lapack/SimTKlapack.h

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#ifndef SimTK_FORTRAN_LAPACK_H_
#define SimTK_FORTRAN_LAPACK_H_

/* Copyright (c) 2006 Stanford University and Jack Middleton.
 * Contributors: Michael Sherman, Chris Bruns
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR a PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

/*            ******* WARNING WARNING WARNING TODO TODO *******
 * This file is being converted to const correctness but is not there yet.
 * Help would be appreciated!!!  (sherm 060329)
 *            ******* WARNING WARNING WARNING TODO TODO *******
 *
 * Yes, we know this is ugly with all the macros. Think of it as a "header
 * file generator" rather than a header file and it is more palatable. Once
 * we finish decorating all the arguments with their semantics, we can run
 * the preprocessor (or perl or whatever) on this thing a few times and
 * generate a set of nice headers. For now though we need to finish collecting
 * all the information, and you can use this directly in the meanwhile.
 * 
 * This header file contains the const-correct fuction prototypes for C & C++ programs
 * calling the Legacy (Fortran) interface for the SimTKlapack library. This is not
 * to be confused with the CBLAS and CLAPACK interfaces which are C-friendly wrappers
 * around the Legacy interface. Here we are dealing with direct calls to the Legacy
 * routines (which are Fortran-like) from C and C++ programs.
 * 
 * The basic rules for C programs calling Fortran-like routines with the convention
 * we use (there are others) are:
 * 
 * 1) Function names are in lower case and have an underscore appended to the name.
 *    For example, if a C program calls LAPACK's ZGEEV routine the call would be:
 *    zgeev_(...).
 * 
 * 2) Fortran routines pass scalar arguments by reference. (except for character
 *    string "length" arguments that are normally hidden from FORTRAN programmers)
 *    Therefore a C program needs to pass pointers to scalar arguments. C++ 
 *    code can just pass the arguments; they will be passed by reference automatically
 *    because of the declarations here.
 * 
 * 3) In Fortran 2-D arrays are stored in column major format meaning that
 *    the matrix    A = [ 1.0 2.0 ]
 *                      [ 3.0 4.0 ]
 *   declared as a(2,2) would be stored in memory as 1.0, 3.0, 2.0, 4.0.
 *   While a C 2-D array declared as a[2][2], would be stored in
 *   row-major order as 1.0, 2.0, 3.0, 4.0.
 *   Therefore C programs may need to transpose 2D arrays before calling the
 *   Fortran interface.
 * 
 * 4) The lengths of character strings need to be passed as additional arguments
 *    which are added to the end of the parameter list.
 *    For example, LAPACK's ZGEEV  routine has two arguments which are character
 *    strings: JOBVL, JOBVR.
 * 
 *    ZGEEV(JOBVL, JOBVR, N, A, LDA, W, VL, LDVL, VR, LDVR,
 *                          WORK, LWORK, RWORK, INFO)
 * 
 * 
 *    A C program calling ZGEEV would need to add two additional
 *    arguments at the end of the parameter list which contain the lengths of JOBVL, JOBVR
 *    arguments:
 * 
 *    char * jobvl = "N";
 *    char * jobvr = "Vectors";
 *    int  len_jobvl = 1;
 *    int  len_jobvr = 7;
 *      .
 *      .
 *      .
 * 
 *    zgeev_(jobvl, jobvr, &n, a, &lda, w, vl, &ldvl, vr, &ldvr, work, &lwork, rwork, &info
 *            len_jobvl, len_jobvr);
 *            ^^^^^^^^   ^^^^^^^^
 *           additional arguments
 * 
 *    In practice, only the first character is used for any Lapack option so the length
 *    can always be passed as 1. Since these length arguments are at the end, they can
 *    have defaults in C++ and are set to 1 below so C++ programs do not need to be
 *    aware of the length arguments. But calls from C will typically end with ",1,1,1)" or
 *    whatever.
 */

// We're going to define some temporary preprocessor macros here
// (SimTK_C_ and SimTK_Z_) to represent complex types.
// In C++ these will just be the built-in std::complex types. In C
// we'll either use a type supplied by the including module, or we'll
// declare complex types here if none are supplied. We assume the
// binary representation is the same in all cases:
// "float real,imag;" or "double real,imag;".
// We define an assortment of temporary macros for other argument
// passing situations.
// We'll undefine these temporary macros at the end of this header.

#ifdef __cplusplus
    // This is C++, just use the built-in complex types.
    #include <complex>
    #define SimTK_C_     std::complex<float>
    #define SimTK_Z_     std::complex<double>

    #define SimTK_FDIM_(n)      const int& n        // a dimension, e.g. N,M,lda
    #define SimTK_FINC_(x)      const int& inc##x   // increment, i.e. stride
    #define SimTK_FOPT_(c)      const char& c       // an option, passed as a single char
    #define SimTK_FLEN_(c)      int c##_len=1       // dummy length parameter added by Fortran
    #define SimTK_FSCL_(type,s) type& s             // scalar argument (might be const)
    #define SimTK_INFO_         int& info           // returns error code
#else
    // This is C, not C++.
    // Should check for 1999 standard C which has built-in SimTK_C_ type
    // here. For now we allow type override via preprocessor symbol;
    // users of 1999 C should provide these before including this file:
    //
    //   #define SimTK_C_FLOAT_COMPLEX_TYPE_TO_USE  float complex
    //   #define SimTK_C_DOUBLE_COMPLEX_TYPE_TO_USE double complex
    //
    #ifdef SimTK_C_FLOAT_COMPLEX_TYPE_TO_USE
        #define SimTK_C_ SimTK_C_FLOAT_COMPLEX_TYPE_TO_USE
    #else
        typedef struct { float real, imag; } SimTK_float_complex;
        #define SimTK_C_ SimTK_float_complex
    #endif

    #ifdef SimTK_C_DOUBLE_COMPLEX_TYPE_TO_USE
        #define SimTK_Z_ SimTK_C_DOUBLE_COMPLEX_TYPE_TO_USE
    #else
        typedef struct { double real, imag; } SimTK_double_complex;
        #define SimTK_Z_ SimTK_double_complex
    #endif

    #define SimTK_FDIM_(n)      const int* n      // a dimension, e.g. N,M,lda
    #define SimTK_FINC_(x)      const int* inc##x // increment, i.e. stride
    #define SimTK_FOPT_(c)      const char* c     // an option, passed as a single char
    #define SimTK_FLEN_(c)      int c##_len       // dummy length parameter (must set to 1 in call)
    #define SimTK_FSCL_(type,s) type* s           // scalar argument (might be const)
    #define SimTK_INFO_         int *info         // returns error code
#endif

#ifdef __cplusplus
extern "C" {
#endif

// These signatures define callouts to be made by some of the Lapack eigenvalue routines
// for selecting eigenvalue subsets.
typedef int (* SimTK_SELECT_2S)(const SimTK_FSCL_(float,wr),  const SimTK_FSCL_(float,wi));
typedef int (* SimTK_SELECT_3F)(const SimTK_FSCL_(float,ar),  const SimTK_FSCL_(float,ai), const SimTK_FSCL_(float,b));
typedef int (* SimTK_SELECT_2D)(const SimTK_FSCL_(double,wr), const SimTK_FSCL_(double,wi));
typedef int (* SimTK_SELECT_3D)(const SimTK_FSCL_(double,ar), const SimTK_FSCL_(double,ai), const SimTK_FSCL_(double,b));
typedef int (* SimTK_SELECT_C) (const SimTK_FSCL_(SimTK_C_,w));
typedef int (* SimTK_SELECT_2C)(const SimTK_FSCL_(SimTK_C_,a), const SimTK_FSCL_(SimTK_C_,b));
typedef int (* SimTK_SELECT_Z) (const SimTK_FSCL_(SimTK_Z_,w));
typedef int (* SimTK_SELECT_2Z)(const SimTK_FSCL_(SimTK_Z_,a), const SimTK_FSCL_(SimTK_Z_,b));

/*******************************************************************************
 * The BLAS routines. For documentation, see the LAPACK User's Guide, 3rd ed., *
 * Appendix C "Quick Reference Guide to the BLAS", pg. 180-4.                  *
 *******************************************************************************/

    // BLAS Level 1 //

// BLAS Level 1 functions (that is, value-returning methods).

// TODO: The following functions return complex values. This is OK in C++ but what about C?
//   cdotu_, zdotu_ (complex dot product without conjugation)
//   cdotc_, zdotc_ (complex dot product with conjugation)

// sherm 060329: any reason these won't work? TODO
//extern SimTK_C_ cdotu_(SimTK_FDIM_(n), const SimTK_C_ *x, SimTK_FINC_(x), 
//                                              const SimTK_C_ *y, SimTK_FINC_(y));
//extern SimTK_Z_ zdotu_(SimTK_FDIM_(n), const SimTK_Z_ *x, SimTK_FINC_(x), 
//                                              const SimTK_Z_ *y, SimTK_FINC_(y));

//extern SimTK_C_ cdotc_(SimTK_FDIM_(n), const SimTK_C_ *x, SimTK_FINC_(x), 
//                                              const SimTK_C_ *y, SimTK_FINC_(y));
//extern SimTK_Z_ zdotc_(SimTK_FDIM_(n), const SimTK_Z_ *x, SimTK_FINC_(x), 
//                                              const SimTK_Z_ *y, SimTK_FINC_(y));

extern float  sdot_  (SimTK_FDIM_(n), const float  *x, SimTK_FINC_(x), const float  *y, SimTK_FINC_(y));
extern double ddot_  (SimTK_FDIM_(n), const double *x, SimTK_FINC_(x), const double *y, SimTK_FINC_(y));
extern double dsdot_ (SimTK_FDIM_(n), const float  *x, SimTK_FINC_(x), const float  *y, SimTK_FINC_(y));
extern float  sdsdot_(SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), 
                                      const float  *x, SimTK_FINC_(x), const float  *y, SimTK_FINC_(y));

// Functions having prefixes S D SC DZ
extern float snrm2_(SimTK_FDIM_(n), const float *x, SimTK_FINC_(x));
extern float sasum_(SimTK_FDIM_(n), const float *x, SimTK_FINC_(x));

extern double dnrm2_(SimTK_FDIM_(n), const double *x, SimTK_FINC_(x));
extern double dasum_(SimTK_FDIM_(n), const double *x, SimTK_FINC_(x));

extern float scnrm2_(SimTK_FDIM_(n), const SimTK_C_ *x, SimTK_FINC_(x));
extern float scasum_(SimTK_FDIM_(n), const SimTK_C_ *x, SimTK_FINC_(x));

extern double dznrm2_(SimTK_FDIM_(n), const SimTK_Z_ *x, SimTK_FINC_(x));
extern double dzasum_(SimTK_FDIM_(n), const SimTK_Z_ *x, SimTK_FINC_(x));

// Int functions having standard 4 prefixes I(S D C Z)
extern int isamax_(SimTK_FDIM_(n), const float    *x, SimTK_FINC_(x));
extern int idamax_(SimTK_FDIM_(n), const double   *x, SimTK_FINC_(x));
extern int icamax_(SimTK_FDIM_(n), const SimTK_C_ *x, SimTK_FINC_(x));
extern int izamax_(SimTK_FDIM_(n), const SimTK_Z_ *x, SimTK_FINC_(x));

// BLAS Level 1 subroutines (that is, void methods).

// Routines with standard 4 prefixes _(s, d, c, z)
extern void sswap_(SimTK_FDIM_(n), float    *x, SimTK_FINC_(x), float    *y, SimTK_FINC_(y));
extern void dswap_(SimTK_FDIM_(n), double   *x, SimTK_FINC_(x), double   *y, SimTK_FINC_(y));
extern void cswap_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y));
extern void zswap_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y));

// assign y = x
extern void scopy_(SimTK_FDIM_(n), const float    *x, SimTK_FINC_(x), float    *y, SimTK_FINC_(y));
extern void dcopy_(SimTK_FDIM_(n), const double   *x, SimTK_FINC_(x), double   *y, SimTK_FINC_(y));
extern void ccopy_(SimTK_FDIM_(n), const SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y));
extern void zcopy_(SimTK_FDIM_(n), const SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y));

// y += ax
extern void saxpy_(SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha),    const float    *x, SimTK_FINC_(x), float    *y, SimTK_FINC_(y));
extern void daxpy_(SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha),   const double   *x, SimTK_FINC_(x), double   *y, SimTK_FINC_(y));
extern void caxpy_(SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y));
extern void zaxpy_(SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y));


/*
 * Routines with S and D prefix only
 */

// a,b are in/out, c,s are output (all scalars)
extern void srotg_(SimTK_FSCL_(float,a),  SimTK_FSCL_(float,b),  SimTK_FSCL_(float,c),  SimTK_FSCL_(float,s));
extern void drotg_(SimTK_FSCL_(double,a), SimTK_FSCL_(double,b), SimTK_FSCL_(double,c), SimTK_FSCL_(double,s));

// all parameters are in/out
extern void srotmg_(SimTK_FSCL_(float,d1),  SimTK_FSCL_(float,d2),  SimTK_FSCL_(float,b1),  SimTK_FSCL_(float,b2),  float  P[5]);
extern void drotmg_(SimTK_FSCL_(double,d1), SimTK_FSCL_(double,d2), SimTK_FSCL_(double,b1), SimTK_FSCL_(double,b2), double P[5]);

extern void srot_(SimTK_FDIM_(n), float  *x, SimTK_FINC_(x), float  *y, SimTK_FINC_(y), const SimTK_FSCL_(float,c),  const SimTK_FSCL_(float,s));
extern void drot_(SimTK_FDIM_(n), double *x, SimTK_FINC_(x), double *y, SimTK_FINC_(y), const SimTK_FSCL_(double,c), const SimTK_FSCL_(double,s));

extern void srotm_(SimTK_FDIM_(n), float  *x, SimTK_FINC_(x), float  *y, SimTK_FINC_(y), const float  P[5]);
extern void drotm_(SimTK_FDIM_(n), double *x, SimTK_FINC_(x), double *y, SimTK_FINC_(y), const double P[5]);


/*
 * Routines with S D C Z CS and ZD prefixes
 */
extern void sscal_ (SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha),    float    *x, SimTK_FINC_(x));
extern void dscal_ (SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha),   double   *x, SimTK_FINC_(x));
extern void cscal_ (SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *x, SimTK_FINC_(x));
extern void zscal_ (SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *x, SimTK_FINC_(x));
extern void csscal_(SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha),    SimTK_C_ *x, SimTK_FINC_(x));
extern void zdscal_(SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha),   SimTK_Z_ *x, SimTK_FINC_(x));

/*
 * Extra reference routines provided by ATLAS, but not mandated by the standard
 */
extern void crotg_(SimTK_C_ *a, SimTK_C_ *b, float  *c, SimTK_C_ *s);
extern void zrotg_(SimTK_Z_ *a, SimTK_Z_ *b, double *c, SimTK_Z_ *s);
extern void csrot_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y),
                   const SimTK_FSCL_(float,c),  const SimTK_FSCL_(float,s));
extern void zdrot_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y),
                   const SimTK_FSCL_(double,c), const SimTK_FSCL_(double,s));

/*
 *===========================================================================
 *Prototypes for level 2 BLAS
 *===========================================================================
 */

/*
 *Routines with standard 4 prefixes _(S, D, C, Z)
 */
// y = alpha A x + beta y
extern void sgemv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const float *x, SimTK_FINC_(x), const SimTK_FSCL_(float,beta), float *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void sgbmv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const float *x, SimTK_FINC_(x), const SimTK_FSCL_(float,beta), float *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void strmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const float *A, SimTK_FDIM_(lda), float *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void stbmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const float *A, SimTK_FDIM_(lda), float *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void stpmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const float *Ap, float *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void strsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const float *A, SimTK_FDIM_(lda), float *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void stbsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const float *A, SimTK_FDIM_(lda), float *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void stpsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const float *Ap, float *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

extern void dgemv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const double *x, SimTK_FINC_(x), const SimTK_FSCL_(double,beta), double *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void dgbmv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const double *x, SimTK_FINC_(x), const SimTK_FSCL_(double,beta), double *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void dtrmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const double *A, SimTK_FDIM_(lda), double *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void dtbmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const double *A, SimTK_FDIM_(lda), double *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void dtpmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const double *Ap, double *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void dtrsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const double *A, SimTK_FDIM_(lda), double *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void dtbsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const double *A, SimTK_FDIM_(lda), double *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void dtpsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const double *Ap, double *x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

extern void cgemv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void cgbmv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void ctrmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_C_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ctbmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_C_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ctpmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_C_ *Ap, SimTK_C_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ctrsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_C_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ctbsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_C_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ctpsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_C_ *Ap, SimTK_C_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

extern void zgemv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *Y, SimTK_FINC_(Y), SimTK_FLEN_(transA));
extern void zgbmv_(SimTK_FOPT_(transA), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *Y, SimTK_FINC_(Y),
                  SimTK_FLEN_(transA));
extern void ztrmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_Z_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ztbmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_Z_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));
extern void ztpmv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_Z_ *Ap, SimTK_Z_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));
extern void ztrsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_Z_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));
extern void ztbsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_Z_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ztpsv_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_Z_ *Ap, SimTK_Z_*x, SimTK_FINC_(x), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

/*
 * Routines with S and D prefixes only
 */
    // y = alpha A x + beta y
extern void ssymv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const float *x, SimTK_FINC_(x), const SimTK_FSCL_(float,beta), float *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void ssbmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const float *x, SimTK_FINC_(x), const SimTK_FSCL_(float,beta), float *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void sspmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *Ap, const float *x, SimTK_FINC_(x), const SimTK_FSCL_(float,beta), float *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

extern void dsymv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const double *x, SimTK_FINC_(x), const SimTK_FSCL_(double,beta), double *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void dsbmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const double *x, SimTK_FINC_(x), const SimTK_FSCL_(double,beta), double *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void dspmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *Ap, const double *x, SimTK_FINC_(x), const SimTK_FSCL_(double,beta), double *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

    // x,y are const, A is in/out
extern void sger_(SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *x, SimTK_FINC_(x), const float *y, SimTK_FINC_(y), float *A, SimTK_FDIM_(lda));
extern void ssyr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *x, SimTK_FINC_(x), float *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void sspr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *x, SimTK_FINC_(x), float *Ap, SimTK_FLEN_(uplo));
extern void ssyr2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *x, SimTK_FINC_(x), const float *y, SimTK_FINC_(y), float *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void sspr2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *x, SimTK_FINC_(x), const float *y, SimTK_FINC_(y), float *A, SimTK_FLEN_(uplo));

extern void dger_(SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *x, SimTK_FINC_(x), const double *y, SimTK_FINC_(y), double *A, SimTK_FDIM_(lda));
extern void dsyr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *x, SimTK_FINC_(x), double *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void dspr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *x, SimTK_FINC_(x), double *Ap, SimTK_FLEN_(uplo));
extern void dsyr2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *x, SimTK_FINC_(x), const double *y, SimTK_FINC_(y), double *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void dspr2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *x, SimTK_FINC_(x), const double *y, SimTK_FINC_(y), double *A, SimTK_FLEN_(uplo));

