Fix some nits.
Change-Id: I1af74d6ae8c6c368642989f1b1e857999264a454
diff --git a/internal/ceres/dense_cholesky.cc b/internal/ceres/dense_cholesky.cc
index 6070ea0..841ceb1 100644
--- a/internal/ceres/dense_cholesky.cc
+++ b/internal/ceres/dense_cholesky.cc
@@ -145,9 +145,9 @@
if (info < 0) {
termination_type_ = LINEAR_SOLVER_FATAL_ERROR;
- LOG(FATAL) << "Congratulations, you found a bug in Ceres."
- << "Please report it."
- << "LAPACK::dpotrf fatal error."
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres. "
+ << "Please report it. "
+ << "LAPACK::dpotrf fatal error. "
<< "Argument: " << -info << " is invalid.";
} else if (info > 0) {
termination_type_ = LINEAR_SOLVER_FAILURE;
@@ -175,9 +175,9 @@
if (info < 0) {
termination_type_ = LINEAR_SOLVER_FATAL_ERROR;
- LOG(FATAL) << "Congratulations, you found a bug in Ceres."
- << "Please report it."
- << "LAPACK::dpotrs fatal error."
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres. "
+ << "Please report it. "
+ << "LAPACK::dpotrs fatal error. "
<< "Argument: " << -info << " is invalid.";
}
@@ -201,7 +201,8 @@
cusolverDnDestroy(cusolver_handle_);
return false;
}
- if (cusolverDnSetStream(cusolver_handle_, stream_) != CUSOLVER_STATUS_SUCCESS) {
+ if (cusolverDnSetStream(cusolver_handle_, stream_) !=
+ CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnSetStream failed.";
cudaStreamDestroy(stream_);
cusolverDnDestroy(cusolver_handle_);
@@ -220,9 +221,7 @@
}
LinearSolverTerminationType CUDADenseCholesky32Bit::Factorize(
- int num_cols,
- double* lhs,
- std::string* message) {
+ int num_cols, double* lhs, std::string* message) {
factorize_result_ = LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
// Allocate GPU memory if necessary.
lhs_.Reserve(num_cols * num_cols);
@@ -232,11 +231,11 @@
// Allocate scratch space on GPU.
int device_workspace_size = 0;
if (cusolverDnDpotrf_bufferSize(cusolver_handle_,
- CUBLAS_FILL_MODE_LOWER,
- num_cols,
- lhs_.data(),
- num_cols,
- &device_workspace_size) !=
+ CUBLAS_FILL_MODE_LOWER,
+ num_cols,
+ lhs_.data(),
+ num_cols,
+ &device_workspace_size) !=
CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnDpotrf_bufferSize failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
@@ -245,18 +244,18 @@
device_workspace_.Reserve(device_workspace_size);
// Run the actual factorization (potrf)
if (cusolverDnDpotrf(cusolver_handle_,
- CUBLAS_FILL_MODE_LOWER,
- num_cols,
- lhs_.data(),
- num_cols,
- reinterpret_cast<double*>(device_workspace_.data()),
- device_workspace_.size(),
- error_.data()) != CUSOLVER_STATUS_SUCCESS) {
+ CUBLAS_FILL_MODE_LOWER,
+ num_cols,
+ lhs_.data(),
+ num_cols,
+ reinterpret_cast<double*>(device_workspace_.data()),
+ device_workspace_.size(),
+ error_.data()) != CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnDpotrf failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
- if (cudaDeviceSynchronize() != cudaSuccess ||
- cudaStreamSynchronize(stream_), cudaSuccess) {
+ if (cudaDeviceSynchronize() != cudaSuccess || cudaStreamSynchronize(stream_),
+ cudaSuccess) {
*message = "Cuda device synchronization failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
@@ -266,7 +265,7 @@
if (error < 0) {
LOG(FATAL) << "Congratulations, you found a bug in Ceres - "
<< "please report it. "
- << "cuSolverDN::cusolverDnXpotrf fatal error."
+ << "cuSolverDN::cusolverDnXpotrf fatal error. "
<< "Argument: " << -error << " is invalid.";
// The following line is unreachable, but return failure just to be
// pedantic, since the compiler does not know that.
