matrix *a, gsl_matrix *b);
void matrix_add_ip(gsl_matrix *a, gsl_matrix *b);
void matrix_elem_add(gsl_matrix *m, int row, int col, double x);
void matrix_subtract(gsl_matrix *result, gsl_matrix *a,
                                gsl_matrix *b);
void matrix_subtract_ip(gsl_matrix *a, gsl_matrix *b);
void matrix_multiply(gsl_matrix *result, gsl_matrix *a, int a_t,
                     gsl_matrix *b, int b_t);
void matrix_invert(gsl_matrix *inverse, gsl_matrix *m);
void matrix_invert_ip(gsl_matrix *m);
void matrix_vector_multiply(gsl_vector *result, gsl_matrix *a,
                                       gsl_vector *x);
void matrix_linear_transform(gsl_matrix *result, gsl_matrix *m,
                                        gsl_matrix *a);
void matrix_inverse_linear_transform(gsl_matrix *result,
                                                gsl_matrix *m, gsl_matrix *a);
void matrix_scale(gsl_matrix *m, double scale);
void matrix_print(gsl_matrix *m, const char *str);
void vector_print(gsl_vector *v, const char *str);
void matrix_print_signs(gsl_matrix *m, const char *str);
void matrix_to_file(gsl_matrix *m, const char *filename);
void vector_to_file(gsl_vector *v, const char *filename);
double vector_inner_product(gsl_vector *a, gsl_vector *b);
void gaussian_sample(gsl_vector *sample, gsl_vector *mean,
                                gsl_matrix *cov);
double matrix_determinant(gsl_matrix *A);

} // namespace dgc

#endif