/*
 * Routines with C and Z prefixes only
 */
    // y = alpha A x + beta y
extern void chemv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void chbmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void chpmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *Ap, const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

extern void zhemv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void zhbmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));
extern void zhpmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *Ap, const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

    // x,y are const, A is in/out
extern void cgeru_(SimTK_FDIM_(m),    SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_C_ *y, SimTK_FINC_(y), SimTK_C_ *A, SimTK_FDIM_(lda));
extern void cgerc_(SimTK_FDIM_(m),    SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_C_ *y, SimTK_FINC_(y), SimTK_C_ *A, SimTK_FDIM_(lda));
extern void cher_ (SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha),    const SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void chpr_ (SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha),    const SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *A, SimTK_FLEN_(uplo));
extern void cher2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_C_ *y, SimTK_FINC_(y), SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void chpr2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *x, SimTK_FINC_(x), const SimTK_C_ *y, SimTK_FINC_(y), SimTK_C_ *Ap, SimTK_FLEN_(uplo));

extern void zgeru_(SimTK_FDIM_(m),    SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_Z_ *y, SimTK_FINC_(y), SimTK_Z_ *A, SimTK_FDIM_(lda));
extern void zgerc_(SimTK_FDIM_(m),    SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_Z_ *y, SimTK_FINC_(y), SimTK_Z_ *A, SimTK_FDIM_(lda));
extern void zher_ (SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha),   const SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void zhpr_ (SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha),   const SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *A, SimTK_FLEN_(uplo));
extern void zher2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_Z_ *y, SimTK_FINC_(y), SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));
extern void zhpr2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_Z_ *y, SimTK_FINC_(y), SimTK_Z_ *Ap, SimTK_FLEN_(uplo));

/*
 *===========================================================================
 *Prototypes for level 3 BLAS
 *===========================================================================
 */

/*
 *Routines with standard 4 prefixes _(S, D, C, Z)
 */
    // A, B are input, C in/out for gemm, symm, syrk, syr2k
extern void sgemm_ (SimTK_FOPT_(transA), SimTK_FOPT_(transB), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda),
                    const float *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(float,beta), float *C, SimTK_FDIM_(ldc), SimTK_FLEN_(transA), SimTK_FLEN_(transB));
extern void ssymm_ (SimTK_FOPT_(side), SimTK_FOPT_(uplo),   SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const float *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(float,beta), float *C, SimTK_FDIM_(ldc), SimTK_FLEN_(side), SimTK_FLEN_(uplo));
extern void ssyrk_ (SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const SimTK_FSCL_(float,beta), float *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(transA));
extern void ssyr2k_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), const float *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(float,beta), float *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(transA));

extern void dgemm_ (SimTK_FOPT_(transA), SimTK_FOPT_(transB), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda),
                    const double *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(double,beta), double *C, SimTK_FDIM_(ldc), SimTK_FLEN_(transA), SimTK_FLEN_(transB));
extern void dsymm_ (SimTK_FOPT_(side), SimTK_FOPT_(uplo),   SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const double *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(double,beta), double *C, SimTK_FDIM_(ldc), SimTK_FLEN_(side), SimTK_FLEN_(uplo));
extern void dsyrk_ (SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const SimTK_FSCL_(double,beta), double *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(transA));
extern void dsyr2k_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), const double *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(double,beta), double *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(transA));

extern void cgemm_ (SimTK_FOPT_(transA), SimTK_FOPT_(transB), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda),
                    const SimTK_C_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(transA), SimTK_FLEN_(transB));
extern void csymm_ (SimTK_FOPT_(side), SimTK_FOPT_(uplo),   SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(side), SimTK_FLEN_(uplo));
extern void csyrk_ (SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(transA));
extern void csyr2k_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(transA));

extern void zgemm_ (SimTK_FOPT_(transA), SimTK_FOPT_(transB), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda),
                    const SimTK_Z_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(transA), SimTK_FLEN_(transB));
extern void zsymm_ (SimTK_FOPT_(side), SimTK_FOPT_(uplo),   SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(side), SimTK_FLEN_(uplo));
extern void zsyrk_ (SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));
extern void zsyr2k_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

    // A is input, B in/out for trmm and trsm
extern void strmm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), float *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void strsm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const float *A, SimTK_FDIM_(lda), float *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

extern void dtrmm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), double *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void dtrsm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), const double *A, SimTK_FDIM_(lda), double *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

extern void ctrmm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_C_ *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ctrsm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), SimTK_C_ *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

extern void ztrmm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_Z_ *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));
extern void ztrsm_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), SimTK_Z_ *B, SimTK_FDIM_(ldb), SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(transA), SimTK_FLEN_(diag));

/*
 *Routines with prefixes C and Z only
 */
    // A, B are input, C in/out for hemm, herk, her2k
extern void chemm_ (SimTK_FOPT_(side), SimTK_FOPT_(uplo),   SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(side), SimTK_FLEN_(uplo));
extern void cherk_ (SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(float,alpha),    const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_FSCL_(float,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));
extern void cher2k_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_C_ *A, SimTK_FDIM_(lda), const SimTK_C_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(float,beta), SimTK_C_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void zhemm_ (SimTK_FOPT_(side), SimTK_FOPT_(uplo),   SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(side), SimTK_FLEN_(uplo));
extern void zherk_ (SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(double,alpha),   const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_FSCL_(double,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));
extern void zher2k_(SimTK_FOPT_(uplo), SimTK_FOPT_(transA), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_Z_ *A, SimTK_FDIM_(lda), const SimTK_Z_ *B, SimTK_FDIM_(ldb), const SimTK_FSCL_(double,beta), SimTK_Z_ *C, SimTK_FDIM_(ldc), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

/* END OF BLAS ROUTINES */

// ******* WARNING WARNING WARNING TODO TODO *******
// TODO: NOT YET CONST CORRECT BELOW HERE  <=============================== sherm 060329


/********************************************************************************
 * The LAPACK routines. For documentation, see the LAPACK User's Guide, 3rd ed. *
 ********************************************************************************/

extern void cbdsqr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ncvt, int *nru, int *ncc, float *d__, float *e, SimTK_C_ *vt, SimTK_FDIM_(ldvt), SimTK_C_ *u, SimTK_FDIM_(ldu), SimTK_C_ *c__, SimTK_FDIM_(ldc), float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));
extern void cgbbrd_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ncc, SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_C_ *ab, SimTK_FDIM_(ldab), float *d__, float *e, SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *pt, int *ldpt, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(vect));

extern void cgbcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_C_ *ab, SimTK_FDIM_(ldab), int *ipiv, float *anorm, float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void cgbequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_C_ *ab, SimTK_FDIM_(ldab), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, SimTK_INFO_);

extern void cgbrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), const SimTK_C_ *ab, SimTK_FDIM_(ldab), const SimTK_C_ *afb, SimTK_FDIM_(ldafb), int *ipiv, const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void cgbsv_(SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void cgbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *afb, SimTK_FDIM_(ldafb), int *ipiv, char *equed, float *r__, float *c__, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void cgbtf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_C_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void cgbtrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_C_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void cgbtrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), const SimTK_C_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void cgebak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, float *scale, SimTK_FDIM_(m), SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void cgebal_(SimTK_FOPT_(job), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ilo, int *ihi, float *scale, SimTK_INFO_, SimTK_FLEN_(job));

extern void cgebd2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *d__, float *e, SimTK_C_ *tauq, SimTK_C_ *taup, SimTK_C_ *work, SimTK_INFO_);

extern void cgebrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *d__, float *e, SimTK_C_ *tauq, SimTK_C_ *taup, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgecon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), const SimTK_C_ *a, SimTK_FDIM_(lda), float *anorm, float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void cgeequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_C_ *a, SimTK_FDIM_(lda), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, SimTK_INFO_);

extern void cgees_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_C select, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *sdim, SimTK_C_ *w, SimTK_C_ *vs, SimTK_FDIM_(ldvs), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort));

extern void cgeesx_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_C select, char *sense, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *sdim, SimTK_C_ *w, SimTK_C_ *vs, SimTK_FDIM_(ldvs), float *rconde, float *rcondv, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void cgeev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *w, SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void cgeevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *w, SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, float *scale, float *abnrm, float *rconde, float *rcondv, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void cgegs_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *beta, SimTK_C_ *vsl, int *ldvsl, SimTK_C_ *vsr, int *ldvsr, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr));

extern void cgegv_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr));

extern void cgehd2_(SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cgehrd_(SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgelq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cgelqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgels_(SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(trans));

extern void cgelsx_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), int *jpvt, float *rcond, int *rank, SimTK_C_ *work, float *rwork, SimTK_INFO_);

extern void cgelsy_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), int *jpvt, float *rcond, int *rank, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_);

extern void cgeql2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cgeqlf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgeqp3_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_);

extern void cgeqpf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_C_ *tau, SimTK_C_ *work, float *rwork, SimTK_INFO_);

extern void cgeqr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cgeqrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgerfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *a, SimTK_FDIM_(lda), const SimTK_C_ *af, int *ldaf, int *ipiv, const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void cgerq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cgerqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgesc2_(SimTK_FDIM_(n), const SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *rhs, int *ipiv, int *jpiv, float *scale);

extern void cgesv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void cgesvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *af, int *ldaf, int *ipiv, char *equed, float *r__, float *c__, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void cgetc2_(SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, int *jpiv, SimTK_INFO_);

extern void cgetf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void cgetrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void cgetri_(SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgetrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void cggbak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, float *lscale, float *rscale, SimTK_FDIM_(m), SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void cggbal_(SimTK_FOPT_(job), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), int *ilo, int *ihi, float *lscale, float *rscale, float *work, SimTK_INFO_, SimTK_FLEN_(job));

extern void cgges_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_2C selctg, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), int *sdim, const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *vsl, int *ldvsl, SimTK_C_ *vsr, int *ldvsr, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort));

extern void cggesx_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_2C selctg, char *sense, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), int *sdim, const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *vsl, int *ldvsl, SimTK_C_ *vsr, int *ldvsr, float *rconde, float *rcondv, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *iwork, int *liwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void cggev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void cggevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, float *lscale, float *rscale, float *abnrm, float *bbnrm, float *rconde, float *rcondv, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *iwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void cggglm_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *d__, SimTK_C_ *x, SimTK_C_ *y, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cgghrd_(SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_INFO_, SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void cgglse_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *c__, SimTK_C_ *d__, SimTK_C_ *x, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cggqrf_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *taua, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *taub, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cggrqf_(SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *taua, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *taub, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cggsvd_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, SimTK_FDIM_(k), int *l, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), SimTK_C_ *u, SimTK_FDIM_(ldu), SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *work, float *rwork, int *iwork, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void cggsvp_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), float *tola, float *tolb, SimTK_FDIM_(k), int *l, SimTK_C_ *u, SimTK_FDIM_(ldu), SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *q, SimTK_FDIM_(ldq), int *iwork, float *rwork, SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void cgtcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_C_ *dl, const SimTK_C_ *d__, const SimTK_C_ *du, const SimTK_C_ *du2, int *ipiv, float *anorm, float *rcond, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(norm));

extern void cgtrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *dl, const SimTK_C_ *d__, const SimTK_C_ *du, const SimTK_C_ *dlf, const SimTK_C_ *df, const SimTK_C_ *duf, const SimTK_C_ *du2, int *ipiv, const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void cgtsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *dl, SimTK_C_ *d__, SimTK_C_ *du, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void cgtsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *dl, const SimTK_C_ *d__, const SimTK_C_ *du, SimTK_C_ *dlf, SimTK_C_ *df, SimTK_C_ *duf, SimTK_C_ *du2, int *ipiv, const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans));

extern void cgttrf_(SimTK_FDIM_(n), SimTK_C_ *dl, SimTK_C_ *d__, SimTK_C_ *du, SimTK_C_ *du2, int *ipiv, SimTK_INFO_);

extern void cgttrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *dl, const SimTK_C_ *d__, const SimTK_C_ *du, const SimTK_C_ *du2, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void cgtts2_(int *itrans, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *dl, const SimTK_C_ *d__, const SimTK_C_ *du, const SimTK_C_ *du2, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb));

extern void chbev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chbevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chbevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *q, SimTK_FDIM_(ldq), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void chbgst_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, SimTK_C_ *ab, SimTK_FDIM_(ldab), const SimTK_C_ *bb, int *ldbb, SimTK_C_ *x, int *ldx, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void chbgv_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *bb, int *ldbb, float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chbgvx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *bb, int *ldbb, SimTK_C_ *q, SimTK_FDIM_(ldq), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void chbtrd_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *d__, float *e, SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void checon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, float *anorm, float *rcond, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cheev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *w, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void cheevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *w, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void cheevr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), int *isuppz, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void cheevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void chegs2_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chegst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chegv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), float *w, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chegvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), float *w, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chegvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void cherfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *a, SimTK_FDIM_(lda), const SimTK_C_ *af, int *ldaf, int *ipiv, const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chesv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chesvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *af, int *ldaf, int *ipiv, const SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void chetf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chetrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *d__, float *e, SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chetrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chetri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chetrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chgeqz_(SimTK_FOPT_(job), SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(comq), SimTK_FLEN_(compz));

extern void chpcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, int *ipiv, float *anorm, float *rcond, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chpev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chpevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chpevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void chpgst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *bp, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chpgv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *bp, float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chpgvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *bp, float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void chpgvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *bp, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, float *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void chprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *afp, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chpsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chpsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *afp, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void chptrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *d__, float *e, SimTK_C_ *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, int *ipiv, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void chsein_(SimTK_FOPT_(side), char *eigsrc, char *initv, int *select, SimTK_FDIM_(n), SimTK_C_ *h__, int *ldh, SimTK_C_ *w, SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), SimTK_C_ *work, float *rwork, int *ifaill, int *ifailr, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(eigsrc), SimTK_FLEN_(initv));

extern void chseqr_(SimTK_FOPT_(job), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *h__, int *ldh, SimTK_C_ *w, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compz));

extern void clabrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *nb, SimTK_C_ *a, SimTK_FDIM_(lda), float *d__, float *e, SimTK_C_ *tauq, SimTK_C_ *taup, SimTK_C_ *x, int *ldx, SimTK_C_ *y, int *ldy);

extern void clacgv_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x));

extern void clacon_(SimTK_FDIM_(n), SimTK_C_ *v, SimTK_C_ *x, float *est, int *kase, int *j, int *jump, int* iter);

extern void clacp2_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_FLEN_(uplo));

extern void clacpy_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_FLEN_(uplo));

extern void clacrm_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_C_ *c__, SimTK_FDIM_(ldc), float *rwork);

extern void clacrt_(SimTK_FDIM_(n), SimTK_C_ *cx, SimTK_FINC_(x), SimTK_C_ *cy, SimTK_FINC_(y), SimTK_C_ *c__, SimTK_C_ *s);

extern void claed0_(int *qsiz, SimTK_FDIM_(n), float *d__, float *e, SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *qstore, SimTK_FDIM_(ldqs), float *rwork, int *iwork, SimTK_INFO_);

extern void claed7_(SimTK_FDIM_(n), int *cutpnt, int *qsiz, int *tlvls, int *curlvl, int *curpbm, float *d__, SimTK_C_ *q, SimTK_FDIM_(ldq), float *rho, int *indxq, float *qstore, int *qptr, int *prmptr, int *perm, int *givptr, int *givcol, float *givnum, SimTK_C_ *work, float *rwork, int *iwork, SimTK_INFO_);

extern void claed8_(SimTK_FDIM_(k), SimTK_FDIM_(n), int *qsiz, SimTK_C_ *q, SimTK_FDIM_(ldq), float *d__, float *rho, int *cutpnt, float *z__, float *dlamda, SimTK_C_ *q2, SimTK_FDIM_(ldq2), float *w, int *indxp, int *indx, int *indxq, int *perm, int *givptr, int *givcol, float *givnum, SimTK_INFO_);

extern void claein_(int *rightv, int *noinit, SimTK_FDIM_(n), SimTK_C_ *h__, int *ldh, SimTK_C_ *w, SimTK_C_ *v, SimTK_C_ *b, SimTK_FDIM_(ldb), float *rwork, float *eps3, float *smlnum, SimTK_INFO_);

extern void claesy_(SimTK_C_ *a, SimTK_C_ *b, SimTK_C_ *c__, SimTK_C_ *rt1, SimTK_C_ *rt2, SimTK_C_ *evscal, SimTK_C_ *cs1, SimTK_C_ *sn1);

extern void claev2_(SimTK_C_ *a, SimTK_C_ *b, SimTK_C_ *c__, float *rt1, float *rt2, float *cs1, SimTK_C_ *sn1);

extern void clags2_(int *upper, float *a1, SimTK_C_ *a2, float *a3, float *b1, SimTK_C_ *b2, float *b3, float *csu, SimTK_C_ *snu, float *csv, SimTK_C_ *snv, float *csq, SimTK_C_ *snq);

extern void clagtm_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *alpha, SimTK_C_ *dl, SimTK_C_ *d__, SimTK_C_ *du, SimTK_C_ *x, int *ldx, const SimTK_FSCL_(float,beta), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_FLEN_(trans));

extern void clahef_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, int *kb, SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *w, int *ldw, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void clahqr_(int *wantt, int *wantz, SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *h__, int *ldh, SimTK_C_ *w, int *iloz, int *ihiz, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_INFO_);

extern void clahrd_(SimTK_FDIM_(n), SimTK_FDIM_(k), int *nb, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *y, int *ldy);

extern void claic1_(int *job, int *j, SimTK_C_ *x, float *sest, SimTK_C_ *w, SimTK_C_ *gamma, float *sestpr, SimTK_C_ *s, SimTK_C_ *c__);

extern void clals0_(int *icompq, int *nl, int *nr, int *sqre, SimTK_FDIM_(nrhs), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *bx, int *ldbx, int *perm, int *givptr, int *givcol, int *ldgcol, float *givnum, int *ldgnum, float *poles, float *difl, float *difr, float *z__, SimTK_FDIM_(k), float *c__, float *s, float *rwork, SimTK_INFO_);