@@ -285,9 +284,7 @@
}
LinearSolverTerminationType CUDADenseCholesky32Bit::Solve(
- const double* rhs,
- double* solution,
- std::string* message) {
+ const double* rhs, double* solution, std::string* message) {
if (factorize_result_ != LinearSolverTerminationType::LINEAR_SOLVER_SUCCESS) {
*message = "Factorize did not complete succesfully previously.";
return factorize_result_;
@@ -296,19 +293,19 @@
rhs_.CopyToGpu(rhs, num_cols_);
// Solve the system.
if (cusolverDnDpotrs(cusolver_handle_,
- CUBLAS_FILL_MODE_LOWER,
- num_cols_,
- 1,
- lhs_.data(),
- num_cols_,
- rhs_.data(),
- num_cols_,
- error_.data()) != CUSOLVER_STATUS_SUCCESS) {
+ CUBLAS_FILL_MODE_LOWER,
+ num_cols_,
+ 1,
+ lhs_.data(),
+ num_cols_,
+ rhs_.data(),
+ num_cols_,
+ error_.data()) != CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnDpotrs failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
- if (cudaDeviceSynchronize() != cudaSuccess ||
- cudaStreamSynchronize(stream_), cudaSuccess) {
+ if (cudaDeviceSynchronize() != cudaSuccess || cudaStreamSynchronize(stream_),
+ cudaSuccess) {
*message = "Cuda device synchronization failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
@@ -317,9 +314,9 @@
// Copy X from GPU to host.
rhs_.CopyToHost(solution, num_cols_);
if (error != 0) {
- LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres. "
<< "Please report it."
- << "cuSolverDN::cusolverDnDpotrs fatal error."
+ << "cuSolverDN::cusolverDnDpotrs fatal error. "
<< "Argument: " << -error << " is invalid.";
}
// Copy error variable from GPU to host.
@@ -329,7 +326,7 @@
}
std::unique_ptr<CUDADenseCholesky32Bit> CUDADenseCholesky32Bit::Create(
- const LinearSolver::Options& options) {
+ const LinearSolver::Options& options) {
if (options.dense_linear_algebra_library_type != CUDA) {
// The user called the wrong factory method.
return nullptr;
@@ -346,7 +343,7 @@
}
std::unique_ptr<CUDADenseCholesky64Bit> CUDADenseCholesky64Bit::Create(
- const LinearSolver::Options& options) {
+ const LinearSolver::Options& options) {
if (options.dense_linear_algebra_library_type != CUDA) {
// The user called the wrong factory method.
return nullptr;
@@ -373,17 +370,15 @@
return false;
}
-LinearSolverTerminationType CUDADenseCholesky64Bit::Factorize(
- int,
- double*,
- std::string*) {
+LinearSolverTerminationType CUDADenseCholesky64Bit::Factorize(int,
+ double*,
+ std::string*) {
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
-LinearSolverTerminationType CUDADenseCholesky64Bit::Solve(
- const double*,
- double*,
- std::string*) {
+LinearSolverTerminationType CUDADenseCholesky64Bit::Solve(const double*,
+ double*,
+ std::string*) {
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
@@ -399,7 +394,8 @@
cusolverDnDestroy(cusolver_handle_);
return false;
}
- if (cusolverDnSetStream(cusolver_handle_, stream_) != CUSOLVER_STATUS_SUCCESS) {
+ if (cusolverDnSetStream(cusolver_handle_, stream_) !=
+ CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnSetStream failed.";
cudaStreamDestroy(stream_);
cusolverDnDestroy(cusolver_handle_);
@@ -418,9 +414,7 @@
}
LinearSolverTerminationType CUDADenseCholesky64Bit::Factorize(
- int num_cols,
- double* lhs,
- std::string* message) {
+ int num_cols, double* lhs, std::string* message) {
factorize_result_ = LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
// Allocate GPU memory if necessary.
lhs_.Reserve(num_cols * num_cols);
@@ -431,15 +425,15 @@
size_t host_workspace_size = 0;
size_t device_workspace_size = 0;
if (cusolverDnXpotrf_bufferSize(cusolver_handle_,
- nullptr,
- CUBLAS_FILL_MODE_LOWER,
- num_cols,
- CUDA_R_64F,
- lhs_.data(),
- num_cols,
- CUDA_R_64F,
- &device_workspace_size,
- &host_workspace_size) !=
+ nullptr,
+ CUBLAS_FILL_MODE_LOWER,
+ num_cols,
+ CUDA_R_64F,
+ lhs_.data(),
+ num_cols,
+ CUDA_R_64F,
+ &device_workspace_size,
+ &host_workspace_size) !=
CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnXpotrf_bufferSize failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
@@ -450,18 +444,18 @@
device_workspace_.Reserve(device_workspace_size);
// Run the actual factorization (potrf)
if (cusolverDnXpotrf(cusolver_handle_,
- nullptr,
- CUBLAS_FILL_MODE_LOWER,
- num_cols,
- CUDA_R_64F,
- lhs_.data(),
- num_cols,
- CUDA_R_64F,
- device_workspace_.data(),
- device_workspace_.size(),
- host_workspace_.data(),
- host_workspace_.size(),
- error_.data()) != CUSOLVER_STATUS_SUCCESS) {
+ nullptr,
+ CUBLAS_FILL_MODE_LOWER,
+ num_cols,
+ CUDA_R_64F,
+ lhs_.data(),
+ num_cols,
+ CUDA_R_64F,
+ device_workspace_.data(),
+ device_workspace_.size(),
+ host_workspace_.data(),
+ host_workspace_.size(),
+ error_.data()) != CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnXpotrf failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
@@ -476,7 +470,7 @@
if (error < 0) {
LOG(FATAL) << "Congratulations, you found a bug in Ceres - "
<< "please report it. "
- << "cuSolverDN::cusolverDnXpotrf fatal error."
