mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Nikolaus Demmel
7b8f675bfd
- 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
83 lines
2.9 KiB
C++
83 lines
2.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/blas.h"
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#include "ceres/internal/port.h"
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#include "glog/logging.h"
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#ifndef CERES_NO_LAPACK
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extern "C" void dsyrk_(char* uplo,
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char* trans,
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int* n,
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int* k,
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double* alpha,
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double* a,
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int* lda,
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double* beta,
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double* c,
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int* ldc);
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#endif
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namespace ceres {
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namespace internal {
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void BLAS::SymmetricRankKUpdate(int num_rows,
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int num_cols,
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const double* a,
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bool transpose,
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double alpha,
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double beta,
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double* c) {
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#ifdef CERES_NO_LAPACK
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LOG(FATAL) << "Ceres was built without a BLAS library.";
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#else
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char uplo = 'L';
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char trans = transpose ? 'T' : 'N';
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int n = transpose ? num_cols : num_rows;
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int k = transpose ? num_rows : num_cols;
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int lda = k;
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int ldc = n;
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dsyrk_(&uplo,
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&trans,
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&n,
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&k,
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&alpha,
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const_cast<double*>(a),
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&lda,
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&beta,
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c,
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&ldc);
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#endif
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}
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} // namespace internal
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} // namespace ceres
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