extern void clalsa_(int *icompq, int *smlsiz, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *bx, int *ldbx, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(k), float *difl, float *difr, float *z__, float *poles, int *givptr, int *givcol, int *ldgcol, int *perm, float *givnum, float *c__, float *s, float *rwork, int *iwork, SimTK_INFO_);

extern void clapll_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y), float *ssmin);

extern void clapmt_(int *forwrd, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *x, int *ldx, SimTK_FDIM_(k));

extern void claqgb_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_C_ *ab, SimTK_FDIM_(ldab), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, char *equed, SimTK_FLEN_(equed));

extern void claqge_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, char *equed, SimTK_FLEN_(equed));

extern void claqhb_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void claqhe_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void claqhp_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void claqp2_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, SimTK_C_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_C_ *tau, float *vn1, float *vn2, SimTK_C_ *work);

extern void claqps_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, int *nb, int *kb, SimTK_C_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_C_ *tau, float *vn1, float *vn2, SimTK_C_ *auxv, SimTK_C_ *f, int *ldf);

extern void claqsb_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void claqsp_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void claqsy_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void clar1v_(SimTK_FDIM_(n), int *b1, int *bn, float *sigma, float *d__, float *l, float *ld, float *lld, float *gersch, SimTK_C_ *z__, float *ztz, float *mingma, int *r__, int *isuppz, float *work);

extern void clar2v_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_C_ *y, SimTK_C_ *z__, SimTK_FINC_(x), float *c__, SimTK_C_ *s, SimTK_FINC_(c));

extern void clarcm_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *c__, SimTK_FDIM_(ldc), float *rwork);

extern void clarf_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *v, SimTK_FINC_(v), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FLEN_(side));

extern void clarfb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void clarfg_(SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *x, int *incx, SimTK_C_ *tau);

extern void clarft_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *tau, SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void clarfx_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *v, SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FLEN_(side));

extern void clargv_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y), float *c__, SimTK_FINC_(c));

extern void clarnv_(int *idist, int *iseed, SimTK_FDIM_(n), SimTK_C_ *x);

extern void clarrv_(SimTK_FDIM_(n), float *d__, float *l, int *isplit, SimTK_FDIM_(m), float *w, int *iblock, float *gersch, float *tol, SimTK_C_ *z__, SimTK_FDIM_(ldz), int *isuppz, float *work, int *iwork, SimTK_INFO_);

extern void clartg_(SimTK_C_ *f, SimTK_C_ *g, float *cs, SimTK_C_ *sn, SimTK_C_ *r__);

extern void clartv_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *y, SimTK_FINC_(y), float *c__, SimTK_C_ *s, SimTK_FINC_(c));

extern void clarz_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, SimTK_C_ *v, SimTK_FINC_(v), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FLEN_(side));

extern void clarzb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void clarzt_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *tau, SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void clascl_(char *type__, SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *cfrom, float *cto, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(type));

extern void claset_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *alpha, const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));

extern void clasr_(SimTK_FOPT_(side), char *pivot, SimTK_FOPT_(direct), SimTK_FDIM_(m), SimTK_FDIM_(n), float *c__, float *s, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_FLEN_(side), SimTK_FLEN_(pivot), SimTK_FLEN_(direct));

extern void classq_(SimTK_FDIM_(n), SimTK_C_ *x, SimTK_FINC_(x), float *scale, float *sumsq);

extern void claswp_(SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *k1, int *k2, int *ipiv, SimTK_FINC_(x));

extern void clasyf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, int *kb, SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *w, int *ldw, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void clatbs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *x, float *scale, float *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag), SimTK_FLEN_(normin));

extern void clatdf_(int *ijob, SimTK_FDIM_(n), SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *rhs, float *rdsum, float *rdscal, int *ipiv, int *jpiv);

extern void clatps_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *x, float *scale, float *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag), SimTK_FLEN_(normin));

extern void clatrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, SimTK_C_ *a, SimTK_FDIM_(lda), float *e, SimTK_C_ *tau, SimTK_C_ *w, int *ldw, SimTK_FLEN_(uplo));

extern void clatrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *x, float *scale, float *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag), SimTK_FLEN_(normin));

extern void clatrz_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work);

extern void clatzm_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *v, SimTK_FINC_(v), SimTK_C_ *tau, SimTK_C_ *c1, SimTK_C_ *c2, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FLEN_(side));

extern void clauu2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void clauum_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *anorm, float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *s, float *scond, float *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *afb, SimTK_FDIM_(ldafb), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbstf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *afb, SimTK_FDIM_(ldafb), char *equed, float *s, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void cpbtf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbtrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpbtrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpocon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *anorm, float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpoequ_(SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *s, float *scond, float *amax, SimTK_INFO_);

extern void cporfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *af, int *ldaf, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cposv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cposvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *af, int *ldaf, char *equed, float *s, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void cpotf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpotrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpotri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpotrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cppcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *anorm, float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cppequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, float *s, float *scond, float *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *afp, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cppsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cppsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *afp, char *equed, float *s, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void cpptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cpptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cptcon_(SimTK_FDIM_(n), float *d__, SimTK_C_ *e, float *anorm, float *rcond, float *rwork, SimTK_INFO_);

extern void cptrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, SimTK_C_ *e, float *df, SimTK_C_ *ef, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cptsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, SimTK_C_ *e, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void cptsvx_(SimTK_FOPT_(fact), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, SimTK_C_ *e, float *df, SimTK_C_ *ef, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact));

extern void cpttrf_(SimTK_FDIM_(n), float *d__, SimTK_C_ *e, SimTK_INFO_);

extern void cpttrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, SimTK_C_ *e, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cptts2_(int *iuplo, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, SimTK_C_ *e, SimTK_C_ *b, SimTK_FDIM_(ldb));

extern void crot_(SimTK_FDIM_(n), SimTK_C_ *cx, SimTK_FINC_(x), SimTK_C_ *cy, SimTK_FINC_(y), float *c__, SimTK_C_ *s);

extern void cspcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, int *ipiv, float *anorm, float *rcond, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cspmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *ap, SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *y, int *incy, SimTK_FLEN_(uplo));

extern void cspr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *ap, SimTK_FLEN_(uplo));

extern void csprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *afp, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cspsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cspsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *afp, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void csptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, int *ipiv, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csrscl_(SimTK_FDIM_(n), float *sa, SimTK_C_ *sx, SimTK_FINC_(x));

extern void cstedc_(SimTK_FOPT_(compz), SimTK_FDIM_(n), float *d__, float *e, SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(compz));

extern void cstein_(SimTK_FDIM_(n), float *d__, float *e, SimTK_FDIM_(m), float *w, int *iblock, int *isplit, SimTK_C_ *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_);

extern void csteqr_(SimTK_FOPT_(compz), SimTK_FDIM_(n), float *d__, float *e, SimTK_C_ *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(compz));

extern void csycon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, float *anorm, float *rcond, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csymv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

extern void csyr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_C_,alpha), SimTK_C_ *x, SimTK_FINC_(x), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));

extern void csyrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *af, int *ldaf, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csysv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csysvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *af, int *ldaf, int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *rcond, float *ferr, float *berr, SimTK_C_ *work, SimTK_FDIM_(lwork), float *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void csytf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csytrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csytri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void csytrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ctbcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_C_ *ab, SimTK_FDIM_(ldab), float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ctbrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ctbtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_C_ *ab, SimTK_FDIM_(ldab), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ctgevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void ctgex2_(int *wantq, int *wantz, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *z__, SimTK_FDIM_(ldz), int *j1, SimTK_INFO_);

extern void ctgexc_(int *wantq, int *wantz, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *z__, SimTK_FDIM_(ldz), int *ifst, int *ilst, SimTK_INFO_);

extern void ctgsen_(int *ijob, int *wantq, int *wantz, int *select, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_C_,alpha), const SimTK_FSCL_(SimTK_C_,beta), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *z__, SimTK_FDIM_(ldz), SimTK_FDIM_(m), float *pl, float *pr, float *dif, SimTK_C_ *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_);

extern void ctgsja_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), float *tola, float *tolb, const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), SimTK_C_ *u, SimTK_FDIM_(ldu), SimTK_C_ *v, SimTK_FDIM_(ldv), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *work, int *ncycle, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void ctgsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), float *s, float *dif, int *mm, SimTK_FDIM_(m), SimTK_C_ *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void ctgsy2_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *d__, int *ldd, SimTK_C_ *e, int *lde, SimTK_C_ *f, int *ldf, float *scale, float *rdsum, float *rdscal, SimTK_INFO_, SimTK_FLEN_(trans));

extern void ctgsyl_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *d__, int *ldd, SimTK_C_ *e, int *lde, SimTK_C_ *f, int *ldf, float *scale, float *dif, SimTK_C_ *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void ctpcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_C_ *ap, float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ctprfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ctptri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ctptrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *ap, SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ctrcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *rcond, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ctrevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void ctrexc_(SimTK_FOPT_(compq), SimTK_FDIM_(n), SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *q, SimTK_FDIM_(ldq), int *ifst, int *ilst, SimTK_INFO_, SimTK_FLEN_(compq));

extern void ctrrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *x, int *ldx, float *ferr, float *berr, SimTK_C_ *work, float *rwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ctrsen_(SimTK_FOPT_(job), SimTK_FOPT_(compq), int *select, SimTK_FDIM_(n), SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *w, SimTK_FDIM_(m), float *s, float *sep, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq));

extern void ctrsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_C_ *t, SimTK_FDIM_(ldt), SimTK_C_ *vl, SimTK_FDIM_(ldvl), SimTK_C_ *vr, SimTK_FDIM_(ldvr), float *s, float *sep, int *mm, SimTK_FDIM_(m), SimTK_C_ *work, int *ldwork, float *rwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void ctrsyl_(SimTK_FOPT_(trana), SimTK_FOPT_(tranb), int *isgn, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_C_ *c__, SimTK_FDIM_(ldc), float *scale, SimTK_INFO_, SimTK_FLEN_(trana), SimTK_FLEN_(tranb));

extern void ctrti2_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ctrtri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ctrtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ctzrqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_INFO_);

extern void ctzrzf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cung2l_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cung2r_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cungbr_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect));

extern void cunghr_(SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), int *info);

extern void cungl2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cunglq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cungql_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cungqr_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cungr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_INFO_);

extern void cungrq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void cungtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cunm2l_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunm2r_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmbr_(SimTK_FOPT_(vect), SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmhr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunml2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmlq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmql_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmqr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmr2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmr3_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmrq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmrz_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void cunmtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void cupgtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *tau, SimTK_C_ *q, SimTK_FDIM_(ldq), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void cupmtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_C_ *ap, SimTK_C_ *tau, SimTK_C_ *c__, SimTK_FDIM_(ldc), SimTK_C_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void dbdsdc_(SimTK_FOPT_(uplo), SimTK_FOPT_(compq), SimTK_FDIM_(n), double *d__, double *e, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(ldvt), double *q, int *iq, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(compq));

extern void dbdsqr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ncvt, int *nru, int *ncc, double *d__, double *e, double *vt, SimTK_FDIM_(ldvt), double *u, SimTK_FDIM_(ldu), double *c__, int *ldc, double *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ddisna_(SimTK_FOPT_(job), SimTK_FDIM_(m), SimTK_FDIM_(n), double *d__, double *sep, SimTK_INFO_, SimTK_FLEN_(job));

extern void dgbbrd_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ncc, SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *ab, SimTK_FDIM_(ldab), double *d__, double *e, double *q, SimTK_FDIM_(ldq), double *pt, int *ldpt, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(vect));

extern void dgbcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *ab, SimTK_FDIM_(ldab), int *ipiv, double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void dgbequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *ab, SimTK_FDIM_(ldab), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, SimTK_INFO_);

extern void dgbrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *afb, SimTK_FDIM_(ldafb), int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void dgbsv_(SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void dgbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *afb, SimTK_FDIM_(ldafb), int *ipiv, char *equed, double *r__, double *c__, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void dgbtf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void dgbtrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void dgbtrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void dgebak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, double *scale, SimTK_FDIM_(m), double *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void dgebal_(SimTK_FOPT_(job), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ilo, int *ihi, double *scale, SimTK_INFO_, SimTK_FLEN_(job));

extern void dgebd2_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *d__, double *e, double *tauq, double *taup, double *work, SimTK_INFO_);

extern void dgebrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *d__, double *e, double *tauq, double *taup, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgecon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void dgeequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, SimTK_INFO_);

extern void dgees_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_2D select, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *sdim, double *wr, double *wi, double *vs, SimTK_FDIM_(ldvs), double *work, SimTK_FDIM_(lwork), int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort));

extern void dgeesx_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_2D select, char *sense, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *sdim, double *wr, double *wi, double *vs, SimTK_FDIM_(ldvs), double *rconde, double *rcondv, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void dgeev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *wr, double *wi, double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void dgeevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *wr, double *wi, double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, double *scale, double *abnrm, double *rconde, double *rcondv, double *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void dgegs_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, const SimTK_FSCL_(double,beta), double *vsl, int *ldvsl, double *vsr, int *ldvsr, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr));

extern void dgegv_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, const SimTK_FSCL_(double,beta), double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr));

extern void dgehd2_(SimTK_FDIM_(n), int *ilo, int *ihi, double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dgehrd_(SimTK_FDIM_(n), int *ilo, int *ihi, double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgelq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dgelqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgels_(SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(trans));

extern void dgelsd_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *s, double *rcond, int *rank, double *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_);

extern void dgelss_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *s, double *rcond, int *rank, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgelsx_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), int *jpvt, double *rcond, int *rank, double *work, SimTK_INFO_);

extern void dgelsy_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), int *jpvt, double *rcond, int *rank, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgeql2_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dgeqlf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgeqp3_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *jpvt, double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgeqpf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *jpvt, double *tau, double *work, SimTK_INFO_);

extern void dgeqr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dgeqrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgerfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *af, int *ldaf, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void dgerq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dgerqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgesc2_(SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *rhs, int *ipiv, int *jpiv, double *scale);

extern void dgesdd_(SimTK_FOPT_(jobz), SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *s, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(ldvt), double *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(jobz));

extern void dgesv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void dgesvd_(SimTK_FOPT_(jobu), char *jobvt, SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *s, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(ldvt), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobvt));

extern void dgesvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *af, int *ldaf, int *ipiv, char *equed, double *r__, double *c__, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void dgetc2_(SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, int *jpiv, SimTK_INFO_);

extern void dgetf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void dgetrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void dgetri_(SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), const int *ipiv, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgetrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void dggbak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, double *lscale, double *rscale, SimTK_FDIM_(m), double *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void dggbal_(SimTK_FOPT_(job), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), int *ilo, int *ihi, double *lscale, double *rscale, double *work, SimTK_INFO_, SimTK_FLEN_(job));

extern void dgges_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_3D delctg, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), int *sdim, double *alphar, double *alphai, const SimTK_FSCL_(double,beta), double *vsl, int *ldvsl, double *vsr, int *ldvsr, double *work, SimTK_FDIM_(lwork), int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort));

extern void dggesx_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_3D delctg, char *sense, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), int *sdim, double *alphar, double *alphai, const SimTK_FSCL_(double,beta), double *vsl, int *ldvsl, double *vsr, int *ldvsr, double *rconde, double *rcondv, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void dggev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, const SimTK_FSCL_(double,beta), double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void dggevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, double *beta, double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, double *lscale, double *rscale, double *abnrm, double *bbnrm, double *rconde, double *rcondv, double *work, SimTK_FDIM_(lwork), int *iwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void dggglm_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *d__, double *x, double *y, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dgghrd_(SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *q, SimTK_FDIM_(ldq), double *z__, SimTK_FDIM_(ldz), SimTK_INFO_, SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void dgglse_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *c__, double *d__, double *x, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dggqrf_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, double *a, SimTK_FDIM_(lda), double *taua, double *b, SimTK_FDIM_(ldb), double *taub, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dggrqf_(SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *taua, double *b, SimTK_FDIM_(ldb), double *taub, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dggsvd_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, SimTK_FDIM_(k), int *l, double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), double *u, SimTK_FDIM_(ldu), double *v, SimTK_FDIM_(ldv), double *q, SimTK_FDIM_(ldq), double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void dggsvp_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *tola, double *tolb, SimTK_FDIM_(k), int *l, double *u, SimTK_FDIM_(ldu), double *v, SimTK_FDIM_(ldv), double *q, SimTK_FDIM_(ldq), int *iwork, double *tau, double *work, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void dgtcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), double *dl, double *d__, double *du, double *du2, int *ipiv, double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void dgtrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *dl, double *d__, double *du, double *dlf, double *df, double *duf, double *du2, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void dgtsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *dl, double *d__, double *du, double *b, SimTK_FDIM_(ldb), int *info);

extern void dgtsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *dl, double *d__, double *du, double *dlf, double *df, double *duf, double *du2, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans));

extern void dgttrf_(SimTK_FDIM_(n), double *dl, double *d__, double *du, double *du2, int *ipiv, SimTK_INFO_);

extern void dgttrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *dl, double *d__, double *du, double *du2, int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void dgtts2_(int *itrans, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *dl, double *d__, double *du, double *du2, int *ipiv, double *b, SimTK_FDIM_(ldb));

extern void dhgeqz_(SimTK_FOPT_(job), SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, double *beta, double *q, SimTK_FDIM_(ldq), double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void dhsein_(SimTK_FOPT_(side), char *eigsrc, char *initv, int *select, SimTK_FDIM_(n), double *h__, int *ldh, double *wr, double *wi, double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), double *work, int *ifaill, int *ifailr, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(eigsrc), SimTK_FLEN_(initv));

extern double  dlamch_(SimTK_FOPT_(cmach), SimTK_FLEN_(cmach));

extern void dhseqr_(SimTK_FOPT_(job), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, double *h__, int *ldh, double *wr, double *wi, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(comqz));

extern void dlabad_(double *small, double *large);

extern void dlabrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *nb, double *a, SimTK_FDIM_(lda), double *d__, double *e, double *tauq, double *taup, double *x, int *ldx, double *y, int *ldy);

extern void dlacon_(SimTK_FDIM_(n), double *v, double *x, int *isgn, double *est, int *kase, int *j, int *jump, int* iter);

extern void dlacpy_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_FLEN_(uplo));

extern void dladiv_(double *a, double *b, double *c__, double *d__, double *p, double *q);

extern void dlae2_(double *a, double *b, double *c__, double *rt1, double *rt2);

extern void dlaebz_(int *ijob, int *nitmax, SimTK_FDIM_(n), int *mmax, int *minp, int *nbmin, double *abstol, double *reltol, double *pivmin, double *d__, double *e, double *e2, int *nval, double *ab, double *c__, int *mout, int *nab, double *work, int *iwork, SimTK_INFO_);

