1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2013 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 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 (at) google.com (Sameer Agarwal) 30 31 #include "ceres/blas.h" 32 #include "glog/logging.h" 33 34 extern "C" void dsyrk_(char* uplo, 35 char* trans, 36 int* n, 37 int* k, 38 double* alpha, 39 double* a, 40 int* lda, 41 double* beta, 42 double* c, 43 int* ldc); 44 45 namespace ceres { 46 namespace internal { 47 48 void BLAS::SymmetricRankKUpdate(int num_rows, 49 int num_cols, 50 const double* a, 51 bool transpose, 52 double alpha, 53 double beta, 54 double* c) { 55 #ifdef CERES_NO_LAPACK 56 LOG(FATAL) << "Ceres was built without a BLAS library."; 57 #else 58 char uplo = 'L'; 59 char trans = transpose ? 'T' : 'N'; 60 int n = transpose ? num_cols : num_rows; 61 int k = transpose ? num_rows : num_cols; 62 int lda = k; 63 int ldc = n; 64 dsyrk_(&uplo, 65 &trans, 66 &n, 67 &k, 68 &alpha, 69 const_cast<double*>(a), 70 &lda, 71 &beta, 72 c, 73 &ldc); 74 #endif 75 } 76 77 } // namespace internal 78 } // namespace ceres 79
