Exemplo n.º 1
0
static void
v_networkReaderEntryInit(
    v_networkReaderEntry entry,
    v_networkReader reader,
    v_group group,
    v_networkId networkId,
    c_ulong channelsToConnect,
    v_networkPartitionId networkPartitionId,
    c_bool isRouting)
{
    v_networkReaderEntry found;

    v_entryInit(v_entry(entry),v_reader(reader));

    entry->group = c_keep(group);
    entry->networkId = networkId;
    entry->channelCountdown = channelsToConnect;
    c_mutexInit(&entry->channelCountdownMutex, SHARED_MUTEX);
    entry->networkPartitionId = networkPartitionId;
    entry->hashValue = v_networkReaderEntryCalculateHashValue(entry);
    entry->isRouting = isRouting;

    found = v_networkReaderEntry(v_readerAddEntry(v_reader(reader), v_entry(entry)));
    assert(found == entry);
    c_free(found);
}
Exemplo n.º 2
0
static void
deliveryServiceUnSubscribe(
    void *o,
    void *arg)
{
    v_partition p = v_partition(o);
    v_deliveryServiceEntry e = v_deliveryServiceEntry(arg);
    v_kernel kernel;
    v_group g;
    c_value params[2];
    c_iter list;

    assert(C_TYPECHECK(e,v_deliveryServiceEntry));
    assert(C_TYPECHECK(p,v_partition));

    params[0] = c_objectValue(p);
    params[1] = c_objectValue(e->topic);
    kernel = v_objectKernel(e);
    list = v_groupSetSelect(kernel->groupSet,
                            "partition = %0 and topic = %1",
                            params);
    while ((g = c_iterTakeFirst(list)) != NULL) {
        v_groupRemoveEntry(g,v_entry(e));
        c_free(g);
    }
    c_iterFree(list);
}
Exemplo n.º 3
0
/*
 * executes kalman predict and correct step
 */
void kalman_run(kalman_out_t *out, kalman_t *kalman, const kalman_in_t *in)
{
   /* A = | init   dt  |
          | init  init | */
   m_set_val(kalman->A, 0, 1, in->dt);

   /* B = | 0.5 * dt ^ 2 |
          |     dt       | */
   m_set_val(kalman->B, 0, 0, 0.5 * in->dt * in->dt);
   m_set_val(kalman->B, 1, 0, in->dt);

   kalman_predict(kalman, in->acc);
   kalman_correct(kalman, in->pos, 0.0);
   out->pos = v_entry(kalman->x, 0);
   out->speed = v_entry(kalman->x, 1);
}
Exemplo n.º 4
0
static c_bool
getHistoricalData(
    c_object o,
    c_voidp arg)
{
    v_entry entry;
    c_iter proxies;
    v_proxy proxy;
    v_group group;

    assert(o != NULL);

    entry = v_entry(o);
    assert(entry != NULL);
    assert(C_TYPECHECK(entry,v_entry));

    proxies = c_select(entry->groups, 0);
    proxy = c_iterTakeFirst(proxies);
    while (proxy != NULL) {
        group = v_group(v_proxyClaim(proxy));
        if (group) {
            if(arg == NULL){
                v_groupGetHistoricalData(group, entry);
            } else {
                v_groupGetHistoricalDataWithCondition(group,
                        entry, (v_historicalDataRequest)arg);
            }
            v_proxyRelease(proxy);
        }
        c_free(proxy);
        proxy = c_iterTakeFirst(proxies);
    }
    c_iterFree(proxies);
    return TRUE;
}
Exemplo n.º 5
0
/* rot_vec -- apply Givens rotation to x's i & k components */
extern  VEC	*rot_vec(VEC *x, u_int i, u_int k, double c, double s, VEC *out)
{
	Real	temp;

	if ( x==VNULL )
		error(E_NULL,"rot_vec");
	if ( i >= x->dim || k >= x->dim )
		error(E_RANGE,"rot_vec");
	out = v_copy(x,out);

	/* temp = c*out->ve[i] + s*out->ve[k]; */
	temp = c*v_entry(out,i) + s*v_entry(out,k);
	/* out->ve[k] = -s*out->ve[i] + c*out->ve[k]; */
	v_set_val(out,k,-s*v_entry(out,i)+c*v_entry(out,k));
	/* out->ve[i] = temp; */
	v_set_val(out,i,temp);

	return (out);
}
Exemplo n.º 6
0
MAT	*Hfactor(MAT *A, VEC *diag, VEC *beta)
#endif
{
	STATIC	VEC	*hh = VNULL, *w = VNULL;
	int	k, limit;

	if ( ! A || ! diag || ! beta )
		error(E_NULL,"Hfactor");
	if ( diag->dim < A->m - 1 || beta->dim < A->m - 1 )
		error(E_SIZES,"Hfactor");
	if ( A->m != A->n )
		error(E_SQUARE,"Hfactor");
	limit = A->m - 1;

	hh = v_resize(hh,A->m);
	w  = v_resize(w,A->n);
	MEM_STAT_REG(hh,TYPE_VEC);
	MEM_STAT_REG(w, TYPE_VEC);

	for ( k = 0; k < limit; k++ )
	  {
	    /* compute the Householder vector hh */
	    get_col(A,(unsigned int)k,hh);
	    /* printf("the %d'th column = ");	v_output(hh); */
	    hhvec(hh,k+1,&beta->ve[k],hh,&A->me[k+1][k]);
	    /* diag->ve[k] = hh->ve[k+1]; */
	    v_set_val(diag,k,v_entry(hh,k+1));
	    /* printf("H/h vector = ");	v_output(hh); */
	    /* printf("from the %d'th entry\n",k+1); */
	    /* printf("beta = %g\n",beta->ve[k]); */

	    /* apply Householder operation symmetrically to A */
	    _hhtrcols(A,k+1,k+1,hh,v_entry(beta,k),w);
	    hhtrrows(A,0  ,k+1,hh,v_entry(beta,k));
	    /* printf("A = ");		m_output(A); */
	  }

#ifdef THREADSAFE
	V_FREE(hh);	V_FREE(w);
#endif

	return (A);
}
Exemplo n.º 7
0
v_writeResult
v_networkReaderEntryWrite(
    v_networkReaderEntry entry,
    v_message message,
    v_networkId writingNetworkId)
{
    v_writeResult result = V_WRITE_SUCCESS;
    c_bool writeSucceeded;
    static v_gid zeroAddressee = {0,0,0};

    assert(C_TYPECHECK(entry, v_networkReaderEntry));
    assert(message != NULL);

    /* First check if there is any remote interest at all */

    if (v_networkReader(v_entry(entry)->reader)->remoteActivity) {
        /* Only forward messages that come from this kernel */
        if (writingNetworkId == V_NETWORKID_LOCAL || entry->isRouting) {
            /* OK, message is from this kernel or this is a routing entry. Now
             * attach the correct fields if needed */

            /* TODO: For networking services that support routing perhaps
             * messages shouldn't be forwarded to 'self' (e.g., echo cancellation
             * may be needed). For R&R this modus is fine. */
            writeSucceeded = v_networkReaderWrite(
                                  v_networkReader(v_entry(entry)->reader),
                                  message, entry, 0, message->writerGID,
                                  FALSE /* no p2p */, zeroAddressee);
            if (writeSucceeded) {
                result = V_WRITE_SUCCESS;
            } else {
                result = V_WRITE_REJECTED;
            }
        }
    }

    return result;
}
Exemplo n.º 8
0
void
v_networkReaderEntryNotifyConnected(
    v_networkReaderEntry entry,
    const c_char* serviceName)
{
    c_bool allChannelsConnected = FALSE;

    c_mutexLock(&entry->channelCountdownMutex);

    assert (entry->channelCountdown > 0);
    entry->channelCountdown--;
    if (entry->channelCountdown == 0) {
        allChannelsConnected = TRUE;
    }

    c_mutexUnlock(&entry->channelCountdownMutex);

    if (allChannelsConnected) {
        v_groupAddEntry(v_group(entry->group), v_entry(entry));
        v_groupNotifyAwareness(v_group(entry->group),serviceName,TRUE);
        v_groupGetHistoricalData(v_group(entry->group), v_entry(entry));
    }
}
Exemplo n.º 9
0
static c_bool
v_networkReaderEntryUnSubscribeGroup(
    v_networkReaderEntry entry,
    v_group group)
{
    assert(C_TYPECHECK(entry, v_networkReaderEntry));
    assert(C_TYPECHECK(group, v_group));

    if (v_group(entry->group) == group) {
      v_groupRemoveEntry(entry->group, v_entry(entry));
    }