extern void dlaed0_(int *icompq, int *qsiz, SimTK_FDIM_(n), double *d__, double *e, double *q, SimTK_FDIM_(ldq), double *qstore, SimTK_FDIM_(ldqs), double *work, int *iwork, SimTK_INFO_);

extern void dlaed1_(SimTK_FDIM_(n), double *d__, double *q, SimTK_FDIM_(ldq), int *indxq, double *rho, int *cutpnt, double *work, int *iwork, SimTK_INFO_);

extern void dlaed2_(SimTK_FDIM_(k), SimTK_FDIM_(n), int *n1, double *d__, double *q, SimTK_FDIM_(ldq), int *indxq, double *rho, double *z__, double *dlamda, double *w, double *q2, int *indx, int *indxc, int *indxp, int *coltyp, SimTK_INFO_);

extern void dlaed3_(SimTK_FDIM_(k), SimTK_FDIM_(n), int *n1, double *d__, double *q, SimTK_FDIM_(ldq), double *rho, double *dlamda, double *q2, int *indx, int *ctot, double *w, double *s, SimTK_INFO_);

extern void dlaed4_(SimTK_FDIM_(n), int *i__, double *d__, double *z__, double *delta, double *rho, double *dlam, SimTK_INFO_);

extern void dlaed5_(int *i__, double *d__, double *z__, double *delta, double *rho, double *dlam);

extern void dlaed6_(int *kniter, int *orgati, double *rho, double *d__, double *z__, double *finit, double *tau, SimTK_INFO_);

extern void dlaed7_(int *icompq, SimTK_FDIM_(n), int *qsiz, int *tlvls, int *curlvl, int *curpbm, double *d__, double *q, SimTK_FDIM_(ldq), int *indxq, double *rho, int *cutpnt, double *qstore, int *qptr, int *prmptr, int *perm, int *givptr, int *givcol, double *givnum, double *work, int *iwork, SimTK_INFO_);

extern void dlaed8_(int *icompq, SimTK_FDIM_(k), SimTK_FDIM_(n), int *qsiz, double *d__, double *q, SimTK_FDIM_(ldq), int *indxq, double *rho, int *cutpnt, double *z__, double *dlamda, double *q2, SimTK_FDIM_(ldq2), double *w, int *perm, int *givptr, int *givcol, double *givnum, int *indxp, int *indx, SimTK_INFO_);

extern void dlaed9_(SimTK_FDIM_(k), int *kstart, int *kstop, SimTK_FDIM_(n), double *d__, double *q, SimTK_FDIM_(ldq), double *rho, double *dlamda, double *w, double *s, int *lds, SimTK_INFO_);

extern void dlaeda_(SimTK_FDIM_(n), int *tlvls, int *curlvl, int *curpbm, int *prmptr, int *perm, int *givptr, int *givcol, double *givnum, double *q, int *qptr, double *z__, double *ztemp, SimTK_INFO_);

extern void dlaein_(int *rightv, int *noinit, SimTK_FDIM_(n), double *h__, int *ldh, double *wr, double *wi, double *vr, double *vi, double *b, SimTK_FDIM_(ldb), double *work, double *eps3, double *smlnum, double *bignum, SimTK_INFO_);

extern void dlaev2_(double *a, double *b, double *c__, double *rt1, double *rt2, double *cs1, double *sn1);

extern void dlaexc_(int *wantq, SimTK_FDIM_(n), double *t, SimTK_FDIM_(ldt), double *q, SimTK_FDIM_(ldq), int *j1, int *n1, int *n2, double *work, SimTK_INFO_);

extern void dlag2_(double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *safmin, double *scale1, double *scale2, double *wr1, double *wr2, double *wi);

extern void dlags2_(int *upper, double *a1, double *a2, double *a3, double *b1, double *b2, double *b3, double *csu, double *snu, double *csv, double *snv, double *csq, double *snq);

extern void dlagtf_(SimTK_FDIM_(n), double *a, double *lambda, double *b, double *c__, double *tol, double *d__, int *in, SimTK_INFO_);

extern void dlagtm_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_FSCL_(double,alpha), double *dl, double *d__, double *du, double *x, int *ldx, const SimTK_FSCL_(double,beta), double *b, SimTK_FDIM_(ldb), SimTK_FLEN_(trans));

extern void dlagts_(int *job, SimTK_FDIM_(n), double *a, double *b, double *c__, double *d__, int *in, double *y, double *tol, SimTK_INFO_);

extern void dlagv2_(double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, double *beta, double *csl, double *snl, double *csr, double *snr);

extern void dlahqr_(int *wantt, int *wantz, SimTK_FDIM_(n), int *ilo, int *ihi, double *h__, int *ldh, double *wr, double *wi, int *iloz, int *ihiz, double *z__, SimTK_FDIM_(ldz), SimTK_INFO_);

extern void dlahrd_(SimTK_FDIM_(n), SimTK_FDIM_(k), int *nb, double *a, SimTK_FDIM_(lda), double *tau, double *t, SimTK_FDIM_(ldt), double *y, int *ldy);

extern void dlaic1_(int *job, int *j, double *x, double *sest, double *w, double *gamma, double *sestpr, double *s, double *c__);

extern void dlaln2_(int *ltrans, int *na, int *nw, double *smin, double *ca, double *a, SimTK_FDIM_(lda), double *d1, double *d2, double *b, SimTK_FDIM_(ldb), double *wr, double *wi, double *x, int *ldx, double *scale, double *xnorm, SimTK_INFO_);

extern void dlals0_(int *icompq, int *nl, int *nr, int *sqre, SimTK_FDIM_(nrhs), double *b, SimTK_FDIM_(ldb), double *bx, int *ldbx, int *perm, int *givptr, int *givcol, int *ldgcol, double *givnum, int *ldgnum, double *poles, double *difl, double *difr, double *z__, int *k, double *c__, double *s, double *work, SimTK_INFO_);

extern void dlalsa_(int *icompq, int *smlsiz, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *b, SimTK_FDIM_(ldb), double *bx, int *ldbx, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(k), double *difl, double *difr, double *z__, double *poles, int *givptr, int *givcol, int *ldgcol, int *perm, double *givnum, double *c__, double *s, double *work, int *iwork, SimTK_INFO_);

extern void dlalsd_(SimTK_FOPT_(uplo), int *smlsiz, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, double *e, double *b, SimTK_FDIM_(ldb), double *rcond, int *rank, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dlamc1_(int *beta, int *t, int *rnd, int *ieee1);

extern void dlamc2_(int *beta, int *t, int *rnd, double *eps, int *emin, double *rmin, int *emax, double *rmax);

extern void dlamc4_(int *emin, double *start, int *base);

extern void dlamc5_(int *beta, int *p, int *emin, int *ieee, int *emax, double *rmax);

extern void dlamrg_(int *n1, int *n2, double *a, int *dtrd1, int *dtrd2, int *index);

extern void dlanv2_(double *a, double *b, double *c__, double *d__, double *rt1r, double *rt1i, double *rt2r, double *rt2i, double *cs, double *sn);

extern void dlapll_(SimTK_FDIM_(n), double *x, SimTK_FINC_(x), double *y, SimTK_FINC_(y), double *ssmin);

extern void dlapmt_(int *forwrd, SimTK_FDIM_(m), SimTK_FDIM_(n), double *x, int *ldx, SimTK_FDIM_(k));

extern void dlaqgb_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *ab, SimTK_FDIM_(ldab), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, char *equed, SimTK_FLEN_(equed));

extern void dlaqge_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, char *equed, SimTK_FLEN_(equed));

extern void dlaqp2_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, double *a, SimTK_FDIM_(lda), int *jpvt, double *tau, double *vn1, double *vn2, double *work);

extern void dlaqps_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, int *nb, int *kb, double *a, SimTK_FDIM_(lda), int *jpvt, double *tau, double *vn1, double *vn2, double *auxv, double *f, int *ldf);

extern void dlaqsb_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equedk));

extern void dlaqsp_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equedk));

extern void dlaqsy_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *s, double *scond, double *amax, char *equedk, SimTK_FLEN_(uplo), SimTK_FLEN_(equedk));

extern void dlaqtr_(int *ltran, int *lfloat, SimTK_FDIM_(n), double *t, SimTK_FDIM_(ldt), double *b, double *w, double *scale, double *x, double *work, SimTK_INFO_);

extern void dlar1v_(SimTK_FDIM_(n), int *b1, int *bn, double *sigma, double *d__, double *l, double *ld, double *lld, double *gersch, double *z__, double *ztz, double *mingma, int *r__, int *isuppz, double *work);

extern void dlar2v_(SimTK_FDIM_(n), double *x, double *y, double *z__, SimTK_FINC_(x), double *c__, double *s, SimTK_FINC_(c));

extern void dlarf_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), double *v, SimTK_FINC_(v), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FLEN_(side));

extern void dlarfb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *v, SimTK_FDIM_(ldv), double *t, SimTK_FDIM_(ldt), double *c__, SimTK_FDIM_(ldc), double *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void dlarfg_(SimTK_FDIM_(n), const SimTK_FSCL_(double,alpha), double *x, SimTK_FINC_(x), double *tau);

extern void dlarft_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, double *v, SimTK_FDIM_(ldv), double *tau, double *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void dlarfx_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), double *v, double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FLEN_(side));

extern void dlargv_(SimTK_FDIM_(n), double *x, SimTK_FINC_(x), double *y, SimTK_FINC_(y), double *c__, SimTK_FINC_(c));

extern void dlarnv_(int *idist, int *iseed, SimTK_FDIM_(n), double *x);

extern void dlarrb_(SimTK_FDIM_(n), double *d__, double *l, double *ld, double *lld, int *ifirst, int *ilast, double *sigma, double *reltol, double *w, double *wgap, double *werr, double *work, int *iwork, SimTK_INFO_);

extern void dlarre_(SimTK_FDIM_(n), double *d__, double *e, double *tol, int *nsplit, int *isplit, SimTK_FDIM_(m), double *w, double *woff, double *gersch, double *work, SimTK_INFO_);

extern void dlarrf_(SimTK_FDIM_(n), double *d__, double *l, double *ld, double *lld, int *ifirst, int *ilast, double *w, double *dplus, double *lplus, double *work, int *iwork, SimTK_INFO_);

extern void dlarrv_(SimTK_FDIM_(n), double *d__, double *l, int *isplit, SimTK_FDIM_(m), double *w, int *iblock, double *gersch, double *tol, double *z__, SimTK_FDIM_(ldz), int *isuppz, double *work, int *iwork, SimTK_INFO_);

extern void dlartg_(double *f, double *g, double *cs, double *sn, double *r__);

extern void dlartv_(SimTK_FDIM_(n), double *x, SimTK_FINC_(x), double *y, SimTK_FINC_(y), double *c__, double *s, int *incc);

extern void dlaruv_(int *iseed, SimTK_FDIM_(n), double *x);

extern void dlarz_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, double *v, SimTK_FINC_(v), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FLEN_(side));

extern void dlarzb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, double *v, SimTK_FDIM_(ldv), double *t, SimTK_FDIM_(ldt), double *c__, int *ldc, double *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void dlarzt_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, double *v, SimTK_FDIM_(ldv), double *tau, double *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void dlas2_(double *f, double *g, double *h__, double *ssmin, double *ssmax);

extern void dlascl_(char *type__, SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *cfrom, double *cto, SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(type));

extern void dlasd0_(SimTK_FDIM_(n), int *sqre, double *d__, double *e, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(ldvt), int *smlsiz, int *iwork, double *work, SimTK_INFO_);

extern void dlasd1_(int *nl, int *nr, int *sqre, double *d__, const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(ldvt), int *idxq, int *iwork, double *work, SimTK_INFO_);

extern void dlasd2_(int *nl, int *nr, int *sqre, int *k, double *d__, double *z__, const SimTK_FSCL_(double,alpha), double *beta, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(ldvt), double *dsigma, double *u2, int *ldu2, double *vt2, int *ldvt2, int *idxp, int *idx, int *idxc, int *idxq, int *coltyp, SimTK_INFO_);

extern void dlasd3_(int *nl, int *nr, int *sqre, int *k, double *d__, double *q, SimTK_FDIM_(ldq), double *dsigma, double *u, SimTK_FDIM_(ldu), double *u2, int *ldu2, double *vt, SimTK_FDIM_(ldvt), double *vt2, int *ldvt2, int *idxc, int *ctot, double *z__, SimTK_INFO_);

extern void dlasd4_(SimTK_FDIM_(n), int *i__, double *d__, double *z__, double *delta, double *rho, double *sigma, double *work, SimTK_INFO_);

extern void dlasd5_(int *i__, double *d__, double *z__, double *delta, double *rho, double *dsigma, double *work);

extern void dlasd6_(int *icompq, int *nl, int *nr, int *sqre, double *d__, double *vf, double *vl, const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), int *idxq, int *perm, int *givptr, int *givcol, int *ldgcol, double *givnum, int *ldgnum, double *poles, double *difl, double *difr, double *z__, SimTK_FDIM_(k), double *c__, double *s, double *work, int *iwork, SimTK_INFO_);

extern void dlasd7_(int *icompq, int *nl, int *nr, int *sqre, SimTK_FDIM_(k), double *d__, double *z__, double *zw, double *vf, double *vfw, double *vl, double *vlw, const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), double *dsigma, int *idx, int *idxp, int *idxq, int *perm, int *givptr, int *givcol, int *ldgcol, double *givnum, int *ldgnum, double *c__, double *s, SimTK_INFO_);

extern void dlasd8_(int *icompq, SimTK_FDIM_(k), double *d__, double *z__, double *vf, double *vl, double *difl, double *difr, int *lddifr, double *dsigma, double *work, SimTK_INFO_);

extern void dlasd9_(int *icompq, SimTK_FDIM_(ldu), SimTK_FDIM_(k), double *d__, double *z__, double *vf, double *vl, double *difl, double *difr, double *dsigma, double *work, SimTK_INFO_);

extern void dlasda_(int *icompq, int *smlsiz, SimTK_FDIM_(n), int *sqre, double *d__, double *e, double *u, SimTK_FDIM_(ldu), double *vt, SimTK_FDIM_(k), double *difl, double *difr, double *z__, double *poles, int *givptr, int *givcol, int *ldgcol, int *perm, double *givnum, double *c__, double *s, double *work, int *iwork, SimTK_INFO_);

extern void dlasdq_(SimTK_FOPT_(uplo), int *sqre, SimTK_FDIM_(n), int *ncvt, int *nru, int *ncc, double *d__, double *e, double *vt, SimTK_FDIM_(ldvt), double *u, SimTK_FDIM_(ldu), double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dlasdt_(SimTK_FDIM_(n), int *lvl, int *nd, int *inode, int *ndiml, int *ndimr, int *msub);

extern void dlaset_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), double *alpha, const SimTK_FSCL_(double,beta), double *a, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));

extern void dlasq1_(SimTK_FDIM_(n), double *d__, double *e, double *work, SimTK_INFO_);

extern void dlasq2_(SimTK_FDIM_(n), double *z__, SimTK_INFO_);

extern void dlasq3_(int *i0, int *n0, double *z__, int *pp, double *dmin__, double *sigma, double *desig, double *qmax, int *nfail, int *iter, int *ndiv, int *ieee, int *ttype, double *dmin1, double *dmin2, double *dn, double *dn1, double *dn2, double *tau);

extern void dlasq4_(int *i0, int *n0, double *z__, int *pp, int *n0in, double *dmin__, double *dmin1, double *dmin2, double *dn, double *dn1, double *dn2, double *tau, int *ttype, double *g);

extern void dlasq5_(int *i0, int *n0, double *z__, int *pp, double *tau, double *dmin__, double *dmin1, double *dmin2, double *dn, double *dnm1, double *dnm2, int *ieee);

extern void dlasq6_(int *i0, int *n0, double *z__, int *pp, double *dmin__, double *dmin1, double *dmin2, double *dn, double *dnm1, double *dnm2);

extern void dlasr_(SimTK_FOPT_(side), char *pivot, SimTK_FOPT_(direct), SimTK_FDIM_(m), SimTK_FDIM_(n), double *c__, double *s, double *a, SimTK_FDIM_(lda), SimTK_FLEN_(side), SimTK_FLEN_(pivot), SimTK_FLEN_(direct));

extern void dlasrt_(char *id, SimTK_FDIM_(n), double *d__, SimTK_INFO_, SimTK_FLEN_(id));

extern void dlassq_(SimTK_FDIM_(n), double *x, SimTK_FINC_(x), double *scale, double *sumsq);

extern void dlasv2_(double *f, double *g, double *h__, double *ssmin, double *ssmax, double *snr, double *csr, double *snl, double *csl);

extern void dlaswp_(SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int* k1, int *k2, int *ipiv, SimTK_FINC_(x));

extern void dlasy2_(int *ltranl, int *ltranr, int *isgn, int *n1, int *n2, double *tl, int *ldtl, double *tr, int *ldtr, double *b, SimTK_FDIM_(ldb), double *scale, double *x, int *ldx, double *xnorm, SimTK_INFO_);

extern void dlasyf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, int *kb, double *a, SimTK_FDIM_(lda), int *ipiv, double *w, int *ldw, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dlatbs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *x, double *scale, double *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag), SimTK_FLEN_(normin));

extern void dlatdf_(int *ijob, SimTK_FDIM_(n), double *z__, SimTK_FDIM_(ldz), double *rhs, double *rdsum, double *rdscal, int *ipiv, int *jpiv);

extern void dlatps_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), double *ap, double *x, double *scale, double *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag), SimTK_FLEN_(normin));

extern void dlatrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, double *a, SimTK_FDIM_(lda), double *e, double *tau, double *w, int *ldw, SimTK_FLEN_(uplo));

extern void dlatrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *x, double *scale, double *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dlatrz_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, double *a, SimTK_FDIM_(lda), double *tau, double *work);

extern void dlatzm_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), double *v, SimTK_FINC_(v), double *tau, double *c1, double *c2, SimTK_FDIM_(ldc), double *work, SimTK_FLEN_(side));

extern void dlauu2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dlauum_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dopgtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *tau, double *q, SimTK_FDIM_(ldq), double *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dopmtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), double *ap, double *tau, double *c__, int *ldc, double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void dorg2l_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dorg2r_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dorgbr_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect));

extern void dorghr_(SimTK_FDIM_(n), int *ilo, int *ihi, double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dorgl2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dorglq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dorgql_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dorgqr_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dorgr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_INFO_);

