Template specialization <2,3,6> Change-Id: If7bfaef9dea604b78290ab739e21ae2ec6195ed6
diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py index 2ec3c5b..e6798f3 100644 --- a/internal/ceres/generate_eliminator_specialization.py +++ b/internal/ceres/generate_eliminator_specialization.py
@@ -55,6 +55,7 @@ (2, 2, "Eigen::Dynamic"), (2, 3, 3), (2, 3, 4), + (2, 3, 6), (2, 3, 9), (2, 3, "Eigen::Dynamic"), (2, 4, 3),
diff --git a/internal/ceres/generate_partitioned_matrix_view_specializations.py b/internal/ceres/generate_partitioned_matrix_view_specializations.py index c9bdf23..6075210 100644 --- a/internal/ceres/generate_partitioned_matrix_view_specializations.py +++ b/internal/ceres/generate_partitioned_matrix_view_specializations.py
@@ -53,6 +53,7 @@ (2, 2, "Eigen::Dynamic"), (2, 3, 3), (2, 3, 4), + (2, 3, 6), (2, 3, 9), (2, 3, "Eigen::Dynamic"), (2, 4, 3),
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc new file mode 100644 index 0000000..dd0b3cd --- /dev/null +++ b/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
@@ -0,0 +1,59 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2013 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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) +// +// Template specialization of PartitionedMatrixView. +// +// ======================================== +// 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_partitioned_matrix_view_specializations.py. +// Editing it manually is not recommended. + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION + +#include "ceres/partitioned_matrix_view_impl.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +template class PartitionedMatrixView<2, 3, 6>; + +} // namespace internal +} // namespace ceres + +#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_6.cc b/internal/ceres/generated/schur_eliminator_2_3_6.cc new file mode 100644 index 0000000..67eb699 --- /dev/null +++ b/internal/ceres/generated/schur_eliminator_2_3_6.cc
@@ -0,0 +1,59 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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) +// +// Template specialization of SchurEliminator. +// +// ======================================== +// 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_eliminator_specialization.py. +// Editing it manually is not recommended. + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION + +#include "ceres/schur_eliminator_impl.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +template class SchurEliminator<2, 3, 6>; + +} // namespace internal +} // namespace ceres + +#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/partitioned_matrix_view.cc b/internal/ceres/partitioned_matrix_view.cc index d745a9b..4ed20f3 100644 --- a/internal/ceres/partitioned_matrix_view.cc +++ b/internal/ceres/partitioned_matrix_view.cc
@@ -89,6 +89,12 @@ } if ((options.row_block_size == 2) && (options.e_block_size == 3) && + (options.f_block_size == 6)) { + return new PartitionedMatrixView<2, 3, 6>( + matrix, options.elimination_groups[0]); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && (options.f_block_size == 9)) { return new PartitionedMatrixView<2, 3, 9>( matrix, options.elimination_groups[0]);
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc index 4d9b175..15b208c 100644 --- a/internal/ceres/schur_eliminator.cc +++ b/internal/ceres/schur_eliminator.cc
@@ -82,6 +82,11 @@ } if ((options.row_block_size == 2) && (options.e_block_size == 3) && + (options.f_block_size == 6)) { + return new SchurEliminator<2, 3, 6>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && (options.f_block_size == 9)) { return new SchurEliminator<2, 3, 9>(options); }
diff --git a/jni/Android.mk b/jni/Android.mk index d64f78b..ec59f52 100644 --- a/jni/Android.mk +++ b/jni/Android.mk
@@ -191,6 +191,7 @@ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \ + $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \ @@ -210,6 +211,7 @@ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \ + $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \ $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \