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 # Script for explicitly generating template specialization of the 32 # PartitionedMatrixView class. Explicitly generating these 33 # instantiations in separate .cc files breaks the compilation into 34 # separate compilation unit rather than one large cc file. 35 # 36 # This script creates two sets of files. 37 # 38 # 1. partitioned_matrix_view_x_x_x.cc 39 # where the x indicates the template parameters and 40 # 41 # 2. partitioned_matrix_view.cc 42 # 43 # that contains a factory function for instantiating these classes 44 # based on runtime parameters. 45 # 46 # The list of tuples, specializations indicates the set of 47 # specializations that is generated. 48 49 # Set of template specializations to generate 50 SPECIALIZATIONS = [(2, 2, 2), 51 (2, 2, 3), 52 (2, 2, 4), 53 (2, 2, "Eigen::Dynamic"), 54 (2, 3, 3), 55 (2, 3, 4), 56 (2, 3, 9), 57 (2, 3, "Eigen::Dynamic"), 58 (2, 4, 3), 59 (2, 4, 4), 60 (2, 4, 8), 61 (2, 4, 9), 62 (2, 4, "Eigen::Dynamic"), 63 (2, "Eigen::Dynamic", "Eigen::Dynamic"), 64 (4, 4, 2), 65 (4, 4, 3), 66 (4, 4, 4), 67 (4, 4, "Eigen::Dynamic"), 68 ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")] 69 HEADER = """// Ceres Solver - A fast non-linear least squares minimizer 70 // Copyright 2013 Google Inc. All rights reserved. 71 // http://code.google.com/p/ceres-solver/ 72 // 73 // Redistribution and use in source and binary forms, with or without 74 // modification, are permitted provided that the following conditions are met: 75 // 76 // * Redistributions of source code must retain the above copyright notice, 77 // this list of conditions and the following disclaimer. 78 // * Redistributions in binary form must reproduce the above copyright notice, 79 // this list of conditions and the following disclaimer in the documentation 80 // and/or other materials provided with the distribution. 81 // * Neither the name of Google Inc. nor the names of its contributors may be 82 // used to endorse or promote products derived from this software without 83 // specific prior written permission. 84 // 85 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 86 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 87 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 88 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 89 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 90 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 91 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 92 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 93 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 94 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 95 // POSSIBILITY OF SUCH DAMAGE. 96 // 97 // Author: sameeragarwal (at] google.com (Sameer Agarwal) 98 // 99 // Template specialization of PartitionedMatrixView. 100 // 101 // ======================================== 102 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 103 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 104 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 105 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 106 //========================================= 107 // 108 // This file is generated using generate_partitioned_matrix_view_specializations.py. 109 // Editing it manually is not recommended. 110 """ 111 112 DYNAMIC_FILE = """ 113 114 #include "ceres/partitioned_matrix_view_impl.h" 115 #include "ceres/internal/eigen.h" 116 117 namespace ceres { 118 namespace internal { 119 120 template class PartitionedMatrixView<%s, %s, %s>; 121 122 } // namespace internal 123 } // namespace ceres 124 """ 125 126 SPECIALIZATION_FILE = """ 127 // This include must come before any #ifndef check on Ceres compile options. 128 #include "ceres/internal/port.h" 129 130 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 131 132 #include "ceres/partitioned_matrix_view_impl.h" 133 #include "ceres/internal/eigen.h" 134 135 namespace ceres { 136 namespace internal { 137 138 template class PartitionedMatrixView<%s, %s, %s>; 139 140 } // namespace internal 141 } // namespace ceres 142 143 #endif // CERES_RESTRICT_SCHUR_SPECIALIZATION 144 """ 145 146 FACTORY_FILE_HEADER = """ 147 #include "ceres/linear_solver.h" 148 #include "ceres/partitioned_matrix_view.h" 149 #include "ceres/internal/eigen.h" 150 151 namespace ceres { 152 namespace internal { 153 154 PartitionedMatrixViewBase* 155 PartitionedMatrixViewBase::Create(const LinearSolver::Options& options, 156 const BlockSparseMatrix& matrix) { 157 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 158 """ 159 160 FACTORY_CONDITIONAL = """ if ((options.row_block_size == %s) && 161 (options.e_block_size == %s) && 162 (options.f_block_size == %s)) { 163 return new PartitionedMatrixView<%s, %s, %s>( 164 matrix, options.elimination_groups[0]); 165 } 166 """ 167 168 FACTORY_FOOTER = """ 169 #endif 170 VLOG(1) << "Template specializations not found for <" 171 << options.row_block_size << "," 172 << options.e_block_size << "," 173 << options.f_block_size << ">"; 174 return new PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>( 175 matrix, options.elimination_groups[0]); 176 }; 177 178 } // namespace internal 179 } // namespace ceres 180 """ 181 182 183 def SuffixForSize(size): 184 if size == "Eigen::Dynamic": 185 return "d" 186 return str(size) 187 188 189 def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size): 190 return "_".join([prefix] + map(SuffixForSize, (row_block_size, 191 e_block_size, 192 f_block_size))) 193 194 195 def Specialize(): 196 """ 197 Generate specialization code and the conditionals to instantiate it. 198 """ 199 f = open("partitioned_matrix_view.cc", "w") 200 f.write(HEADER) 201 f.write(FACTORY_FILE_HEADER) 202 203 for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS: 204 output = SpecializationFilename("generated/partitioned_matrix_view", 205 row_block_size, 206 e_block_size, 207 f_block_size) + ".cc" 208 fptr = open(output, "w") 209 fptr.write(HEADER) 210 211 template = SPECIALIZATION_FILE 212 if (row_block_size == "Eigen::Dynamic" and 213 e_block_size == "Eigen::Dynamic" and 214 f_block_size == "Eigen::Dynamic"): 215 template = DYNAMIC_FILE 216 217 fptr.write(template % (row_block_size, e_block_size, f_block_size)) 218 fptr.close() 219 220 f.write(FACTORY_CONDITIONAL % (row_block_size, 221 e_block_size, 222 f_block_size, 223 row_block_size, 224 e_block_size, 225 f_block_size)) 226 f.write(FACTORY_FOOTER) 227 f.close() 228 229 230 if __name__ == "__main__": 231 Specialize() 232