extern void dorgrq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dorgtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dorm2l_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dorm2r_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormbr_(SimTK_FOPT_(vect), SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormhr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ilo, int *ihi, double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dorml2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormlq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormql_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormqr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormr2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormr3_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormrq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormrz_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void dormtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *c__, SimTK_FDIM_(ldc), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void dpbcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpbequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *s, double *scond, double *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpbrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *afb, SimTK_FDIM_(ldafb), double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpbstf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpbsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *afb, SimTK_FDIM_(ldafb), char *equed, double *s, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void dpbtf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), SimTK_INFO_);

extern void dpbtrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpbtrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpocon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpoequ_(SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *s, double *scond, double *amax, SimTK_INFO_);

extern void dporfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *af, int *ldaf, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dposv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dposvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *af, int *ldaf, char *equed, double *s, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void dpotf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpotrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpotri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpotrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dppcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dppequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *s, double *scond, double *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *afp, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dppsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dppsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *afp, char *equed, double *s, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void dpptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dpptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dptcon_(SimTK_FDIM_(n), double *d__, double *e, double *anorm, double *rcond, double *work, SimTK_INFO_);

extern void dpteqr_(SimTK_FOPT_(compz), SimTK_FDIM_(n), double *d__, double *e, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(compz));

extern void dptrfs_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, double *e, double *df, double *ef, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, SimTK_INFO_);

extern void dptsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, double *e, double *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void dptsvx_(SimTK_FOPT_(fact), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, double *e, double *df, double *ef, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, SimTK_INFO_, SimTK_FLEN_(fact));

extern void dpttrf_(SimTK_FDIM_(n), double *d__, double *e, SimTK_INFO_);

extern void dpttrs_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, double *e, double *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void dptts2_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, double *e, double *b, SimTK_FDIM_(ldb));

extern void drscl_(SimTK_FDIM_(n), double *sa, double *sx, SimTK_FINC_(x));

extern void dsbev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsbevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsbevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *q, SimTK_FDIM_(ldq), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dsbgst_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, double *ab, SimTK_FDIM_(ldab), double *bb, int *ldbb, double *x, int *ldx, double *work, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void dsbgv_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, double *ab, SimTK_FDIM_(ldab), double *bb, int *ldbb, double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsbgvd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, double *ab, SimTK_FDIM_(ldab), double *bb, int *ldbb, double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsbgvx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, double *ab, SimTK_FDIM_(ldab), double *bb, int *ldbb, double *q, SimTK_FDIM_(ldq), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dsbtrd_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *d__, double *e, double *q, SimTK_FDIM_(ldq), double *work, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void dspcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, int *ipiv, double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dspev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dspevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dspevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dspgst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *bp, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dspgv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *bp, double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dspgvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *bp, double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dspgvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *bp, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dsprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *afp, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dspsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dspsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *afp, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(face), SimTK_FLEN_(uplo));

extern void dsptrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, double *d__, double *e, double *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *ap, int *ipiv, double *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dstebz_(SimTK_FOPT_(range), char *order, SimTK_FDIM_(n), double *vl, double *vu, int *il, int *iu, double *abstol, double *d__, double *e, SimTK_FDIM_(m), int *nsplit, double *w, int *iblock, int *isplit, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(range), SimTK_FLEN_(order));

extern void dstedc_(SimTK_FOPT_(compz), SimTK_FDIM_(n), double *d__, double *e, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(compz));

extern void dstegr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FDIM_(n), double *d__, double *e, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), int *isuppz, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range));

extern void dstein_(SimTK_FDIM_(n), double *d__, double *e, SimTK_FDIM_(m), double *w, int *iblock, int *isplit, double *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_);

extern void dsteqr_(SimTK_FOPT_(compz), SimTK_FDIM_(n), double *d__, double *e, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(compz));

extern void dsterf_(SimTK_FDIM_(n), double *d__, double *e, SimTK_INFO_);

extern void dstev_(SimTK_FOPT_(jobz), SimTK_FDIM_(n), double *d__, double *e, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(jobz));

extern void dstevd_(SimTK_FOPT_(jobz), SimTK_FDIM_(n), double *d__, double *e, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz));

extern void dstevr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FDIM_(n), double *d__, double *e, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), int *isuppz, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range));

extern void dstevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FDIM_(n), double *d__, double *e, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range));

extern void dsycon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, double *anorm, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsyev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *w, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsyevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *w, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsyevr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), int *isuppz, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dsyevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dsygs2_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsygst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsygv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *w, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsygvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *w, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void dsygvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, double *z__, SimTK_FDIM_(ldz), double *work, SimTK_FDIM_(lwork), int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void dsyrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *af, int *ldaf, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsysv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), int *ipiv, double *b, SimTK_FDIM_(ldb), double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsysvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *af, int *ldaf, int *ipiv, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *rcond, double *ferr, double *berr, double *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void dsytd2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *d__, double *e, double *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsytf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsytrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *d__, double *e, double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsytrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, double *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsytri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), int *ipiv, double *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dsytrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), int *ipiv, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void dtbcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, double *ab, SimTK_FDIM_(ldab), double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void dtbrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtbtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), double *ab, SimTK_FDIM_(ldab), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtgevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void dtgex2_(int *wantq, int *wantz, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *q, SimTK_FDIM_(ldq), double *z__, SimTK_FDIM_(ldz), int *j1, int *n1, int *n2, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dtgexc_(int *wantq, int *wantz, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *q, SimTK_FDIM_(ldq), double *z__, SimTK_FDIM_(ldz), int *ifst, int *ilst, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void dtgsen_(int *ijob, int *wantq, int *wantz, int *select, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *alphar, double *alphai, double *beta, double *q, SimTK_FDIM_(ldq), double *z__, SimTK_FDIM_(ldz), SimTK_FDIM_(m), double *pl, double *pr, double *dif, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_);

extern void dtgsja_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *tola, double *tolb, const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), double *u, SimTK_FDIM_(ldu), double *v, SimTK_FDIM_(ldv), double *q, SimTK_FDIM_(ldq), double *work, int *ncycle, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void dtgsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), double *s, double *dif, int *mm, SimTK_FDIM_(m), double *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void dtgsy2_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *c__, SimTK_FDIM_(ldc), double *d__, int *ldd, double *e, int *lde, double *f, int *ldf, double *scale, double *rdsum, double *rdscal, int *iwork, int *pq, SimTK_INFO_, SimTK_FLEN_(trans));

extern void dtgsyl_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *c__, SimTK_FDIM_(ldc), double *d__, int *ldd, double *e, int *lde, double *f, int *ldf, double *scale, double *dif, double *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void dtpcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), double *ap, double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtprfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtptri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), double *ap, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void dtptrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *ap, double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtrcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *rcond, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void dtrevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), double *t, SimTK_FDIM_(ldt), double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), double *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void dtrexc_(SimTK_FOPT_(compq), SimTK_FDIM_(n), double *t, SimTK_FDIM_(ldt), double *q, SimTK_FDIM_(ldq), int *ifst, int *ilst, double *work, SimTK_INFO_, SimTK_FLEN_(compq));

extern void dtrrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *x, int *ldx, double *ferr, double *berr, double *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtrsen_(SimTK_FOPT_(job), SimTK_FOPT_(compq), int *select, SimTK_FDIM_(n), double *t, SimTK_FDIM_(ldt), double *q, SimTK_FDIM_(ldq), double *wr, double *wi, SimTK_FDIM_(m), double *s, double *sep, double *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq));

extern void dtrsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), double *t, SimTK_FDIM_(ldt), double *vl, SimTK_FDIM_(ldvl), double *vr, SimTK_FDIM_(ldvr), double *s, double *sep, int *mm, SimTK_FDIM_(m), double *work, int *ldwork, int *iwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void dtrsyl_(SimTK_FOPT_(trana), SimTK_FOPT_(tranb), int *isgn, SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), double *c__, SimTK_FDIM_(ldc), double *scale, SimTK_INFO_, SimTK_FLEN_(trana), SimTK_FLEN_(tranb));

extern void dtrti2_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void dtrtri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void dtrtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void dtzrqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, SimTK_INFO_);

extern void dtzrzf_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), double *tau, double *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern int icmax1_(SimTK_FDIM_(n), SimTK_C_ *cx, SimTK_FINC_(x));

extern int ieeeck_(int *ispec, float *zero, float *one);

extern int ilaenv_(int *ispec, const char *name__, const char *opts, int *n1, int *n2, int *n3, int *n4, SimTK_FLEN_(name), SimTK_FLEN_(opts));

extern int izmax1_(SimTK_FDIM_(n), SimTK_Z_ *cx, SimTK_FINC_(x));

extern void sbdsdc_(SimTK_FOPT_(uplo), SimTK_FOPT_(compq), SimTK_FDIM_(n), float *d__, float *e, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(ldvt), float *q, int *iq, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(compq));

extern void sbdsqr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ncvt, int *nru, int *ncc, float *d__, float *e, float *vt, SimTK_FDIM_(ldvt), float *u, SimTK_FDIM_(ldu), float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sdisna_(SimTK_FOPT_(job), SimTK_FDIM_(m), SimTK_FDIM_(n), float *d__, float *sep, SimTK_INFO_, SimTK_FLEN_(job));

extern void sgbbrd_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ncc, SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *ab, SimTK_FDIM_(ldab), float *d__, float *e, float *q, SimTK_FDIM_(ldq), float *pt, int *ldpt, float *c__, int *ldc, float *work, SimTK_INFO_, SimTK_FLEN_(vect));

extern void sgbcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *ab, SimTK_FDIM_(ldab), int *ipiv, float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void sgbequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *ab, SimTK_FDIM_(ldab), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, SimTK_INFO_);

extern void sgbrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *afb, SimTK_FDIM_(ldafb), int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void sgbsv_(SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void sgbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *afb, SimTK_FDIM_(ldafb), int *ipiv, char *equed, float *r__, float *c__, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void sgbtf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void sgbtrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void sgbtrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void sgebak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, float *scale, SimTK_FDIM_(m), float *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void sgebal_(SimTK_FOPT_(job), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ilo, int *ihi, float *scale, SimTK_INFO_, SimTK_FLEN_(job));

extern void sgebd2_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *d__, float *e, float *tauq, float *taup, float *work, SimTK_INFO_);

extern void sgebrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *d__, float *e, float *tauq, float *taup, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgecon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void sgeequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, int *info);

extern void sgees_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_2S select, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *sdim, float *wr, float *wi, float *vs, SimTK_FDIM_(ldvs), float *work, SimTK_FDIM_(lwork), int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort));

extern void sgeesx_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_2S select, char *sense, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *sdim, float *wr, float *wi, float *vs, SimTK_FDIM_(ldvs), float *rconde, float *rcondv, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void sgeev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *wr, float *wi, float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void sgeevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *wr, float *wi, float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, float *scale, float *abnrm, float *rconde, float *rcondv, float *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(alpahr));

extern void sgegs_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, float *beta, float *vsl, int *ldvsl, float *vsr, int *ldvsr, float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvsr));

extern void sgegv_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, float *beta, float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void sgehd2_(SimTK_FDIM_(n), int *ilo, int *ihi, float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sgehrd_(SimTK_FDIM_(n), int *ilo, int *ihi, float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgelq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sgelqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgels_(SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(trans));

extern void sgelsd_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *s, float *rcond, int *rank, float *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_);

extern void sgelss_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *s, float *rcond, int *rank, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgelsx_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), int *jpvt, float *rcond, int *rank, float *work, SimTK_INFO_);

extern void sgelsy_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), int *jpvt, float *rcond, int *rank, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgeql2_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sgeqlf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgeqp3_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *jpvt, float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgeqpf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *jpvt, float *tau, float *work, SimTK_INFO_);

extern void sgeqr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sgeqrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgerfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *af, int *ldaf, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void sgerq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sgerqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgesc2_(SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *rhs, int *ipiv, int *jpiv, float *scale);

extern void sgesdd_(SimTK_FOPT_(jobz), SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *s, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(ldvt), float *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(jobz));

extern void sgesv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void sgesvd_(SimTK_FOPT_(jobu), char *jobvt, SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *s, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(ldvt), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobvt));

extern void sgesvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *af, int *ldaf, int *ipiv, char *equed, float *r__, float *c__, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void sgetc2_(SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, int *jpiv, SimTK_INFO_);

extern void sgetf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void sgetrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void sgetri_(SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), const int *ipiv, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgetrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void sggbak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, float *lscale, float *rscale, SimTK_FDIM_(m), float *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void sggbal_(SimTK_FOPT_(job), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), int *ilo, int *ihi, float *lscale, float *rscale, float *work, SimTK_INFO_, SimTK_FLEN_(job));

extern void sgges_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_3F selctg, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), int *sdim, float *alphar, float *alphai, const SimTK_FSCL_(float,beta), float *vsl, int *ldvsl, float *vsr, int *ldvsr, float *work, SimTK_FDIM_(lwork), int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort));

extern void sggesx_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_3F selctg, char *sense, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), int *sdim, float *alphar, float *alphai, const SimTK_FSCL_(float,beta), float *vsl, int *ldvsl, float *vsr, int *ldvsr, float *rconde, float *rcondv, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void sggev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, float *beta, float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr));

extern void sggevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, const SimTK_FSCL_(float,beta), float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, float *lscale, float *rscale, float *abnrm, float *bbnrm, float *rconde, float *rcondv, float *work, SimTK_FDIM_(lwork), int *iwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(alpahr));

extern void sggglm_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *d__, float *x, float *y, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sgghrd_(SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *q, SimTK_FDIM_(ldq), float *z__, SimTK_FDIM_(ldz), SimTK_INFO_, SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void sgglse_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *c__, float *d__, float *x, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sggqrf_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, float *a, SimTK_FDIM_(lda), float *taua, float *b, SimTK_FDIM_(ldb), float *taub, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sggrqf_(SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *taua, float *b, SimTK_FDIM_(ldb), float *taub, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sggsvd_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, SimTK_FDIM_(k), int *l, float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), float *u, SimTK_FDIM_(ldu), float *v, SimTK_FDIM_(ldv), float *q, SimTK_FDIM_(ldq), float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void sggsvp_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *tola, float *tolb, SimTK_FDIM_(k), int *l, float *u, SimTK_FDIM_(ldu), float *v, SimTK_FDIM_(ldv), float *q, SimTK_FDIM_(ldq), int *iwork, float *tau, float *work, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void sgtcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), float *dl, float *d__, float *du, float *du2, int *ipiv, float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void sgtrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *dl, float *d__, float *du, float *dlf, float *df, float *duf, float *du2, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void sgtsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *dl, float *d__, float *du, float *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void sgtsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *dl, float *d__, float *du, float *dlf, float *df, float *duf, float *du2, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans));

extern void sgttrf_(SimTK_FDIM_(n), float *dl, float *d__, float *du, float *du2, int *ipiv, SimTK_INFO_);

extern void sgttrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *dl, float *d__, float *du, float *du2, int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void sgtts2_(int *itrans, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *dl, float *d__, float *du, float *du2, int *ipiv, float *b, SimTK_FDIM_(ldb));

extern void shgeqz_(SimTK_FOPT_(job), SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, const SimTK_FSCL_(float,beta), float *q, SimTK_FDIM_(ldq), float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void shsein_(SimTK_FOPT_(side), char *eigsrc, char *initv, int *select, SimTK_FDIM_(n), float *h__, int *ldh, float *wr, float *wi, float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), float *work, int *ifaill, int *ifailr, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(eigsrc), SimTK_FLEN_(initv));

extern double  slamch_(SimTK_FOPT_(cmach), SimTK_FLEN_(cmach));

extern void shseqr_(SimTK_FOPT_(job), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, float *h__, int *ldh, float *wr, float *wi, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compz));

extern void slabad_(float *small, float *large);

extern void slabrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *nb, float *a, SimTK_FDIM_(lda), float *d__, float *e, float *tauq, float *taup, float *x, int *ldx, float *y, int *ldy);

extern void slacon_(SimTK_FDIM_(n), float *v, float *x, int *isgn, float *est, int *kase, int *j, int *jump, int* iter);

extern void slacpy_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_FLEN_(uplo));

extern void sladiv_(float *a, float *b, float *c__, float *d__, float *p, float *q);

extern void slae2_(float *a, float *b, float *c__, float *rt1, float *rt2);

extern void slaebz_(int *ijob, int *nitmax, SimTK_FDIM_(n), int *mmax, int *minp, int *nbmin, float *abstol, float *reltol, float *pivmin, float *d__, float *e, float *e2, int *nval, float *ab, float *c__, int *mout, int *nab, float *work, int *iwork, SimTK_INFO_);

extern void slaed0_(int *icompq, int *qsiz, SimTK_FDIM_(n), float *d__, float *e, float *q, SimTK_FDIM_(ldq), float *qstore, SimTK_FDIM_(ldqs), float *work, int *iwork, SimTK_INFO_);

extern void slaed1_(SimTK_FDIM_(n), float *d__, float *q, SimTK_FDIM_(ldq), int *indxq, float *rho, int *cutpnt, float *work, int *iwork, SimTK_INFO_);

extern void slaed2_(SimTK_FDIM_(k), SimTK_FDIM_(n), int *n1, float *d__, float *q, SimTK_FDIM_(ldq), int *indxq, float *rho, float *z__, float *dlamda, float *w, float *q2, int *indx, int *indxc, int *indxp, int *coltyp, SimTK_INFO_);

extern void slaed3_(SimTK_FDIM_(k), SimTK_FDIM_(n), int *n1, float *d__, float *q, SimTK_FDIM_(ldq), float *rho, float *dlamda, float *q2, int *indx, int *ctot, float *w, float *s, SimTK_INFO_);

extern void slaed4_(SimTK_FDIM_(n), int *i__, float *d__, float *z__, float *delta, float *rho, float *dlam, SimTK_INFO_);

extern void slaed5_(int *i__, float *d__, float *z__, float *delta, float *rho, float *dlam);

extern void slaed6_(int *kniter, int *orgati, float *rho, float *d__, float *z__, float *finit, float *tau, SimTK_INFO_);

extern void slaed7_(int *icompq, SimTK_FDIM_(n), int *qsiz, int *tlvls, int *curlvl, int *curpbm, float *d__, float *q, SimTK_FDIM_(ldq), int *indxq, float *rho, int *cutpnt, float *qstore, int *qptr, int *prmptr, int *perm, int *givptr, int *givcol, float *givnum, float *work, int *iwork, SimTK_INFO_);

extern void slaed8_(int *icompq, SimTK_FDIM_(k), SimTK_FDIM_(n), int *qsiz, float *d__, float *q, SimTK_FDIM_(ldq), int *indxq, float *rho, int *cutpnt, float *z__, float *dlamda, float *q2, SimTK_FDIM_(ldq2), float *w, int *perm, int *givptr, int *givcol, float *givnum, int *indxp, int *indx, SimTK_INFO_);

