diff options
Diffstat (limited to 'extern/ceres/internal/ceres/small_blas_generic.h')
| -rw-r--r-- | extern/ceres/internal/ceres/small_blas_generic.h | 114 |
1 files changed, 59 insertions, 55 deletions
diff --git a/extern/ceres/internal/ceres/small_blas_generic.h b/extern/ceres/internal/ceres/small_blas_generic.h index 978c5d56a84..3f3ea424c80 100644 --- a/extern/ceres/internal/ceres/small_blas_generic.h +++ b/extern/ceres/internal/ceres/small_blas_generic.h @@ -39,33 +39,33 @@ namespace ceres { namespace internal { // The following macros are used to share code -#define CERES_GEMM_OPT_NAIVE_HEADER \ - double c0 = 0.0; \ - double c1 = 0.0; \ - double c2 = 0.0; \ - double c3 = 0.0; \ - const double* pa = a; \ - const double* pb = b; \ - const int span = 4; \ - int col_r = col_a & (span - 1); \ +#define CERES_GEMM_OPT_NAIVE_HEADER \ + double c0 = 0.0; \ + double c1 = 0.0; \ + double c2 = 0.0; \ + double c3 = 0.0; \ + const double* pa = a; \ + const double* pb = b; \ + const int span = 4; \ + int col_r = col_a & (span - 1); \ int col_m = col_a - col_r; -#define CERES_GEMM_OPT_STORE_MAT1X4 \ - if (kOperation > 0) { \ - *c++ += c0; \ - *c++ += c1; \ - *c++ += c2; \ - *c++ += c3; \ - } else if (kOperation < 0) { \ - *c++ -= c0; \ - *c++ -= c1; \ - *c++ -= c2; \ - *c++ -= c3; \ - } else { \ - *c++ = c0; \ - *c++ = c1; \ - *c++ = c2; \ - *c++ = c3; \ +#define CERES_GEMM_OPT_STORE_MAT1X4 \ + if (kOperation > 0) { \ + *c++ += c0; \ + *c++ += c1; \ + *c++ += c2; \ + *c++ += c3; \ + } else if (kOperation < 0) { \ + *c++ -= c0; \ + *c++ -= c1; \ + *c++ -= c2; \ + *c++ -= c3; \ + } else { \ + *c++ = c0; \ + *c++ = c1; \ + *c++ = c2; \ + *c++ = c3; \ } // Matrix-Matrix Multiplication @@ -97,14 +97,14 @@ static inline void MMM_mat1x4(const int col_a, double av = 0.0; int bi = 0; -#define CERES_GEMM_OPT_MMM_MAT1X4_MUL \ - av = pa[k]; \ - pb = b + bi; \ - c0 += av * *pb++; \ - c1 += av * *pb++; \ - c2 += av * *pb++; \ - c3 += av * *pb++; \ - bi += col_stride_b; \ +#define CERES_GEMM_OPT_MMM_MAT1X4_MUL \ + av = pa[k]; \ + pb = b + bi; \ + c0 += av * *pb++; \ + c1 += av * *pb++; \ + c2 += av * *pb++; \ + c3 += av * *pb++; \ + bi += col_stride_b; \ k++; for (int k = 0; k < col_m;) { @@ -164,14 +164,14 @@ static inline void MTM_mat1x4(const int col_a, int ai = 0; int bi = 0; -#define CERES_GEMM_OPT_MTM_MAT1X4_MUL \ - av = pa[ai]; \ - pb = b + bi; \ - c0 += av * *pb++; \ - c1 += av * *pb++; \ - c2 += av * *pb++; \ - c3 += av * *pb++; \ - ai += col_stride_a; \ +#define CERES_GEMM_OPT_MTM_MAT1X4_MUL \ + av = pa[ai]; \ + pb = b + bi; \ + c0 += av * *pb++; \ + c1 += av * *pb++; \ + c2 += av * *pb++; \ + c3 += av * *pb++; \ + ai += col_stride_a; \ bi += col_stride_b; for (int k = 0; k < col_m; k += span) { @@ -218,14 +218,16 @@ static inline void MVM_mat4x1(const int col_a, CERES_GEMM_OPT_NAIVE_HEADER double bv = 0.0; -#define CERES_GEMM_OPT_MVM_MAT4X1_MUL \ - bv = *pb; \ - c0 += *(pa ) * bv; \ - c1 += *(pa + col_stride_a ) * bv; \ - c2 += *(pa + col_stride_a * 2) * bv; \ - c3 += *(pa + col_stride_a * 3) * bv; \ - pa++; \ + // clang-format off +#define CERES_GEMM_OPT_MVM_MAT4X1_MUL \ + bv = *pb; \ + c0 += *(pa ) * bv; \ + c1 += *(pa + col_stride_a ) * bv; \ + c2 += *(pa + col_stride_a * 2) * bv; \ + c3 += *(pa + col_stride_a * 3) * bv; \ + pa++; \ pb++; + // clang-format on for (int k = 0; k < col_m; k += span) { CERES_GEMM_OPT_MVM_MAT4X1_MUL @@ -281,14 +283,16 @@ static inline void MTV_mat4x1(const int col_a, CERES_GEMM_OPT_NAIVE_HEADER double bv = 0.0; -#define CERES_GEMM_OPT_MTV_MAT4X1_MUL \ - bv = *pb; \ - c0 += *(pa ) * bv; \ - c1 += *(pa + 1) * bv; \ - c2 += *(pa + 2) * bv; \ - c3 += *(pa + 3) * bv; \ - pa += col_stride_a; \ + // clang-format off +#define CERES_GEMM_OPT_MTV_MAT4X1_MUL \ + bv = *pb; \ + c0 += *(pa ) * bv; \ + c1 += *(pa + 1) * bv; \ + c2 += *(pa + 2) * bv; \ + c3 += *(pa + 3) * bv; \ + pa += col_stride_a; \ pb++; + // clang-format on for (int k = 0; k < col_m; k += span) { CERES_GEMM_OPT_MTV_MAT4X1_MUL |