    return TRUE;
}
Exemplo n.º 10
0
static c_bool
v_networkReaderEntryUnSubscribe(
    v_networkReaderEntry entry,
    v_partition partition)
{
    assert(C_TYPECHECK(entry, v_networkReaderEntry));
    assert(C_TYPECHECK(partition, v_partition));

    if (v_group(entry->group)->partition == partition) {
      v_groupRemoveEntry(entry->group, v_entry(entry));
    }

    return TRUE;
}
Exemplo n.º 11
0
MAT	*makeHQ(MAT *H, VEC *diag, VEC *beta, MAT *Qout)
#endif
{
	int	i, j, limit;
	STATIC	VEC	*tmp1 = VNULL, *tmp2 = VNULL;

	if ( H==(MAT *)NULL || diag==(VEC *)NULL || beta==(VEC *)NULL )
		error(E_NULL,"makeHQ");
	limit = H->m - 1;
	if ( diag->dim < limit || beta->dim < limit )
		error(E_SIZES,"makeHQ");
	if ( H->m != H->n )
		error(E_SQUARE,"makeHQ");
	Qout = m_resize(Qout,H->m,H->m);

	tmp1 = v_resize(tmp1,H->m);
	tmp2 = v_resize(tmp2,H->m);
	MEM_STAT_REG(tmp1,TYPE_VEC);
	MEM_STAT_REG(tmp2,TYPE_VEC);

	for ( i = 0; i < H->m; i++ )
	{
		/* tmp1 = i'th basis vector */
		for ( j = 0; j < H->m; j++ )
			/* tmp1->ve[j] = 0.0; */
		    v_set_val(tmp1,j,0.0);
		/* tmp1->ve[i] = 1.0; */
		v_set_val(tmp1,i,1.0);

		/* apply H/h transforms in reverse order */
		for ( j = limit-1; j >= 0; j-- )
		{
			get_col(H,(unsigned int)j,tmp2);
			/* tmp2->ve[j+1] = diag->ve[j]; */
			v_set_val(tmp2,j+1,v_entry(diag,j));
			hhtrvec(tmp2,beta->ve[j],j+1,tmp1,tmp1);
		}

		/* insert into Qout */
		set_col(Qout,(unsigned int)i,tmp1);
	}

#ifdef THREADSAFE
	V_FREE(tmp1);	V_FREE(tmp2);
#endif

	return (Qout);
}
Exemplo n.º 12
0
static c_bool
entryFree(
    c_object o,
    c_voidp arg)
{
    v_entry entry;

    assert(o != NULL);
    assert(arg == NULL);

    entry = v_entry(o);
    assert(entry != NULL);

    v_entryFree(entry);
    return TRUE;
}
Exemplo n.º 13
0
v_deliveryServiceEntry
v_deliveryServiceEntryNew(
    v_deliveryService deliveryService,
    v_topic topic)
{
    v_kernel kernel;
    v_deliveryServiceEntry e;

    assert(C_TYPECHECK(deliveryService,v_deliveryService));
    assert(C_TYPECHECK(topic,v_topic));

    kernel = v_objectKernel(deliveryService);
    e = v_deliveryServiceEntry(v_objectNew(kernel,K_DELIVERYSERVICEENTRY));
    v_entryInit(v_entry(e), v_reader(deliveryService));
    e->topic = c_keep(topic);

    return e;
}
Exemplo n.º 14
0
static c_bool
waitForHistoricalData(
    c_object o,
    c_voidp arg)
{
    v_entry entry;
    c_iter proxies;
    v_proxy proxy;
    v_group group;
    c_time waitTime;
    struct historicalWaitArg *parms = (struct historicalWaitArg *)arg;

    assert(o != NULL);
    assert(arg != NULL);

    entry = v_entry(o);
    assert(entry != NULL);
    assert(C_TYPECHECK(entry,v_entry));

    proxies = c_select(entry->groups, 0);
    proxy = c_iterTakeFirst(proxies);
    while ((proxy != NULL) && (parms->_status == TRUE)) {
        group = v_group(v_proxyClaim(proxy));
        if (group) {
            if (group->complete == FALSE) {
                waitTime  = c_timeSub(parms->_expire_time, v_timeGet());
                if (c_timeCompare(waitTime, C_TIME_ZERO) == C_GT) {
                    parms->_status = v_groupWaitForComplete(group, waitTime);
                } else {
                    parms->_status = FALSE; /* time out */
                }
            }
            v_proxyRelease(proxy);
        }
        c_free(proxy);
        proxy = c_iterTakeFirst(proxies);
    }
    c_iterFree(proxies);
    return parms->_status;
}
Exemplo n.º 15
0
static c_bool
v_networkReaderFindEntry(
    c_object o,
    void * walkArg)
{
    struct v_findEntryArg *findEntryArg;
    v_entry entry;
    c_bool result = TRUE;