extern void slaed9_(SimTK_FDIM_(k), int *kstart, int *kstop, SimTK_FDIM_(n), float *d__, float *q, SimTK_FDIM_(ldq), float *rho, float *dlamda, float *w, float *s, int *lds, SimTK_INFO_);

extern void slaeda_(SimTK_FDIM_(n), int *tlvls, int *curlvl, int *curpbm, int *prmptr, int *perm, int *givptr, int *givcol, float *givnum, float *q, int *qptr, float *z__, float *ztemp, SimTK_INFO_);

extern void slaein_(int *rightv, int *noinit, SimTK_FDIM_(n), float *h__, int *ldh, float *wr, float *wi, float *vr, float *vi, float *b, SimTK_FDIM_(ldb), float *work, float *eps3, float *smlnum, float *bignum, SimTK_INFO_);

extern void slaev2_(float *a, float *b, float *c__, float *rt1, float *rt2, float *cs1, float *sn1);

extern void slaexc_(int *wantq, SimTK_FDIM_(n), float *t, SimTK_FDIM_(ldt), float *q, SimTK_FDIM_(ldq), int *j1, int *n1, int *n2, float *work, SimTK_INFO_);

extern void slag2_(float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *safmin, float *scale1, float *scale2, float *wr1, float *wr2, float *wi);

extern void slags2_(int *upper, float *a1, float *a2, float *a3, float *b1, float *b2, float *b3, float *csu, float *snu, float *csv, float *snv, float *csq, float *snq);

extern void slagtf_(SimTK_FDIM_(n), float *a, float *lambda, float *b, float *c__, float *tol, float *d__, int *in, SimTK_INFO_);

extern void slagtm_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *alpha, float *dl, float *d__, float *du, float *x, int *ldx, float *beta, float *b, SimTK_FDIM_(ldb), SimTK_FLEN_(trans));

extern void slagts_(int *job, SimTK_FDIM_(n), float *a, float *b, float *c__, float *d__, int *in, float *y, float *tol, SimTK_INFO_);

extern void slagv2_(float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, const SimTK_FSCL_(float,beta), float *csl, float *snl, float *csr, float *snr);

extern void slahqr_(int *wantt, int *wantz, SimTK_FDIM_(n), int *ilo, int *ihi, float *h__, int *ldh, float *wr, float *wi, int *iloz, int *ihiz, float *z__, SimTK_FDIM_(ldz), SimTK_INFO_);

extern void slahrd_(SimTK_FDIM_(n), SimTK_FDIM_(k), int *nb, float *a, SimTK_FDIM_(lda), float *tau, float *t, SimTK_FDIM_(ldt), float *y, int *ldy);

extern void slaic1_(int *job, int *j, float *x, float *sest, float *w, float *gamma, float *sestpr, float *s, float *c__);

extern void slaln2_(int *ltrans, int *na, int *nw, float *smin, float *ca, float *a, SimTK_FDIM_(lda), float *d1, float *d2, float *b, SimTK_FDIM_(ldb), float *wr, float *wi, float *x, int *ldx, float *scale, float *xnorm, SimTK_INFO_);

extern void slals0_(int *icompq, int *nl, int *nr, int *sqre, SimTK_FDIM_(nrhs), float *b, SimTK_FDIM_(ldb), float *bx, int *ldbx, int *perm, int *givptr, int *givcol, int *ldgcol, float *givnum, int *ldgnum, float *poles, float *difl, float *difr, float *z__, SimTK_FDIM_(k), float *c__, float *s, float *work, SimTK_INFO_);

extern void slalsa_(int *icompq, int *smlsiz, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *b, SimTK_FDIM_(ldb), float *bx, int *ldbx, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(k), float *difl, float *difr, float *z__, float *poles, int *givptr, int *givcol, int *ldgcol, int *perm, float *givnum, float *c__, float *s, float *work, int *iwork, SimTK_INFO_);

extern void slalsd_(SimTK_FOPT_(uplo), int *smlsiz, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, float *e, float *b, SimTK_FDIM_(ldb), float *rcond, int *rank, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern double slangb_( SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const float *ab, SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm) );

extern double clangb_( SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_C_ *ab, SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm) );

extern double dlangb_( SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const float *ab, SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm) );

extern double zlangb_( SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), const SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm) );

extern double slange_( SimTK_FOPT_(norm), SimTK_FDIM_(m), SimTK_FDIM_(n), const float *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm));
extern double clange_( SimTK_FOPT_(norm), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_C_ *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm));
extern double dlange_( SimTK_FOPT_(norm), SimTK_FDIM_(m), SimTK_FDIM_(n), const double *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm));
extern double zlange_( SimTK_FOPT_(norm), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_Z_ *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm));

extern double slansb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const float *ab,  SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double dlansb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const double *ab,  SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double clansb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_C_ *ab,  SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double zlansb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_Z_ *ab,  SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));


extern double clanhb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_C_ *ab,  SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double zlanhb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_Z_ *ab,  SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double slansp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const float *ap,  float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double dlansp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const double *ap,  double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double clansp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_C_ *ap,  float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double zlansp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_Z_ *ap,  double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double slanhs_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const float *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm));
extern double dlanhs_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const double *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm));
extern double clanhs_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const SimTK_C_ *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm));
extern double zlanhs_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const SimTK_Z_ *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm));

extern double slangt_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const float *dl, const float *d,  const float *du, SimTK_FLEN_(norm));
extern double dlangt_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const double *dl, const double *d,  const double *du, SimTK_FLEN_(norm));
extern double clangt_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const SimTK_C_ *dl, const SimTK_C_ *d,  const SimTK_C_ *du, SimTK_FLEN_(norm));
extern double zlangt_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const SimTK_Z_ *dl, const SimTK_Z_ *d,  const SimTK_Z_ *du, SimTK_FLEN_(norm));

extern double clanhp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_C_ *ap,  float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double zlanhp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_Z_ *ap,  double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double clanht_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const float *d, const SimTK_C_ *e,  SimTK_FLEN_(norm) );
extern double zlanht_( SimTK_FOPT_(norm), SimTK_FDIM_(n), const double *d, const SimTK_Z_ *e,  SimTK_FLEN_(norm) );

extern double slansy_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const float *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double dlansy_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const double *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double clansy_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_C_ *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double zlansy_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_Z_ *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double clanhe_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_C_ *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));
extern double zlanhe_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_Z_ *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo));

extern double slantb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const float *ab,  SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double dlantb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const double *ab,  SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double clantb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_C_ *ab,  SimTK_FDIM_(ldab), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double zlantb_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(k), const SimTK_Z_ *ab,  SimTK_FDIM_(ldab), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double slantp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), const float *ap, float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double dlantp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), const double *ap, double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double clantp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_C_ *ap, float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double zlantp_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), const SimTK_Z_ *ap, double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double slantr_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const float *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double dlantr_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const double *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double clantr_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_C_ *a,  SimTK_FDIM_(lda), float *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double zlantr_( SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_Z_ *a,  SimTK_FDIM_(lda), double *work, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern double slapy2_( const float *x, const float *y);
extern double dlapy2_( const double *x, const double *y);
extern double slapy3_( const float *x, const float *y, const float *z);
extern double dlapy3_( const double *x, const double *y, const double *z);

extern void chetd2_( SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_C_ *a, SimTK_FDIM_(lda), float *d, float *e, SimTK_C_ *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhetd2_( SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *d, double *e, SimTK_Z_ *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void slamc1_(int *beta, int *t, int *rnd, int *ieee1);

extern void slamc2_(int *beta, int *t, int *rnd, float *eps, int *emin, float *rmin, int *emax, float *rmax);

extern void slamc4_(int *emin, float *start, int *base);

extern void slamc5_(int *beta, int *p, int *emin, int *ieee, int *emax, float *rmax);

extern void slamrg_(int *n1, int *n2, float *a, int *strd1, int *strd2, int *index);

extern void slanv2_(float *a, float *b, float *c__, float *d__, float *rt1r, float *rt1i, float *rt2r, float *rt2i, float *cs, float *sn);

extern void slapll_(SimTK_FDIM_(n), float *x, SimTK_FINC_(x), float *y, SimTK_FINC_(y), float *ssmin);

extern void slapmt_(int *forwrd, SimTK_FDIM_(m), SimTK_FDIM_(n), float *x, int *ldx, SimTK_FDIM_(k));

extern void slaqgb_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *ab, SimTK_FDIM_(ldab), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, char *equed, SimTK_FLEN_(equed));

extern void slaqge_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *r__, float *c__, float *rowcnd, float *colcnd, float *amax, char *equed, SimTK_FLEN_(equed));

extern void slaqp2_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, float *a, SimTK_FDIM_(lda), int *jpvt, float *tau, float *vn1, float *vn2, float *work);

extern void slaqps_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, int *nb, int *kb, float *a, SimTK_FDIM_(lda), int *jpvt, float *tau, float *vn1, float *vn2, float *auxv, float *f, int *ldf);

extern void slaqsb_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void slaqsp_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void slaqsy_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *s, float *scond, float *amax, char *equed, SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void slaqtr_(int *ltran, int *lfloat, SimTK_FDIM_(n), float *t, SimTK_FDIM_(ldt), float *b, float *w, float *scale, float *x, float *work, SimTK_INFO_);

extern void slar1v_(SimTK_FDIM_(n), int *b1, int *bn, float *sigma, float *d__, float *l, float *ld, float *lld, float *gersch, float *z__, float *ztz, float *mingma, int *r__, int *isuppz, float *work);

extern void slar2v_(SimTK_FDIM_(n), float *x, float *y, float *z__, int *incx, float *c__, float *s, SimTK_FINC_(c));

extern void slarf_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), float *v, SimTK_FINC_(v), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FLEN_(side));

extern void slarfb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *v, SimTK_FDIM_(ldv), float *t, SimTK_FDIM_(ldt), float *c__, SimTK_FDIM_(ldc), float *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct));

extern void slarfg_(SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), float *x, SimTK_FINC_(x), float *tau);

extern void slarft_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, float *v, SimTK_FDIM_(ldv), float *tau, float *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void slarfx_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), float *v, float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FLEN_(side));

extern void slargv_(SimTK_FDIM_(n), float *x, SimTK_FINC_(x), float *y, SimTK_FINC_(y), float *c__, SimTK_FINC_(c));

extern void slarnv_(int *idist, int *iseed, SimTK_FDIM_(n), float *x);

extern void slarrb_(SimTK_FDIM_(n), float *d__, float *l, float *ld, float *lld, int *ifirst, int *ilast, float *sigma, float *reltol, float *w, float *wgap, float *werr, float *work, int *iwork, SimTK_INFO_);

extern void slarre_(SimTK_FDIM_(n), float *d__, float *e, float *tol, int *nsplit, int *isplit, SimTK_FDIM_(m), float *w, float *woff, float *gersch, float *work, SimTK_INFO_);

extern void slarrf_(SimTK_FDIM_(n), float *d__, float *l, float *ld, float *lld, int *ifirst, int *ilast, float *w, float *dplus, float *lplus, float *work, int *iwork, SimTK_INFO_);

extern void slarrv_(SimTK_FDIM_(n), float *d__, float *l, int *isplit, SimTK_FDIM_(m), float *w, int *iblock, float *gersch, float *tol, float *z__, SimTK_FDIM_(ldz), int *isuppz, float *work, int *iwork, SimTK_INFO_);

extern void slartg_(float *f, float *g, float *cs, float *sn, float *r__);

extern void slartv_(SimTK_FDIM_(n), float *x, SimTK_FINC_(x), float *y, SimTK_FINC_(y), float *c__, float *s, SimTK_FINC_(c));

extern void slaruv_(int *iseed, SimTK_FDIM_(n), float *x);

extern void slarz_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, float *v, SimTK_FINC_(v), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FLEN_(side));

extern void slarzb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, float *v, SimTK_FDIM_(ldv), float *t, SimTK_FDIM_(ldt), float *c__, SimTK_FDIM_(ldc), float *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct));

extern void slarzt_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, float *v, SimTK_FDIM_(ldv), float *tau, float *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void slas2_(float *f, float *g, float *h__, float *ssmin, float *ssmax);

extern void slascl_(char *type__, SimTK_FDIM_(kl), SimTK_FDIM_(ku), float *cfrom, float *cto, SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(type));

extern void slasd0_(SimTK_FDIM_(n), int *sqre, float *d__, float *e, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(ldvt), int *smlsiz, int *iwork, float *work, SimTK_INFO_);

extern void slasd1_(int *nl, int *nr, int *sqre, float *d__, const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(ldvt), int *idxq, int *iwork, float *work, SimTK_INFO_);

extern void slasd2_(int *nl, int *nr, int *sqre, int *k, float *d__, float *z__, const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(ldvt), float *dsigma, float *u2, int *ldu2, float *vt2, int *ldvt2, int *idxp, int *idx, int *idxc, int *idxq, int *coltyp, SimTK_INFO_);

extern void slasd3_(int *nl, int *nr, int *sqre, int *k, float *d__, float *q, SimTK_FDIM_(ldq), float *dsigma, float *u, SimTK_FDIM_(ldu), float *u2, int *ldu2, float *vt, SimTK_FDIM_(ldvt), float *vt2, int *ldvt2, int *idxc, int *ctot, float *z__, SimTK_INFO_);

extern void slasd4_(SimTK_FDIM_(n), int *i__, float *d__, float *z__, float *delta, float *rho, float *sigma, float *work, SimTK_INFO_);

extern void slasd5_(int *i__, float *d__, float *z__, float *delta, float *rho, float *dsigma, float *work);

extern void slasd6_(int *icompq, int *nl, int *nr, int *sqre, float *d__, float *vf, float *vl, const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), int *idxq, int *perm, int *givptr, int *givcol, int *ldgcol, float *givnum, int *ldgnum, float *poles, float *difl, float *difr, float *z__, SimTK_FDIM_(k), float *c__, float *s, float *work, int *iwork, SimTK_INFO_);

extern void slasd7_(int *icompq, int *nl, int *nr, int *sqre, SimTK_FDIM_(k), float *d__, float *z__, float *zw, float *vf, float *vfw, float *vl, float *vlw, const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), float *dsigma, int *idx, int *idxp, int *idxq, int *perm, int *givptr, int *givcol, int *ldgcol, float *givnum, int *ldgnum, float *c__, float *s, SimTK_INFO_);

extern void slasd8_(int *icompq, SimTK_FDIM_(k), float *d__, float *z__, float *vf, float *vl, float *difl, float *difr, int *lddifr, float *dsigma, float *work, SimTK_INFO_);

extern void slasd9_(int *icompq, SimTK_FDIM_(ldu), SimTK_FDIM_(k), float *d__, float *z__, float *vf, float *vl, float *difl, float *difr, float *dsigma, float *work, SimTK_INFO_);

extern void slasda_(int *icompq, int *smlsiz, SimTK_FDIM_(n), int *sqre, float *d__, float *e, float *u, SimTK_FDIM_(ldu), float *vt, SimTK_FDIM_(k), float *difl, float *difr, float *z__, float *poles, int *givptr, int *givcol, int *ldgcol, int *perm, float *givnum, float *c__, float *s, float *work, int *iwork, SimTK_INFO_);

extern void slasdq_(SimTK_FOPT_(uplo), int *sqre, SimTK_FDIM_(n), int *ncvt, int *nru, int *ncc, float *d__, float *e, float *vt, SimTK_FDIM_(ldvt), float *u, SimTK_FDIM_(ldu), float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void slasdt_(SimTK_FDIM_(n), int *lvl, int *nd, int *inode, int *ndiml, int *ndimr, int *msub);

extern void slaset_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(float,alpha), const SimTK_FSCL_(float,beta), float *a, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));

extern void slasq1_(SimTK_FDIM_(n), float *d__, float *e, float *work, SimTK_INFO_);

extern void slasq2_(SimTK_FDIM_(n), float *z__, SimTK_INFO_);

extern void slasq3_(int *i0, int *n0, float *z__, int *pp, float *dmin__, float *sigma, float *desig, float *qmax, int *nfail, int *iter, int *ndiv, int *ieee, int *ttype, float *dmin1, float *dmin2, float *dn, float *dn1, float *dn2, float *tau);

extern void slasq4_(int *i0, int *n0, float *z__, int *pp, int *n0in, float *dmin__, float *dmin1, float *dmin2, float *dn, float *dn1, float *dn2, float *tau, int *ttype, float *g);

extern void slasq5_(int *i0, int *n0, float *z__, int *pp, float *tau, float *dmin__, float *dmin1, float *dmin2, float *dn, float *dnm1, float *dnm2, int *ieee);

extern void slasq6_(int *i0, int *n0, float *z__, int *pp, float *dmin__, float *dmin1, float *dmin2, float *dn, float *dnm1, float *dnm2);

extern void slasr_(SimTK_FOPT_(side), char *pivot, SimTK_FOPT_(direct), SimTK_FDIM_(m), SimTK_FDIM_(n), float *c__, float *s, float *a, SimTK_FDIM_(lda), SimTK_FLEN_(side), SimTK_FLEN_(pivot), SimTK_FLEN_(direct));

extern void slasrt_(char *id, SimTK_FDIM_(n), float *d__, SimTK_INFO_, SimTK_FLEN_(id));

extern void slassq_(SimTK_FDIM_(n), float *x, SimTK_FINC_(x), float *scale, float *sumsq);

extern void slasv2_(float *f, float *g, float *h__, float *ssmin, float *ssmax, float *snr, float *csr, float *snl, float *csl);

extern void slaswp_(SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *k1, int *k2, int *ipiv, SimTK_FINC_(x));

extern void slasy2_(int *ltranl, int *ltranr, int *isgn, int *n1, int *n2, float *tl, int *ldtl, float *tr, int *ldtr, float *b, SimTK_FDIM_(ldb), float *scale, float *x, int *ldx, float *xnorm, SimTK_INFO_);

extern void slasyf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, int *kb, float *a, SimTK_FDIM_(lda), int *ipiv, float *w, int *ldw, int *info, SimTK_FLEN_(uplo));

extern void slatbs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *x, float *scale, float *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void slatdf_(int *ijob, SimTK_FDIM_(n), float *z__, SimTK_FDIM_(ldz), float *rhs, float *rdsum, float *rdscal, int *ipiv, int *jpiv);

extern void slatps_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), float *ap, float *x, float *scale, float *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void slatrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, float *a, SimTK_FDIM_(lda), float *e, float *tau, float *w, int *ldw, SimTK_FLEN_(uplo));

extern void slatrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *x, float *scale, float *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void slatrz_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, float *a, SimTK_FDIM_(lda), float *tau, float *work);

