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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 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)
#include "ceres/lapack.h"
#include "ceres/internal/port.h"
#include "ceres/linear_solver.h"
#include "glog/logging.h"
#ifndef CERES_NO_LAPACK
// C interface to the LAPACK Cholesky factorization and triangular solve.
extern "C" void dpotrf_(char* uplo, int* n, double* a, int* lda, int* info);
extern "C" void dpotrs_(char* uplo,
int* n,
int* nrhs,
double* a,
int* lda,
double* b,
int* ldb,
int* info);
extern "C" void dgels_(char* uplo,
int* m,
int* n,
int* nrhs,
double* a,
int* lda,
double* b,
int* ldb,
double* work,
int* lwork,
int* info);
#endif
namespace ceres {
namespace internal {
LinearSolverTerminationType LAPACK::SolveInPlaceUsingCholesky(
int num_rows,
const double* in_lhs,
double* rhs_and_solution,
std::string* message) {
#ifdef CERES_NO_LAPACK
LOG(FATAL) << "Ceres was built without a BLAS library.";
return LINEAR_SOLVER_FATAL_ERROR;
#else
char uplo = 'L';
int n = num_rows;
int info = 0;
int nrhs = 1;
double* lhs = const_cast<double*>(in_lhs);
dpotrf_(&uplo, &n, lhs, &n, &info);
if (info < 0) {
LOG(FATAL) << "Congratulations, you found a bug in Ceres."
<< "Please report it."
<< "LAPACK::dpotrf fatal error."
<< "Argument: " << -info << " is invalid.";
return LINEAR_SOLVER_FATAL_ERROR;
}
if (info > 0) {
*message = StringPrintf(
"LAPACK::dpotrf numerical failure. "
"The leading minor of order %d is not positive definite.",
info);
return LINEAR_SOLVER_FAILURE;
}
dpotrs_(&uplo, &n, &nrhs, lhs, &n, rhs_and_solution, &n, &info);
if (info < 0) {
LOG(FATAL) << "Congratulations, you found a bug in Ceres."
<< "Please report it."
<< "LAPACK::dpotrs fatal error."
<< "Argument: " << -info << " is invalid.";
return LINEAR_SOLVER_FATAL_ERROR;
}
*message = "Success";
return LINEAR_SOLVER_SUCCESS;
#endif
}
int LAPACK::EstimateWorkSizeForQR(int num_rows, int num_cols) {
#ifdef CERES_NO_LAPACK
LOG(FATAL) << "Ceres was built without a LAPACK library.";
return -1;
#else
char trans = 'N';
int nrhs = 1;
int lwork = -1;
double work;
int info = 0;
dgels_(&trans,
&num_rows,
&num_cols,
&nrhs,
NULL,
&num_rows,
NULL,
&num_rows,
&work,
&lwork,
&info);
if (info < 0) {
LOG(FATAL) << "Congratulations, you found a bug in Ceres."
<< "Please report it."
<< "LAPACK::dgels fatal error."
<< "Argument: " << -info << " is invalid.";
}
return static_cast<int>(work);
#endif
}
LinearSolverTerminationType LAPACK::SolveInPlaceUsingQR(
int num_rows,
int num_cols,
const double* in_lhs,
int work_size,
double* work,
double* rhs_and_solution,
std::string* message) {
#ifdef CERES_NO_LAPACK
LOG(FATAL) << "Ceres was built without a LAPACK library.";
return LINEAR_SOLVER_FATAL_ERROR;
#else
char trans = 'N';
int m = num_rows;
int n = num_cols;
int nrhs = 1;
int lda = num_rows;
int ldb = num_rows;
int info = 0;
double* lhs = const_cast<double*>(in_lhs);
dgels_(&trans,
&m,
&n,
&nrhs,
lhs,
&lda,
rhs_and_solution,
&ldb,
work,
&work_size,
&info);
if (info < 0) {
LOG(FATAL) << "Congratulations, you found a bug in Ceres."
<< "Please report it."
<< "LAPACK::dgels fatal error."
<< "Argument: " << -info << " is invalid.";
}
*message = "Success.";
return LINEAR_SOLVER_SUCCESS;
#endif
}
} // namespace internal
} // namespace ceres
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