    entry = v_entry(o);
    assert(entry);
    assert(walkArg);

    if (v_objectKind(entry) == K_NETWORKREADERENTRY) {
        findEntryArg = (struct v_findEntryArg *)walkArg;
        if (v_networkReaderEntry(entry)->group == findEntryArg->group) {
            result = FALSE;
            findEntryArg->found = v_networkReaderEntry(c_keep(entry));
        }
    }

    return result;
}
Exemplo n.º 16
0
static void
deliveryServiceSubscribe(
    void *o,
    void *arg)
{
    v_partition p = v_partition(o);
    v_deliveryServiceEntry e = v_deliveryServiceEntry(arg);
    v_kernel kernel;
    v_group g;

    assert(C_TYPECHECK(e,v_deliveryServiceEntry));
    assert(C_TYPECHECK(p,v_partition));

    kernel = v_objectKernel(e);
    g = v_groupSetCreate(kernel->groupSet,p,e->topic);

    if(v_groupPartitionAccessMode(g) == V_ACCESS_MODE_READ_WRITE ||
       v_groupPartitionAccessMode(g) == V_ACCESS_MODE_READ)
    {
        v_groupAddEntry(g,v_entry(e));
    }
    c_free(g);
}
Exemplo n.º 17
0
MAT	*makeHQ(MAT *H, VEC *diag, VEC *beta, MAT *Qout)
#endif
{
	unsigned int	i,/* j,*/ limit;
  int j;
  char MatrixTempBuffer[ 2000 ];
	/*STATIC	*/VEC	*tmp1 = VNULL, *tmp2 = VNULL;

	if ( H==(MAT *)NULL || diag==(VEC *)NULL || beta==(VEC *)NULL )
		error(E_NULL,"makeHQ");
	limit = H->m - 1;
	if ( diag->dim < limit || beta->dim < limit )
		error(E_SIZES,"makeHQ");
	if ( H->m != H->n )
		error(E_SQUARE,"makeHQ");
	Qout = m_resize(Qout,H->m,H->m);

	if( SET_VEC_SIZE( H->m ) < 1000 ) {
	  vec_get( &tmp1, (void *)MatrixTempBuffer, H->m );
	} else {
	  tmp1   = v_get( H->m );
	}

	if( SET_VEC_SIZE( H->m ) < 1000 ) {
	  vec_get( &tmp2, (void *)(MatrixTempBuffer + 1000), H->m );
	} else {
	  tmp2   = v_get( H->m);
	}

	/*tmp1 = v_resize(tmp1,H->m);
	tmp2 = v_resize(tmp2,H->m);
	MEM_STAT_REG(tmp1,TYPE_VEC);
	MEM_STAT_REG(tmp2,TYPE_VEC);*/

	for ( i = 0; i < H->m; i++ )
	{
		/* tmp1 = i'th basis vector */
		for ( j = 0; j < (int)H->m; j++ )
			/* tmp1->ve[j] = 0.0; */
		    v_set_val(tmp1,j,0.0);
		/* tmp1->ve[i] = 1.0; */
		v_set_val(tmp1,i,1.0);

		/* apply H/h transforms in reverse order */
		for ( j = limit-1; j >= 0; j-- )
		{
			get_col(H,(unsigned int)j,tmp2);
			/* tmp2->ve[j+1] = diag->ve[j]; */
			v_set_val(tmp2,j+1,v_entry(diag,j));
			hhtrvec(tmp2,beta->ve[j],j+1,tmp1,tmp1);
		}