extern void slatzm_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), float *v, SimTK_FINC_(v), float *tau, float *c1, float *c2, SimTK_FDIM_(ldc), float *work, SimTK_FLEN_(side));

extern void slauu2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void slauum_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sopgtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *tau, float *q, SimTK_FDIM_(ldq), float *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sopmtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), float *ap, float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void sorg2l_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sorg2r_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sorgbr_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), int *info, SimTK_FLEN_(vect));

extern void sorghr_(SimTK_FDIM_(n), int *ilo, int *ihi, float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sorgl2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sorglq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sorgql_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sorgqr_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sorgr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_INFO_);

extern void sorgrq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void sorgtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sorm2l_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sorm2r_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormbr_(SimTK_FOPT_(vect), SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormhr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ilo, int *ihi, float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sorml2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormlq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormql_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormqr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormr2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormr3_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormrq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormrz_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void sormtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *c__, SimTK_FDIM_(ldc), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void spbcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spbequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *s, float *scond, float *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spbrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *afb, SimTK_FDIM_(ldafb), float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spbstf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spbsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *afb, SimTK_FDIM_(ldafb), char *equed, float *s, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void spbtf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), SimTK_INFO_);

extern void spbtrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spbtrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spocon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spoequ_(SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *s, float *scond, float *amax, SimTK_INFO_);

extern void sporfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *af, int *ldaf, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sposv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sposvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *af, int *ldaf, char *equed, float *s, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void spotf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spotrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spotri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spotrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sppcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sppequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *s, float *scond, float *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *afp, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sppsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sppsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *afp, char *equed, float *s, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void spptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void spptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sptcon_(SimTK_FDIM_(n), float *d__, float *e, float *anorm, float *rcond, float *work, SimTK_INFO_);

extern void spteqr_(SimTK_FOPT_(compz), SimTK_FDIM_(n), float *d__, float *e, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(compz));

extern void sptrfs_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, float *e, float *df, float *ef, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, SimTK_INFO_);

extern void sptsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, float *e, float *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void sptsvx_(SimTK_FOPT_(fact), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, float *e, float *df, float *ef, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, SimTK_INFO_, SimTK_FLEN_(fact));

extern void spttrf_(SimTK_FDIM_(n), float *d__, float *e, SimTK_INFO_);

extern void spttrs_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, float *e, float *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void sptts2_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *d__, float *e, float *b, SimTK_FDIM_(ldb));

extern void srscl_(SimTK_FDIM_(n), float *sa, float *sx, SimTK_FINC_(x));

extern void ssbev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssbevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssbevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *q, SimTK_FDIM_(ldq), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void ssbgst_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, float *ab, SimTK_FDIM_(ldab), float *bb, int *ldbb, float *x, int *ldx, float *work, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void ssbgv_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, float *ab, SimTK_FDIM_(ldab), float *bb, int *ldbb, float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssbgvd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, float *ab, SimTK_FDIM_(ldab), float *bb, int *ldbb, float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssbgvx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, float *ab, SimTK_FDIM_(ldab), float *bb, int *ldbb, float *q, SimTK_FDIM_(ldq), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void ssbtrd_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *d__, float *e, float *q, SimTK_FDIM_(ldq), float *work, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void sspcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, int *ipiv, float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sspev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void sspevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void sspevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void sspgst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *bp, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sspgv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *bp, float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void sspgvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *bp, float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void sspgvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *bp, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void ssprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *afp, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sspsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sspsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *afp, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void ssptrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, float *d__, float *e, float *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *ap, int *ipiv, float *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void sstebz_(SimTK_FOPT_(range), char *order, SimTK_FDIM_(n), float *vl, float *vu, int *il, int *iu, float *abstol, float *d__, float *e, SimTK_FDIM_(m), int *nsplit, float *w, int *iblock, int *isplit, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(range), SimTK_FLEN_(order));

extern void sstedc_(SimTK_FOPT_(compz), SimTK_FDIM_(n), float *d__, float *e, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(compz));

extern void sstegr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FDIM_(n), float *d__, float *e, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), int *isuppz, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range));

extern void sstein_(SimTK_FDIM_(n), float *d__, float *e, SimTK_FDIM_(m), float *w, int *iblock, int *isplit, float *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_);

extern void ssteqr_(SimTK_FOPT_(compz), SimTK_FDIM_(n), float *d__, float *e, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(compz));

extern void ssterf_(SimTK_FDIM_(n), float *d__, float *e, SimTK_INFO_);

extern void sstev_(SimTK_FOPT_(jobz), SimTK_FDIM_(n), float *d__, float *e, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_INFO_, SimTK_FLEN_(jobz));

extern void sstevd_(SimTK_FOPT_(jobz), SimTK_FDIM_(n), float *d__, float *e, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz));

extern void sstevr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FDIM_(n), float *d__, float *e, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), int *isuppz, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range));

extern void sstevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FDIM_(n), float *d__, float *e, float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range));

extern void ssycon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, float *anorm, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssyev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *w, float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssyevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *w, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssyevr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), int *isuppz, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void ssyevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void ssygs2_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssygst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssygv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *w, float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssygvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *w, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void ssygvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *vl, float *vu, int *il, int *iu, float *abstol, SimTK_FDIM_(m), float *w, float *z__, SimTK_FDIM_(ldz), float *work, SimTK_FDIM_(lwork), int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void ssyrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *af, int *ldaf, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssysv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), int *ipiv, float *b, SimTK_FDIM_(ldb), float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssysvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *af, int *ldaf, int *ipiv, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *rcond, float *ferr, float *berr, float *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void ssytd2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *d__, float *e, float *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssytf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssytrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *d__, float *e, float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssytrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, float *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssytri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), int *ipiv, float *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ssytrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), int *ipiv, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void stbcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, float *ab, SimTK_FDIM_(ldab), float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void stbrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void stbtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), float *ab, SimTK_FDIM_(ldab), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void stgevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void stgex2_(int *wantq, int *wantz, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *q, SimTK_FDIM_(ldq), float *z__, SimTK_FDIM_(ldz), int *j1, int *n1, int *n2, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void stgexc_(int *wantq, int *wantz, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *q, SimTK_FDIM_(ldq), float *z__, SimTK_FDIM_(ldz), int *ifst, int *ilst, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void stgsen_(int *ijob, int *wantq, int *wantz, int *select, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *alphar, float *alphai, const SimTK_FSCL_(float,beta), float *q, SimTK_FDIM_(ldq), float *z__, SimTK_FDIM_(ldz), SimTK_FDIM_(m), float *pl, float *pr, float *dif, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_);

extern void stgsja_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *tola, float *tolb, const SimTK_FSCL_(float,alpha), float *beta, float *u, SimTK_FDIM_(ldu), float *v, SimTK_FDIM_(ldv), float *q, SimTK_FDIM_(ldq), float *work, int *ncycle, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void stgsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), float *s, float *dif, int *mm, SimTK_FDIM_(m), float *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void stgsy2_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *c__, int *ldc, float *d__, int *ldd, float *e, int *lde, float *f, int *ldf, float *scale, float *rdsum, float *rdscal, int *iwork, int *pq, SimTK_INFO_, SimTK_FLEN_(trans));

extern void stgsyl_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *c__, int *ldc, float *d__, int *ldd, float *e, int *lde, float *f, int *ldf, float *scale, float *dif, float *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void stpcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), float *ap, float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void stprfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void stptri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), float *ap, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void stptrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *ap, float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void strcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *rcond, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void strevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), float *t, SimTK_FDIM_(ldt), float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), float *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void strexc_(SimTK_FOPT_(compq), SimTK_FDIM_(n), float *t, SimTK_FDIM_(ldt), float *q, SimTK_FDIM_(ldq), int *ifst, int *ilst, float *work, SimTK_INFO_, SimTK_FLEN_(compq));

extern void strrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *x, int *ldx, float *ferr, float *berr, float *work, int *iwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void strsen_(SimTK_FOPT_(job), SimTK_FOPT_(compq), int *select, SimTK_FDIM_(n), float *t, SimTK_FDIM_(ldt), float *q, SimTK_FDIM_(ldq), float *wr, float *wi, SimTK_FDIM_(m), float *s, float *sep, float *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq));

extern void strsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), float *t, SimTK_FDIM_(ldt), float *vl, SimTK_FDIM_(ldvl), float *vr, SimTK_FDIM_(ldvr), float *s, float *sep, int *mm, SimTK_FDIM_(m), float *work, int *ldwork, int *iwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void strsyl_(SimTK_FOPT_(trana), SimTK_FOPT_(tranb), int *isgn, SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), float *c__, SimTK_FDIM_(ldc), float *scale, SimTK_INFO_, SimTK_FLEN_(trana), SimTK_FLEN_(tranb));

extern void strti2_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void strtri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void strtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), float *a, SimTK_FDIM_(lda), float *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void stzrqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, SimTK_INFO_);

extern void stzrzf_(SimTK_FDIM_(m), SimTK_FDIM_(n), float *a, SimTK_FDIM_(lda), float *tau, float *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void xerbla_(const char *srname, SimTK_INFO_, SimTK_FLEN_(srname));

extern void zbdsqr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ncvt, int *nru, int *ncc, double *d__, double *e, SimTK_Z_ *vt, SimTK_FDIM_(ldvt), SimTK_Z_ *u, SimTK_FDIM_(ldu), SimTK_Z_ *c__, SimTK_FDIM_(ldc), double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zdrscl_(SimTK_FDIM_(n), double *sa, SimTK_Z_ *sx, SimTK_FINC_(x));

extern void zgbbrd_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ncc, SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *d__, double *e, SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *pt, int *ldpt, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(vect));

extern void zgbcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_Z_ *ab, SimTK_FDIM_(ldab), int *ipiv, double *anorm, double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void zgbequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, SimTK_INFO_);

extern void zgbrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *afb, SimTK_FDIM_(ldafb), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void zgbsv_(SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void zgbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *afb, SimTK_FDIM_(ldafb), int *ipiv, char *equed, double *r__, double *c__, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void zgbtf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_Z_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void zgbtrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_Z_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_INFO_);

extern void zgbtrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void zgebak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, double *scale, SimTK_FDIM_(m), SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void zgebal_(SimTK_FOPT_(job), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ilo, int *ihi, double *scale, SimTK_INFO_, SimTK_FLEN_(job));

extern void zgebd2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *d__, double *e, SimTK_Z_ *tauq, SimTK_Z_ *taup, SimTK_Z_ *work, SimTK_INFO_);

extern void zgebrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *d__, double *e, SimTK_Z_ *tauq, SimTK_Z_ *taup, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgecon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *anorm, double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(norm));

extern void zgeequ_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, SimTK_INFO_);

extern void zgees_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_Z select, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *sdim, SimTK_Z_ *w, SimTK_Z_ *vs, SimTK_FDIM_(ldvs), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort));

extern void zgeesx_(SimTK_FOPT_(jobvs), SimTK_FOPT_(sort), SimTK_SELECT_Z select, char *sense, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *sdim, SimTK_Z_ *w, SimTK_Z_ *vs, SimTK_FDIM_(ldvs), double *rconde, double *rcondv, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvs), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void zgeev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *w, SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void zgeevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *w, SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, double *scale, double *abnrm, double *rconde, double *rcondv, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(balanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void zgegs_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *vsl, int *ldvsl, SimTK_Z_ *vsr, int *ldvsr, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void zgegv_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void zgehd2_(SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zgehrd_(SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgelq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zgelqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgels_(SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(trans));

extern void zgelsx_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), int *jpvt, double *rcond, int *rank, SimTK_Z_ *work, double *rwork, SimTK_INFO_);

extern void zgelsy_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), int *jpvt, double *rcond, int *rank, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_);

extern void zgeql2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zgeqlf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgeqp3_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_);

extern void zgeqpf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_Z_ *tau, SimTK_Z_ *work, double *rwork, SimTK_INFO_);

extern void zgeqr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zgeqrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgerfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void zgerq2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zgerqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgesc2_(SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *rhs, int *ipiv, int *jpiv, double *scale);

extern void zgesv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void zgesvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, int *ipiv, char *equed, double *r__, double *c__, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans), SimTK_FLEN_(equed));

extern void zgetc2_(SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, int *jpiv, SimTK_INFO_);

extern void zgetf2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void zgetrf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_);

extern void zgetri_(SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgetrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void zggbak_(SimTK_FOPT_(job), SimTK_FOPT_(side), SimTK_FDIM_(n), int *ilo, int *ihi, double *lscale, double *rscale, SimTK_FDIM_(m), SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(side));

extern void zggbal_(SimTK_FOPT_(job), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), int *ilo, int *ihi, double *lscale, double *rscale, double *work, SimTK_INFO_, SimTK_FLEN_(job));

extern void zgges_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_2Z delctg, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), int *sdim, const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *beta, SimTK_Z_ *vsl, int *ldvsl, SimTK_Z_ *vsr, int *ldvsr, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort));

extern void zggesx_(SimTK_FOPT_(jobvsl), SimTK_FOPT_(jobvsr), SimTK_FOPT_(sort), SimTK_SELECT_2Z delctg, char *sense, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), int *sdim, const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *vsl, int *ldvsl, SimTK_Z_ *vsr, int *ldvsr, double *rconde, double *rcondv, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *iwork, int *liwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(jobvsl), SimTK_FLEN_(jobvsr), SimTK_FLEN_(sort), SimTK_FLEN_(sense));

extern void zggev_(SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr));

extern void zggevx_(SimTK_FOPT_(balanc), SimTK_FOPT_(jobvl), SimTK_FOPT_(jobvr), char *sense, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), int *ilo, int *ihi, double *lscale, double *rscale, double *abnrm, double *bbnrm, double *rconde, double *rcondv, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *iwork, int *bwork, SimTK_INFO_, SimTK_FLEN_(blanc), SimTK_FLEN_(jobvl), SimTK_FLEN_(jobvr), SimTK_FLEN_(sense));

extern void zggglm_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *d__, SimTK_Z_ *x, SimTK_Z_ *y, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zgghrd_(SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_INFO_, SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void zgglse_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *c__, SimTK_Z_ *d__, SimTK_Z_ *x, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zggqrf_(SimTK_FDIM_(n), SimTK_FDIM_(m), int *p, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *taua, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *taub, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zggrqf_(SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *taua, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *taub, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zggsvd_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), SimTK_FDIM_(n), int *p, SimTK_FDIM_(k), int *l, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), SimTK_Z_ *u, SimTK_FDIM_(ldu), SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *work, double *rwork, int *iwork, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void zggsvp_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), double *tola, double *tolb, SimTK_FDIM_(k), int *l, SimTK_Z_ *u, SimTK_FDIM_(ldu), SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *q, SimTK_FDIM_(ldq), int *iwork, double *rwork, SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void zgtcon_(SimTK_FOPT_(norm), SimTK_FDIM_(n), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *du2, int *ipiv, double *anorm, double *rcond, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(norm));

extern void zgtrfs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *dlf, SimTK_Z_ *df, SimTK_Z_ *duf, SimTK_Z_ *du2, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void zgtsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void zgtsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *dlf, SimTK_Z_ *df, SimTK_Z_ *duf, SimTK_Z_ *du2, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(trans));

extern void zgttrf_(SimTK_FDIM_(n), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *du2, int *ipiv, SimTK_INFO_);

extern void zgttrs_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *du2, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(trans));

extern void zgtts2_(int *itrans, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *du2, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb));

extern void zhbev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhbevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhbevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *q, SimTK_FDIM_(ldq), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zhbgst_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *bb, int *ldbb, SimTK_Z_ *x, int *ldx, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void zhbgv_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *bb, int *ldbb, double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhbgvx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *ka, int *kb, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *bb, int *ldbb, SimTK_Z_ *q, SimTK_FDIM_(ldq), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zhbtrd_(SimTK_FOPT_(vect), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *d__, double *e, SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(uplo));

extern void zhecon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, double *anorm, double *rcond, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zheev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *w, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zheevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *w, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zheevr_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), int *isuppz, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zheevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zhegs2_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhegst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhegv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), double *w, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhegvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), double *w, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhegvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zherfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhesv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhesvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void zhetf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhetrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *d__, double *e, SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhetrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhetri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhetrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhgeqz_(SimTK_FOPT_(job), SimTK_FOPT_(compq), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *beta, SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq), SimTK_FLEN_(compz));

extern void zhpcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, int *ipiv, double *anorm, double *rcond, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhpev_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhpevd_(SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhpevx_(SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zhpgst_(int *itype, SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *bp, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhpgv_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *bp, double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhpgvd_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *bp, double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(uplo));

extern void zhpgvx_(int *itype, SimTK_FOPT_(jobz), SimTK_FOPT_(range), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *bp, double *vl, double *vu, int *il, int *iu, double *abstol, SimTK_FDIM_(m), double *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, double *rwork, int *iwork, int *ifail, SimTK_INFO_, SimTK_FLEN_(jobz), SimTK_FLEN_(range), SimTK_FLEN_(uplo));

extern void zhprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *afp, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhpsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhpsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *afp, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void zhptrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *d__, double *e, SimTK_Z_ *tau, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, int *ipiv, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zhsein_(SimTK_FOPT_(side), char *eigsrc, char *initv, int *select, SimTK_FDIM_(n), SimTK_Z_ *h__, int *ldh, SimTK_Z_ *w, SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), SimTK_Z_ *work, double *rwork, int *ifaill, int *ifailr, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(eigsrc), SimTK_FLEN_(initv));

extern void zhseqr_(SimTK_FOPT_(job), SimTK_FOPT_(compz), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *h__, int *ldh, SimTK_Z_ *w, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compz));

extern void zlabrd_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *nb, SimTK_Z_ *a, SimTK_FDIM_(lda), double *d__, double *e, SimTK_Z_ *tauq, SimTK_Z_ *taup, SimTK_Z_ *x, int *ldx, SimTK_Z_ *y, int *ldy);

extern void zlacgv_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x));

extern void zlacon_(SimTK_FDIM_(n), SimTK_Z_ *v, SimTK_Z_ *x, double *est, int *kase, int *j, int *jump, int* iter);

extern void zlacp2_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb));

extern void zlacpy_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb));

extern void zlacrm_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *b, SimTK_FDIM_(ldb), SimTK_Z_ *c__, SimTK_FDIM_(ldc), double *rwork, SimTK_FLEN_(uplo));

extern void zlacrt_(SimTK_FDIM_(n), SimTK_Z_ *cx, SimTK_FINC_(x), SimTK_Z_ *cy, SimTK_FINC_(y), SimTK_Z_ *c__, SimTK_Z_ *s);

extern void zlaed0_(int *qsiz, SimTK_FDIM_(n), double *d__, double *e, SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *qstore, SimTK_FDIM_(ldqs), double *rwork, int *iwork, SimTK_INFO_);

extern void zlaed7_(SimTK_FDIM_(n), int *cutpnt, int *qsiz, int *tlvls, int *curlvl, int *curpbm, double *d__, SimTK_Z_ *q, SimTK_FDIM_(ldq), double *rho, int *indxq, double *qstore, int *qptr, int *prmptr, int *perm, int *givptr, int *givcol, double *givnum, SimTK_Z_ *work, double *rwork, int *iwork, SimTK_INFO_);

extern void zlaed8_(SimTK_FDIM_(k), SimTK_FDIM_(n), int *qsiz, SimTK_Z_ *q, SimTK_FDIM_(ldq), double *d__, double *rho, int *cutpnt, double *z__, double *dlamda, SimTK_Z_ *q2, SimTK_FDIM_(ldq2), double *w, int *indxp, int *indx, int *indxq, int *perm, int *givptr, int *givcol, double *givnum, SimTK_INFO_);

extern void zlaein_(int *rightv, int *noinit, SimTK_FDIM_(n), SimTK_Z_ *h__, int *ldh, SimTK_Z_ *w, SimTK_Z_ *v, SimTK_Z_ *b, SimTK_FDIM_(ldb), double *rwork, double *eps3, double *smlnum, SimTK_INFO_);

extern void zlaesy_(SimTK_Z_ *a, SimTK_Z_ *b, SimTK_Z_ *c__, SimTK_Z_ *rt1, SimTK_Z_ *rt2, SimTK_Z_ *evscal, SimTK_Z_ *cs1, SimTK_Z_ *sn1);

extern void zlaev2_(SimTK_Z_ *a, SimTK_Z_ *b, SimTK_Z_ *c__, double *rt1, double *rt2, double *cs1, SimTK_Z_ *sn1);

extern void zlags2_(int *upper, double *a1, SimTK_Z_ *a2, double *a3, double *b1, SimTK_Z_ *b2, double *b3, double *csu, SimTK_Z_ *snu, double *csv, SimTK_Z_ *snv, double *csq, SimTK_Z_ *snq);

extern void zlagtm_(SimTK_FOPT_(trans), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), const SimTK_FSCL_(double,alpha), SimTK_Z_ *dl, SimTK_Z_ *d__, SimTK_Z_ *du, SimTK_Z_ *x, int *ldx, const SimTK_FSCL_(double,beta), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_FLEN_(trans));

extern void zlahef_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, int *kb, SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *w, int *ldw, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zlahqr_(int *wantt, int *wantz, SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *h__, int *ldh, SimTK_Z_ *w, int *iloz, int *ihiz, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_INFO_);

extern void zlahrd_(SimTK_FDIM_(n), SimTK_FDIM_(k), int *nb, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *y, int *ldy);

extern void zlaic1_(int *job, int *j, SimTK_Z_ *x, double *sest, SimTK_Z_ *w, SimTK_Z_ *gamma, double *sestpr, SimTK_Z_ *s, SimTK_Z_ *c__);

extern void zlals0_(int *icompq, int *nl, int *nr, int *sqre, SimTK_FDIM_(nrhs), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *bx, int *ldbx, int *perm, int *givptr, int *givcol, int *ldgcol, double *givnum, int *ldgnum, double *poles, double *difl, double *difr, double *z__, SimTK_FDIM_(k), double *c__, double *s, double *rwork, SimTK_INFO_);

extern void zlalsa_(int *icompq, int *smlsiz, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *bx, int *ldbx, double *u, SimTK_FDIM_(ldu), double *vt, int *k, double *difl, double *difr, double *z__, double *poles, int *givptr, int *givcol, int *ldgcol, int *perm, double *givnum, double *c__, double *s, double *rwork, int *iwork, SimTK_INFO_);

extern void zlapll_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y), double *ssmin);

extern void zlapmt_(int *forwrd, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *x, int *ldx, SimTK_FDIM_(k));

extern void zlaqgb_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(kl), SimTK_FDIM_(ku), SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, char *equed);

extern void zlaqge_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *r__, double *c__, double *rowcnd, double *colcnd, double *amax, char *equed);

extern void zlaqhb_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo));

extern void zlaqhe_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo));

extern void zlaqhp_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo));

extern void zlaqp2_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, SimTK_Z_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_Z_ *tau, double *vn1, double *vn2, SimTK_Z_ *work);

extern void zlaqps_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *offset, int *nb, int *kb, SimTK_Z_ *a, SimTK_FDIM_(lda), int *jpvt, SimTK_Z_ *tau, double *vn1, double *vn2, SimTK_Z_ *auxv, SimTK_Z_ *f, int *ldf);

extern void zlaqsb_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo));

extern void zlaqsp_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo));

extern void zlaqsy_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *s, double *scond, double *amax, char *equed, SimTK_FLEN_(uplo));

extern void zlar1v_(SimTK_FDIM_(n), int *b1, int *bn, double *sigma, double *d__, double *l, double *ld, double *lld, double *gersch, SimTK_Z_ *z__, double *ztz, double *mingma, int *r__, int *isuppz, double *work);

extern void zlar2v_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_Z_ *y, SimTK_Z_ *z__, SimTK_FINC_(x), double *c__, SimTK_Z_ *s, SimTK_FINC_(c));

extern void zlarcm_(SimTK_FDIM_(m), SimTK_FDIM_(n), double *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *c__, SimTK_FDIM_(ldc), double *rwork);

extern void zlarf_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *v, SimTK_FINC_(v), SimTK_Z_ *tau, SimTK_Z_ *c__, int *ldc, SimTK_Z_ *work, SimTK_FLEN_(side));

extern void zlarfb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *c__, int *ldc, SimTK_Z_ *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct));

extern void zlarfg_(SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *tau);

extern void zlarft_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *tau, SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void zlarfx_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *v, SimTK_Z_ *tau, SimTK_Z_ *c__, int *ldc, SimTK_Z_ *work, SimTK_FLEN_(side));

extern void zlargv_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y), double *c__, SimTK_FINC_(c));

extern void zlarnv_(int *idist, int *iseed, SimTK_FDIM_(n), SimTK_Z_ *x);

extern void zlarrv_(SimTK_FDIM_(n), double *d__, double *l, int *isplit, SimTK_FDIM_(m), double *w, int *iblock, double *gersch, double *tol, SimTK_Z_ *z__, SimTK_FDIM_(ldz), int *isuppz, double *work, int *iwork, SimTK_INFO_);

extern void zlartg_(SimTK_Z_ *f, SimTK_Z_ *g, double *cs, SimTK_Z_ *sn, SimTK_Z_ *r__);

extern void zlartv_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *y, SimTK_FINC_(y), double *c__, SimTK_Z_ *s, SimTK_FINC_(c));

extern void zlarz_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, SimTK_Z_ *v, SimTK_FINC_(v), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FLEN_(side));

extern void zlarzb_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, int *ldwork, SimTK_FLEN_(side), SimTK_FLEN_(trans), SimTK_FLEN_(direct));

extern void zlarzt_(SimTK_FOPT_(direct), SimTK_FOPT_(storev), SimTK_FDIM_(n), int *k, SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *tau, SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_FLEN_(direct), SimTK_FLEN_(storev));

extern void zlascl_(char *type__, SimTK_FDIM_(kl), SimTK_FDIM_(ku), double *cfrom, double *cto, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(type));

extern void zlaset_(SimTK_FOPT_(uplo), SimTK_FDIM_(m), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));

extern void zlasr_(SimTK_FOPT_(side), char *pivot, SimTK_FOPT_(direct), SimTK_FDIM_(m), SimTK_FDIM_(n), double *c__, double *s, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_FLEN_(side), SimTK_FLEN_(pivot), SimTK_FLEN_(direct));

extern void zlassq_(SimTK_FDIM_(n), SimTK_Z_ *x, SimTK_FINC_(x), double *scale, double *sumsq);

extern void zlaswp_(SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *k1, int *k2, int *ipiv, SimTK_FINC_(x));

extern void zlasyf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, int *kb, SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *w, int *ldw, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zlatbs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *x, double *scale, double *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void zlatdf_(int *ijob, SimTK_FDIM_(n), SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *rhs, double *rdsum, double *rdscal, int *ipiv, int *jpiv);

extern void zlatps_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *x, double *scale, double *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void zlatrd_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *nb, SimTK_Z_ *a, SimTK_FDIM_(lda), double *e, SimTK_Z_ *tau, SimTK_Z_ *w, int *ldw, SimTK_FLEN_(uplo));

extern void zlatrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), char *normin, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *x, double *scale, double *cnorm, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void zlatrz_(SimTK_FDIM_(m), SimTK_FDIM_(n), int *l, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work);

extern void zlatzm_(SimTK_FOPT_(side), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *v, SimTK_FINC_(v), SimTK_Z_ *tau, SimTK_Z_ *c1, SimTK_Z_ *c2, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FLEN_(side));

extern void zlauu2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zlauum_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *anorm, double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *s, double *scond, double *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *afb, SimTK_FDIM_(ldafb), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbstf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *afb, SimTK_FDIM_(ldafb), char *equed, double *s, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void zpbtf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbtrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpbtrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpocon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *anorm, double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpoequ_(SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *s, double *scond, double *amax, SimTK_INFO_);

extern void zporfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zposv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zposvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, char *equed, double *s, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void zpotf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpotrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpotri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpotrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zppcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *anorm, double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zppequ_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, double *s, double *scond, double *amax, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *afp, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zppsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(fact));

extern void zppsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *afp, char *equed, double *s, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo), SimTK_FLEN_(equed));

extern void zpptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zpptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zptcon_(SimTK_FDIM_(n), double *d__, SimTK_Z_ *e, double *anorm, double *rcond, double *rwork, SimTK_INFO_);

extern void zptrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, SimTK_Z_ *e, double *df, SimTK_Z_ *ef, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zptsv_(SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, SimTK_Z_ *e, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_);

extern void zptsvx_(SimTK_FOPT_(fact), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, SimTK_Z_ *e, double *df, SimTK_Z_ *ef, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact));

extern void zpttrf_(SimTK_FDIM_(n), double *d__, SimTK_Z_ *e, SimTK_INFO_);

extern void zpttrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, SimTK_Z_ *e, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zptts2_(int *iuplo, SimTK_FDIM_(n), SimTK_FDIM_(nrhs), double *d__, SimTK_Z_ *e, SimTK_Z_ *b, SimTK_FDIM_(ldb));

extern void zrot_(SimTK_FDIM_(n), SimTK_Z_ *cx, SimTK_FINC_(x), SimTK_Z_ *cy, SimTK_FINC_(y), double *c__, SimTK_Z_ *s);

extern void zspcon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, int *ipiv, double *anorm, double *rcond, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zspmv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *ap, SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *beta, SimTK_Z_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

extern void zspr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *ap, SimTK_FLEN_(uplo));

extern void zsprfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *afp, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zspsv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zspsvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *afp, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void zsptrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsptri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, int *ipiv, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsptrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zstedc_(SimTK_FOPT_(compz), SimTK_FDIM_(n), double *d__, double *e, SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, int *lrwork, int *iwork, int *liwork, SimTK_INFO_, SimTK_FLEN_(compz));

extern void zstein_(SimTK_FDIM_(n), double *d__, double *e, SimTK_FDIM_(m), double *w, int *iblock, int *isplit, SimTK_Z_ *z__, SimTK_FDIM_(ldz), double *work, int *iwork, int *ifail, SimTK_INFO_);

extern void zsteqr_(SimTK_FOPT_(compz), SimTK_FDIM_(n), double *d__, double *e, SimTK_Z_ *z__, SimTK_FDIM_(ldz), double *work, SimTK_INFO_, SimTK_FLEN_(compz));

extern void zsycon_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, double *anorm, double *rcond, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsymv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *x, SimTK_FINC_(x), const SimTK_FSCL_(SimTK_Z_,beta), SimTK_Z_ *y, SimTK_FINC_(y), SimTK_FLEN_(uplo));

extern void zsyr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *x, SimTK_FINC_(x), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_FLEN_(uplo));

extern void zsyrfs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsysv_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsysvx_(SimTK_FOPT_(fact), SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *af, int *ldaf, int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *rcond, double *ferr, double *berr, SimTK_Z_ *work, SimTK_FDIM_(lwork), double *rwork, SimTK_INFO_, SimTK_FLEN_(fact), SimTK_FLEN_(uplo));

extern void zsytf2_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsytrf_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsytri_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zsytrs_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), int *ipiv, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void ztbcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_Z_ *ab, SimTK_FDIM_(ldab), double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ztbrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ztbtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), int *kd, SimTK_FDIM_(nrhs), SimTK_Z_ *ab, SimTK_FDIM_(ldab), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ztgevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void ztgex2_(int *wantq, int *wantz, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *z__, SimTK_FDIM_(ldz), int *j1, SimTK_INFO_);

extern void ztgexc_(int *wantq, int *wantz, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *z__, SimTK_FDIM_(ldz), int *ifst, int *ilst, SimTK_INFO_);

extern void ztgsen_(int *ijob, int *wantq, int *wantz, int *select, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), const SimTK_FSCL_(SimTK_Z_,alpha), SimTK_Z_ *beta, SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *z__, SimTK_FDIM_(ldz), SimTK_FDIM_(m), double *pl, double *pr, double *dif, SimTK_Z_ *work, SimTK_FDIM_(lwork), int *iwork, int *liwork, SimTK_INFO_);

extern void ztgsja_(SimTK_FOPT_(jobu), SimTK_FOPT_(jobv), SimTK_FOPT_(jobq), SimTK_FDIM_(m), int *p, SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), double *tola, double *tolb, const SimTK_FSCL_(double,alpha), const SimTK_FSCL_(double,beta), SimTK_Z_ *u, SimTK_FDIM_(ldu), SimTK_Z_ *v, SimTK_FDIM_(ldv), SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *work, int *ncycle, SimTK_INFO_, SimTK_FLEN_(jobu), SimTK_FLEN_(jobv), SimTK_FLEN_(jobq));

extern void ztgsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), double *s, double *dif, int *mm, SimTK_FDIM_(m), SimTK_Z_ *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void ztgsy2_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *d__, int *ldd, SimTK_Z_ *e, int *lde, SimTK_Z_ *f, int *ldf, double *scale, double *rdsum, double *rdscal, SimTK_INFO_, SimTK_FLEN_(trans));

extern void ztgsyl_(SimTK_FOPT_(trans), int *ijob, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *d__, int *ldd, SimTK_Z_ *e, int *lde, SimTK_Z_ *f, int *ldf, double *scale, double *dif, SimTK_Z_ *work, SimTK_FDIM_(lwork), int *iwork, SimTK_INFO_, SimTK_FLEN_(trans));

extern void ztpcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_Z_ *ap, double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ztprfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ztptri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ztptrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *ap, SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo),SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ztrcon_(SimTK_FOPT_(norm), SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), double *rcond, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(norm), SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ztrevc_(SimTK_FOPT_(side), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), int *mm, SimTK_FDIM_(m), SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(howmny));

extern void ztrexc_(SimTK_FOPT_(compq), SimTK_FDIM_(n), SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *q, SimTK_FDIM_(ldq), int *ifst, int *ilst, SimTK_INFO_, SimTK_FLEN_(compq));

extern void ztrrfs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *x, int *ldx, double *ferr, double *berr, SimTK_Z_ *work, double *rwork, SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ztrsen_(SimTK_FOPT_(job), SimTK_FOPT_(compq), int *select, SimTK_FDIM_(n), SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *w, SimTK_FDIM_(m), double *s, double *sep, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(compq));

extern void ztrsna_(SimTK_FOPT_(job), SimTK_FOPT_(howmny), int *select, SimTK_FDIM_(n), SimTK_Z_ *t, SimTK_FDIM_(ldt), SimTK_Z_ *vl, SimTK_FDIM_(ldvl), SimTK_Z_ *vr, SimTK_FDIM_(ldvr), double *s, double *sep, int *mm, SimTK_FDIM_(m), SimTK_Z_ *work, int *ldwork, double *rwork, SimTK_INFO_, SimTK_FLEN_(job), SimTK_FLEN_(howmny));

extern void ztrsyl_(char *tranA, char *tranB, int *isgn, SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_Z_ *c__, SimTK_FDIM_(ldc), double *scale, SimTK_INFO_, SimTK_FLEN_(transA), SimTK_FLEN_(transB));

extern void ztrti2_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ztrtri_(SimTK_FOPT_(uplo), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(diag));

extern void ztrtrs_(SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FOPT_(diag), SimTK_FDIM_(n), SimTK_FDIM_(nrhs), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *b, SimTK_FDIM_(ldb), SimTK_INFO_, SimTK_FLEN_(uplo), SimTK_FLEN_(trans), SimTK_FLEN_(diag));

extern void ztzrqf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_INFO_);

extern void ztzrzf_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zung2l_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zung2r_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zungbr_(SimTK_FOPT_(vect), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect));

extern void zunghr_(SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zungl2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zunglq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zungql_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zungqr_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zungr2_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_INFO_);

extern void zungrq_(SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_);

extern void zungtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zunm2l_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunm2r_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmbr_(SimTK_FOPT_(vect), SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(vect), SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmhr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), int *ilo, int *ihi, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunml2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmlq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmql_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmqr_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmr2_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmr3_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(trans));

extern void zunmrq_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo));

extern void zunmrz_(SimTK_FOPT_(side), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_FDIM_(k), int *l, SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo));

extern void zunmtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *a, SimTK_FDIM_(lda), SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_FDIM_(lwork), SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

extern void zupgtr_(SimTK_FOPT_(uplo), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *tau, SimTK_Z_ *q, SimTK_FDIM_(ldq), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(uplo));

extern void zupmtr_(SimTK_FOPT_(side), SimTK_FOPT_(uplo), SimTK_FOPT_(trans), SimTK_FDIM_(m), SimTK_FDIM_(n), SimTK_Z_ *ap, SimTK_Z_ *tau, SimTK_Z_ *c__, SimTK_FDIM_(ldc), SimTK_Z_ *work, SimTK_INFO_, SimTK_FLEN_(side), SimTK_FLEN_(uplo), SimTK_FLEN_(trans));

#ifdef __cplusplus
}   // extern "C"
#endif

#undef SimTK_C_
#undef SimTK_Z_
#undef SimTK_FDIM_
#undef SimTK_FOPT_
#undef SimTK_FLEN_
#undef SimTK_FINC_
#undef SimTK_FSCL_
#undef SimTK_INFO_

#endif // SimTK_SIMTKLAPACK_H_