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fix formatting for (non-generated) internal source files

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- Change formatting standard to Cpp11. Main difference is not having
  the space between two closing >> for nested templates. We don't
  choose c++14, because older versions of clang-format (version 9
  and earlier) don't know this value yet, and it doesn't make a
  difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
  (gtest/gmock)
- Add script to format all source files

Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
This commit is contained in:
Nikolaus Demmel
2020-09-20 21:45:24 +02:00
parent 921368ce31
commit 7b8f675bfd
272 changed files with 3449 additions and 3319 deletions
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internal/ceres/implicit_schur_complement.cc
+12 -18
View File
@@ -43,13 +43,9 @@ namespace internal {
ImplicitSchurComplement::ImplicitSchurComplement(
const LinearSolver::Options& options)
: options_(options),
D_(NULL),
b_(NULL) {
}
: options_(options), D_(NULL), b_(NULL) {}
ImplicitSchurComplement::~ImplicitSchurComplement() {
}
ImplicitSchurComplement::~ImplicitSchurComplement() {}
void ImplicitSchurComplement::Init(const BlockSparseMatrix& A,
const double* D,
@@ -88,7 +84,7 @@ void ImplicitSchurComplement::Init(const BlockSparseMatrix& A,
// the block diagonals and invert them.
AddDiagonalAndInvert(D_, block_diagonal_EtE_inverse_.get());
if (options_.preconditioner_type == JACOBI) {
AddDiagonalAndInvert((D_ == NULL) ? NULL : D_ + A_->num_cols_e(),
AddDiagonalAndInvert((D_ == NULL) ? NULL : D_ + A_->num_cols_e(),
block_diagonal_FtF_inverse_.get());
}
@@ -125,8 +121,8 @@ void ImplicitSchurComplement::RightMultiply(const double* x, double* y) const {
if (D_ != NULL) {
ConstVectorRef Dref(D_ + A_->num_cols_e(), num_cols());
VectorRef(y, num_cols()) =
(Dref.array().square() *
ConstVectorRef(x, num_cols()).array()).matrix();
(Dref.array().square() * ConstVectorRef(x, num_cols()).array())
.matrix();
} else {
VectorRef(y, num_cols()).setZero();
}
@@ -139,8 +135,7 @@ void ImplicitSchurComplement::RightMultiply(const double* x, double* y) const {
// entries D, add them to the diagonal of the matrix and compute the
// inverse of each diagonal block.
void ImplicitSchurComplement::AddDiagonalAndInvert(
const double* D,
BlockSparseMatrix* block_diagonal) {
const double* D, BlockSparseMatrix* block_diagonal) {
const CompressedRowBlockStructure* block_diagonal_structure =
block_diagonal->block_structure();
for (int r = 0; r < block_diagonal_structure->rows.size(); ++r) {
@@ -148,17 +143,16 @@ void ImplicitSchurComplement::AddDiagonalAndInvert(
const int row_block_size = block_diagonal_structure->rows[r].block.size;
const Cell& cell = block_diagonal_structure->rows[r].cells[0];
MatrixRef m(block_diagonal->mutable_values() + cell.position,
row_block_size, row_block_size);
row_block_size,
row_block_size);
if (D != NULL) {
ConstVectorRef d(D + row_block_pos, row_block_size);
m += d.array().square().matrix().asDiagonal();
}
m = m
.selfadjointView<Eigen::Upper>()
.llt()
.solve(Matrix::Identity(row_block_size, row_block_size));
m = m.selfadjointView<Eigen::Upper>().llt().solve(
Matrix::Identity(row_block_size, row_block_size));
}
}
@@ -167,7 +161,7 @@ void ImplicitSchurComplement::AddDiagonalAndInvert(
void ImplicitSchurComplement::BackSubstitute(const double* x, double* y) {
const int num_cols_e = A_->num_cols_e();
const int num_cols_f = A_->num_cols_f();
const int num_cols = A_->num_cols();
const int num_cols = A_->num_cols();
const int num_rows = A_->num_rows();
// y1 = F x
@@ -190,7 +184,7 @@ void ImplicitSchurComplement::BackSubstitute(const double* x, double* y) {
// computed via back substitution. The second block of variables
// corresponds to the Schur complement system, so we just copy those
// values from the solution to the Schur complement.
VectorRef(y + num_cols_e, num_cols_f) = ConstVectorRef(x, num_cols_f);
VectorRef(y + num_cols_e, num_cols_f) = ConstVectorRef(x, num_cols_f);
}
// Compute the RHS of the Schur complement system.