		/* insert into Qout */
		set_col(Qout,(unsigned int)i,tmp1);
	}

/*
#ifdef THREADSAFE
	V_FREE(tmp1);	V_FREE(tmp2);
#endif
*/

	if( tmp1 != (VEC *)(MatrixTempBuffer ) ) // память выделялась, надо освободить
	  V_FREE(tmp1);
	if( tmp2 != (VEC *)(MatrixTempBuffer + 1000) ) // память выделялась, надо освободить
	  V_FREE(tmp2);

	return (Qout);
}
Exemplo n.º 18
0
v_deliveryService
v_deliveryServiceNew (
    v_subscriber subscriber,
    const c_char *name)
{
    v_kernel kernel;
    v_deliveryService _this;
    v_readerQos q;
    v_topic topic;
    c_base base;
    c_type type;
    v_entry entry, found;

    assert(C_TYPECHECK(subscriber,v_subscriber));
    base = c_getBase(subscriber);
    kernel = v_objectKernel(subscriber);
    topic = v_lookupTopic (kernel, V_DELIVERYINFO_NAME);
    /* ES, dds1576: Before creating the ackreader we have to verify that read
     * access to the topic is allowed. We can accomplish this by checking the
     * access mode of the topic.
     */
    if(!topic)
    {
        OS_REPORT(OS_ERROR, "v_deliveryServiceNew",0,
                  "DeliveryService not created: "
                  "Could not locate topic with name DCPS_Delivery.");
        return NULL;
    }
    if(v_topicAccessMode(topic) == V_ACCESS_MODE_READ ||
       v_topicAccessMode(topic) == V_ACCESS_MODE_READ_WRITE)
    {
        q = v_readerQosNew(kernel,NULL);
        if (q == NULL) {
            OS_REPORT(OS_ERROR, "v_deliveryServiceNew", 0,
                      "DeliveryService not created: inconsistent qos");
            return NULL;
        }
        _this = v_deliveryService(v_objectNew(kernel,K_DELIVERYSERVICE));

        type = c_resolve(base, "kernelModule::v_deliveryGuard");
        _this->guards = c_tableNew(type, "writerGID.localId");
        c_free(type);

        type = c_resolve(base, "kernelModule::v_subscriptionInfoTemplate");
        _this->subscriptions = c_tableNew(type, "userData.key.systemId,userData.key.localId");
        c_free(type);
        q->userKey.enable = TRUE;
        q->userKey.expression = NULL;
        v_readerInit(v_reader(_this),name, subscriber,q, NULL, TRUE);

        c_free(q);

        entry = v_entry(v_deliveryServiceEntryNew(_this,topic));
        found = v_readerAddEntry(v_reader(_this),v_entry(entry));
        c_free(entry);
        c_free(found);

        v_deliveryServiceEnable(_this);
    } else
    {
        OS_REPORT_1(OS_ERROR, "v_deliveryServiceNew", 0,
                    "Creation of DeliveryService <%s> failed. Topic DCPS_Delivery."
                    "does not have read access rights.", name);
        _this = NULL;
    }
    return _this;
}
Exemplo n.º 19
0
/* BKPsolve -- solves A.x = b where A has been factored a la BKPfactor()
	-- returns x, which is created if NULL */
extern  VEC	*BKPsolve(MAT *A, PERM	*pivot, PERM *block, VEC *b, VEC *x)
{
	static VEC	*tmp=VNULL;	/* dummy storage needed */
	int	i, j, n, onebyone;
	Real	**A_me, a11, a12, a22, b1, b2, det, sum, *tmp_ve, tmp_diag;

	if ( ! A || ! pivot || ! block || ! b )
		error(E_NULL,"BKPsolve");
	if ( A->m != A->n )
		error(E_SQUARE,"BKPsolve");
	n = A->n;
	if ( b->dim != n || pivot->size != n || block->size != n )
		error(E_SIZES,"BKPsolve");
	x = v_resize(x,n);
	tmp = v_resize(tmp,n);
	MEM_STAT_REG(tmp,TYPE_VEC);

	A_me = A->me;	tmp_ve = tmp->ve;

