diff options
Diffstat (limited to 'extern/ceres/internal/ceres/schur_templates.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/schur_templates.cc | 227 |
1 files changed, 227 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/schur_templates.cc b/extern/ceres/internal/ceres/schur_templates.cc new file mode 100644 index 00000000000..01528619b1b --- /dev/null +++ b/extern/ceres/internal/ceres/schur_templates.cc @@ -0,0 +1,227 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2017 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) +// +// What template specializations are available. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +//========================================= +// +// This file is generated using generate_template_specializations.py. + +#include "ceres/internal/eigen.h" +#include "ceres/schur_templates.h" + +namespace ceres { +namespace internal { + +void GetBestSchurTemplateSpecialization(int* row_block_size, + int* e_block_size, + int* f_block_size) { + LinearSolver::Options options; + options.row_block_size = *row_block_size; + options.e_block_size = *e_block_size; + options.f_block_size = *f_block_size; + *row_block_size = Eigen::Dynamic; + *e_block_size = Eigen::Dynamic; + *f_block_size = Eigen::Dynamic; +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == 2)) { + *row_block_size = 2; + *e_block_size = 2; + *f_block_size = 2; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == 3)) { + *row_block_size = 2; + *e_block_size = 2; + *f_block_size = 3; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == 4)) { + *row_block_size = 2; + *e_block_size = 2; + *f_block_size = 4; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 2)) { + *row_block_size = 2; + *e_block_size = 2; + *f_block_size = Eigen::Dynamic; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 3)) { + *row_block_size = 2; + *e_block_size = 3; + *f_block_size = 3; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 4)) { + *row_block_size = 2; + *e_block_size = 3; + *f_block_size = 4; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 6)) { + *row_block_size = 2; + *e_block_size = 3; + *f_block_size = 6; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 9)) { + *row_block_size = 2; + *e_block_size = 3; + *f_block_size = 9; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3)) { + *row_block_size = 2; + *e_block_size = 3; + *f_block_size = Eigen::Dynamic; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 3)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = 3; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 4)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = 4; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 6)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = 6; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 8)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = 8; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 9)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = 9; + return; + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4)) { + *row_block_size = 2; + *e_block_size = 4; + *f_block_size = Eigen::Dynamic; + return; + } + if (options.row_block_size == 2){ + *row_block_size = 2; + *e_block_size = Eigen::Dynamic; + *f_block_size = Eigen::Dynamic; + return; + } + if ((options.row_block_size == 3) && + (options.e_block_size == 3) && + (options.f_block_size == 3)) { + *row_block_size = 3; + *e_block_size = 3; + *f_block_size = 3; + return; + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == 2)) { + *row_block_size = 4; + *e_block_size = 4; + *f_block_size = 2; + return; + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == 3)) { + *row_block_size = 4; + *e_block_size = 4; + *f_block_size = 3; + return; + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == 4)) { + *row_block_size = 4; + *e_block_size = 4; + *f_block_size = 4; + return; + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4)) { + *row_block_size = 4; + *e_block_size = 4; + *f_block_size = Eigen::Dynamic; + return; + } + +#endif + return; +} + +} // namespace internal +} // namespace ceres |