+ << "cuSolverDN::cusolverDnXpotrf fatal error. "
<< "Argument: " << -error << " is invalid.";
// The following line is unreachable, but return failure just to be
// pedantic, since the compiler does not know that.
@@ -496,9 +490,7 @@
}
LinearSolverTerminationType CUDADenseCholesky64Bit::Solve(
- const double* rhs,
- double* solution,
- std::string* message) {
+ const double* rhs, double* solution, std::string* message) {
if (factorize_result_ != LinearSolverTerminationType::LINEAR_SOLVER_SUCCESS) {
*message = "Factorize did not complete succesfully previously.";
return factorize_result_;
@@ -507,17 +499,17 @@
rhs_.CopyToGpu(rhs, num_cols_);
// Solve the system.
if (cusolverDnXpotrs(cusolver_handle_,
- nullptr,
- CUBLAS_FILL_MODE_LOWER,
- num_cols_,
- 1,
- CUDA_R_64F,
- lhs_.data(),
- num_cols_,
- CUDA_R_64F,
- rhs_.data(),
- num_cols_,
- error_.data()) != CUSOLVER_STATUS_SUCCESS) {
+ nullptr,
+ CUBLAS_FILL_MODE_LOWER,
+ num_cols_,
+ 1,
+ CUDA_R_64F,
+ lhs_.data(),
+ num_cols_,
+ CUDA_R_64F,
+ rhs_.data(),
+ num_cols_,
+ error_.data()) != CUSOLVER_STATUS_SUCCESS) {
*message = "cuSolverDN::cusolverDnXpotrs failed.";
return LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
}
@@ -531,9 +523,9 @@
// Copy error variable from GPU to host.
error_.CopyToHost(&error, 1);
if (error != 0) {
- LOG(FATAL) << "Congratulations, you found a bug in Ceres."
- << "Please report it."
- << "cuSolverDN::cusolverDnXpotrs fatal error."
+ LOG(FATAL) << "Congratulations, you found a bug in Ceres. "
+ << "Please report it. "
+ << "cuSolverDN::cusolverDnXpotrs fatal error. "
<< "Argument: " << -error << " is invalid.";
}
// Copy X from GPU to host.
@@ -542,7 +534,7 @@
return LinearSolverTerminationType::LINEAR_SOLVER_SUCCESS;
}
-#endif // CERES_CUDA_NO_64BIT_SOLVER_API
+#endif // CERES_CUDA_NO_64BIT_SOLVER_API
#endif // CERES_NO_CUDA
diff --git a/internal/ceres/dense_qr.cc b/internal/ceres/dense_qr.cc
index 9c0b24e..33831ea 100644
--- a/internal/ceres/dense_qr.cc
+++ b/internal/ceres/dense_qr.cc
@@ -32,6 +32,7 @@
#include <algorithm>
#include <memory>
+#include <string>
#ifndef CERES_NO_LAPACK
diff --git a/internal/ceres/schur_complement_solver.cc b/internal/ceres/schur_complement_solver.cc
index b342051..9a5ff05 100644
--- a/internal/ceres/schur_complement_solver.cc
+++ b/internal/ceres/schur_complement_solver.cc
@@ -119,7 +119,7 @@
: options_(options) {
CHECK_GT(options.elimination_groups.size(), 1);
CHECK_GT(options.elimination_groups[0], 0);
- CHECK(options.context != NULL);
+ CHECK(options.context != nullptr);
}
SchurComplementSolver::~SchurComplementSolver() {}
@@ -132,7 +132,7 @@
EventLogger event_logger("SchurComplementSolver::Solve");
const CompressedRowBlockStructure* bs = A->block_structure();
- if (eliminator_.get() == NULL) {
+ if (eliminator_.get() == nullptr) {
const int num_eliminate_blocks = options_.elimination_groups[0];
const int num_f_blocks = bs->cols.size() - num_eliminate_blocks;
@@ -370,7 +370,7 @@
// Only SCHUR_JACOBI is supported over here right now.
CHECK_EQ(options().preconditioner_type, SCHUR_JACOBI);
- if (preconditioner_.get() == NULL) {
+ if (preconditioner_.get() == nullptr) {
preconditioner_.reset(new BlockRandomAccessDiagonalMatrix(blocks_));
}
