| Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame^] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
| 2 | // Copyright 2015 Google Inc. All rights reserved. |
| 3 | // http://ceres-solver.org/ |
| 4 | // |
| 5 | // Redistribution and use in source and binary forms, with or without |
| 6 | // modification, are permitted provided that the following conditions are met: |
| 7 | // |
| 8 | // * Redistributions of source code must retain the above copyright notice, |
| 9 | // this list of conditions and the following disclaimer. |
| 10 | // * Redistributions in binary form must reproduce the above copyright notice, |
| 11 | // this list of conditions and the following disclaimer in the documentation |
| 12 | // and/or other materials provided with the distribution. |
| 13 | // * Neither the name of Google Inc. nor the names of its contributors may be |
| 14 | // used to endorse or promote products derived from this software without |
| 15 | // specific prior written permission. |
| 16 | // |
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | // POSSIBILITY OF SUCH DAMAGE. |
| 28 | // |
| 29 | // Author: sameeragarwal@google.com (Sameer Agarwal) |
| 30 | |
| 31 | #include "ceres/blas.h" |
| 32 | #include "ceres/internal/port.h" |
| 33 | #include "glog/logging.h" |
| 34 | |
| 35 | #ifndef CERES_NO_LAPACK |
| 36 | extern "C" void dsyrk_(char* uplo, |
| 37 | char* trans, |
| 38 | int* n, |
| 39 | int* k, |
| 40 | double* alpha, |
| 41 | double* a, |
| 42 | int* lda, |
| 43 | double* beta, |
| 44 | double* c, |
| 45 | int* ldc); |
| 46 | #endif |
| 47 | |
| 48 | namespace ceres { |
| 49 | namespace internal { |
| 50 | |
| 51 | void BLAS::SymmetricRankKUpdate(int num_rows, |
| 52 | int num_cols, |
| 53 | const double* a, |
| 54 | bool transpose, |
| 55 | double alpha, |
| 56 | double beta, |
| 57 | double* c) { |
| 58 | #ifdef CERES_NO_LAPACK |
| 59 | LOG(FATAL) << "Ceres was built without a BLAS library."; |
| 60 | #else |
| 61 | char uplo = 'L'; |
| 62 | char trans = transpose ? 'T' : 'N'; |
| 63 | int n = transpose ? num_cols : num_rows; |
| 64 | int k = transpose ? num_rows : num_cols; |
| 65 | int lda = k; |
| 66 | int ldc = n; |
| 67 | dsyrk_(&uplo, |
| 68 | &trans, |
| 69 | &n, |
| 70 | &k, |
| 71 | &alpha, |
| 72 | const_cast<double*>(a), |
| 73 | &lda, |
| 74 | &beta, |
| 75 | c, |
| 76 | &ldc); |
| 77 | #endif |
| 78 | } |
| 79 | |
| 80 | } // namespace internal |
| 81 | } // namespace ceres |