	px_vec(pivot,b,tmp);
	/* solve for lower triangular part */
	for ( i = 0; i < n; i++ )
	{
		sum = v_entry(tmp,i);
		if ( block->pe[i] < i )
		    for ( j = 0; j < i-1; j++ )
			sum -= m_entry(A,i,j)*v_entry(tmp,j);
		else
		    for ( j = 0; j < i; j++ )
			sum -= m_entry(A,i,j)*v_entry(tmp,j);
		v_set_val(tmp,i,sum);
	}
	/* printf("# BKPsolve: solving L part: tmp =\n");	v_output(tmp); */
	/* solve for diagonal part */
	for ( i = 0; i < n; i = onebyone ? i+1 : i+2 )
	{
		onebyone = ( block->pe[i] == i );
		if ( onebyone )
		{
		    tmp_diag = m_entry(A,i,i);
		    if ( tmp_diag == 0.0 )
			error(E_SING,"BKPsolve");
		    /* tmp_ve[i] /= tmp_diag; */
		    v_set_val(tmp,i,v_entry(tmp,i) / tmp_diag);
		}
		else
		{
		    a11 = m_entry(A,i,i);
		    a22 = m_entry(A,i+1,i+1);
		    a12 = m_entry(A,i+1,i);
		    b1 = v_entry(tmp,i);	b2 = v_entry(tmp,i+1);
		    det = a11*a22-a12*a12;	/* < 0 : see BKPfactor() */
		    if ( det == 0.0 )
			error(E_SING,"BKPsolve");
		    det = 1/det;
		    v_set_val(tmp,i,det*(a22*b1-a12*b2));
		    v_set_val(tmp,i+1,det*(a11*b2-a12*b1));
		}
	}
	/* printf("# BKPsolve: solving D part: tmp =\n");	v_output(tmp); */
	/* solve for transpose of lower traingular part */
	for ( i = n-1; i >= 0; i-- )
	{	/* use symmetry of factored form to get stride 1 */
		sum = v_entry(tmp,i);
		if ( block->pe[i] > i )
		    for ( j = i+2; j < n; j++ )
			sum -= m_entry(A,i,j)*v_entry(tmp,j);
		else
		    for ( j = i+1; j < n; j++ )
			sum -= m_entry(A,i,j)*v_entry(tmp,j);
		v_set_val(tmp,i,sum);
	}

	/* printf("# BKPsolve: solving L^T part: tmp =\n");v_output(tmp); */
	/* and do final permutation */
	x = pxinv_vec(pivot,tmp,x);

	return x;
}
Exemplo n.º 20
0
MAT	*Hfactor(MAT *A, VEC *diag, VEC *beta)
#endif
{
  char MatrixTempBuffer[ 2000 ];
	/*STATIC	*/VEC	*hh = VNULL, *w = VNULL;
	int	k, limit;

	if ( ! A || ! diag || ! beta )
		error(E_NULL,"Hfactor");
	if ( diag->dim < A->m - 1 || beta->dim < A->m - 1 )
		error(E_SIZES,"Hfactor");
	if ( A->m != A->n )
		error(E_SQUARE,"Hfactor");
	limit = A->m - 1;

	if( SET_VEC_SIZE( A->m ) < 1000 ) {
	  vec_get( &hh, (void *)MatrixTempBuffer, A->m );
	} else {
	  hh   = v_get( A->m );
	}

	if( SET_VEC_SIZE( A->n ) < 1000 ) {
	  vec_get( &w, (void *)(MatrixTempBuffer + 1000), A->n );
	} else {
	  w   = v_get( A->n );
	}

	/*hh = v_resize(hh,A->m);
	w  = v_resize(w,A->n);
	MEM_STAT_REG(hh,TYPE_VEC);
	MEM_STAT_REG(w, TYPE_VEC);*/

	for ( k = 0; k < limit; k++ )
	  {
	    /* compute the Householder vector hh */
	    get_col(A,(unsigned int)k,hh);
	    /* printf("the %d'th column = ");	v_output(hh); */
	    hhvec(hh,k+1,&beta->ve[k],hh,&A->me[k+1][k]);
	    /* diag->ve[k] = hh->ve[k+1]; */
	    v_set_val(diag,k,v_entry(hh,k+1));
	    /* printf("H/h vector = ");	v_output(hh); */
	    /* printf("from the %d'th entry\n",k+1); */
	    /* printf("beta = %g\n",beta->ve[k]); */

	    /* apply Householder operation symmetrically to A */
	    _hhtrcols(A,k+1,k+1,hh,v_entry(beta,k),w);
	    hhtrrows(A,0  ,k+1,hh,v_entry(beta,k));
	    /* printf("A = ");		m_output(A); */
	  }

/*
#ifdef THREADSAFE
	V_FREE(hh);	V_FREE(w);
#endif
*/

	if( hh != (VEC *)(MatrixTempBuffer ) ) // память выделялась, надо освободить
	  V_FREE(hh);
	if( w != (VEC *)(MatrixTempBuffer + 1000) ) // память выделялась, надо освободить
	  V_FREE(w);

	return (A);
}