| // 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/blas.h" |
| #include "ceres/internal/port.h" |
| #include "glog/logging.h" |
| |
| #ifndef CERES_NO_LAPACK |
| extern "C" void dsyrk_(char* uplo, |
| char* trans, |
| int* n, |
| int* k, |
| double* alpha, |
| double* a, |
| int* lda, |
| double* beta, |
| double* c, |
| int* ldc); |
| #endif |
| |
| namespace ceres { |
| namespace internal { |
| |
| void BLAS::SymmetricRankKUpdate(int num_rows, |
| int num_cols, |
| const double* a, |
| bool transpose, |
| double alpha, |
| double beta, |
| double* c) { |
| #ifdef CERES_NO_LAPACK |
| LOG(FATAL) << "Ceres was built without a BLAS library."; |
| #else |
| char uplo = 'L'; |
| char trans = transpose ? 'T' : 'N'; |
| int n = transpose ? num_cols : num_rows; |
| int k = transpose ? num_rows : num_cols; |
| int lda = k; |
| int ldc = n; |
| dsyrk_(&uplo, |
| &trans, |
| &n, |
| &k, |
| &alpha, |
| const_cast<double*>(a), |
| &lda, |
| &beta, |
| c, |
| &ldc); |
| #endif |
| } |
| |
| } // namespace internal |
| } // namespace ceres |
