API Reference

These pages are generated directly from the Doxygen doc-comments in the GLASS headers via Breathe. Only the public, documented entry points appear here — internal *_impl helpers are intentionally excluded.

The reference is organized by BLAS level and by backend:

• L1 — vector operations (axpy, copy, dot, reduce, norms, elementwise, …).

• L2 — matrix-vector operations (gemv, ger, trsv, trmv, strided/segmented gemv).

• L3 — matrix operations (gemm and variants, inverse, Cholesky, trsm, syrk/syr2k, ldlt, posv/potrs).

• NVIDIA backend — the glass::nvidia::block:: CUB / cuBLASDx / cuSOLVERDx paths and their host-side query/size helpers, plus the glass::nvidia::warp:: CUB WarpReduce reductions (one full 32-lane warp per problem) and glass::nvidia::thread:: cuSOLVERDx 0.4+ LAPACK wrappers (one packed problem per CUDA thread).

• Warp-scoped — the glass::warp:: single-warp SIMT variants for warp-per-problem kernels.

• Thread-scoped — the glass::thread:: sequential variants for thread-per-problem low-DOF packing.

• Block-tridiagonal solvers — the glass::bdmv matvec and the glass::pcg preconditioned conjugate-gradient solver for the block-tridiagonal SPD systems of trajectory optimization / MPC.

• Robotics operators — the spatial 6-D, Lie/quaternion, projection/cone, geometry-distance, and sampling-reduction families (all three SIMT tiers; see Robotics operators & conventions).

• Execution plans — glass-defaults.cuh and its constexpr glass::recommend() query, which returns family, scope, and launch packing from the measured ladder.

Note

Every operation typically ships several overloads — runtime-sized and compile-time-sized (<T, N, ...>), with and without a beta term, and pure-SIMT vs cooperative-groups (glass::cgrps::) variants. The pages below list them per header.

Note

The block-scope SIMT entries on these pages are the glass::block:: contract tier (bit-exact, thread-count invariant for deterministic-order ops; never re-dispatched); the bare glass:: spellings are the measured-default face. Measured cells can use a warp-0 or thread-0 body while preserving the block-scope calling contract; unmoved operations remain re-exports. See Namespaces, suffixes, and flags.

• L1 — Vector Operations
  • axpy / axpby
  • copy
  • scal
  • swap
  • rot / rotg (Givens plane rotation)
  • dot
  • reduce
  • prefix_sum
  • Norms
  • Index of max-abs (iamax)
  • clip
  • set_const
  • identity
  • symmetrize
  • transpose
  • Elementwise logic
  • Cooperative-groups variants (glass::cgrps::)
• L2 — Matrix-Vector Operations
  • gemv
  • Contraction-parallel gemv (gemv_reduced)
  • Strided / segmented gemv
  • ger
  • Triangular solve / matvec (trsv / trmv)
  • Cooperative-groups variants (glass::cgrps::)
• L3 — Matrix Operations
  • gemm
  • Contraction-parallel gemm (gemm_reduced)
  • Tensor ⊗ vector contractions (tensor_vec_contract / vec_tensor_vec)
  • Congruence / bilinear forms (congruence_sym / bilinear)
  • Contraction-parallel syrk (syrk_reduced)
  • Riccati feedback gain (riccati_gain)
  • Strided gemm
  • Indexed / batched gemm
  • Matrix inverse
  • Cholesky
  • LU with partial pivoting (getrf / getrs / gesv / laswp)
  • Triangular solve (trsm)
  • Symmetric rank-k / rank-2k update (syrk / syr2k)
  • Symmetric / triangular matrix-matrix multiply (symm / trmm)
  • Diagonal-matrix multiply (dimm)
  • LDLᵀ factorization (ldlt / ldlt_solve)
  • SPD solve (posv / potrs)
  • Symmetric eigenvalues (syev / eig_clamp)
  • Parallel symmetric eigenvalues (eigh / psd_project)
  • Cooperative-groups variants (glass::cgrps::)
• NVIDIA Backends (glass::nvidia::*)
  • L1 (CUB-backed reductions)
  • L2 (gemv)
  • L3 (gemm)
  • L3 SIMT batched (no cuBLASDx)
  • LAPACK (cuSOLVERDx)
  • LAPACK thread execution (cuSOLVERDx 0.4+)
  • Dispatch & query helpers
  • Host helpers
• Warp-scoped operations (glass::warp::)
• Thread-scoped operations (glass::thread::)
• Block-tridiagonal Ops (glass::bdmv / glass::bdsv)
  • Direct solve (glass::bdsv)
  • Block accessors (store_block / load_block)
• Preconditioned Conjugate Gradient (glass::pcg)
• Robotics operators
  • Spatial 6-D cross products
  • Spatial coordinate transforms
  • Spatial inertia (10 parameters)
  • Quaternions
  • Pose errors
  • SO(3): exp / log / Jacobians
  • SE(3): retract + derivatives
  • Planar angles
  • Cones & projections
  • Interval / AL / barrier scalars
  • Geometry distances
  • 3x3 estimation kit
  • Fused Gauss-Newton / LM step
  • Sampling reductions (L1)
• Execution Plans (glass-defaults.cuh)
  • The contract
  • Using a plan
  • GLASS_TARGET_SM