Add the 3,3,3 template specialization. Change-Id: I32bd528ee5b1c267d6dc7aa3ab58768851748e24
diff --git a/internal/ceres/generate_template_specializations.py b/internal/ceres/generate_template_specializations.py index 75c1464..5e91f8d 100644 --- a/internal/ceres/generate_template_specializations.py +++ b/internal/ceres/generate_template_specializations.py
@@ -68,6 +68,7 @@ (2, 4, 9), (2, 4, "Eigen::Dynamic"), (2, "Eigen::Dynamic", "Eigen::Dynamic"), + (3, 3, 3), (4, 4, 2), (4, 4, 3), (4, 4, 4),
diff --git a/internal/ceres/generated/partitioned_matrix_view_3_3_3.cc b/internal/ceres/generated/partitioned_matrix_view_3_3_3.cc new file mode 100644 index 0000000..d3b20be --- /dev/null +++ b/internal/ceres/generated/partitioned_matrix_view_3_3_3.cc
@@ -0,0 +1,58 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2017 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) +// +// 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_template_specializations.py. + +// 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<3, 3, 3>; + +} // namespace internal +} // namespace ceres + +#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_3_3_3.cc b/internal/ceres/generated/schur_eliminator_3_3_3.cc new file mode 100644 index 0000000..1cbeadf --- /dev/null +++ b/internal/ceres/generated/schur_eliminator_3_3_3.cc
@@ -0,0 +1,58 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2017 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) +// +// 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_template_specializations.py. + +// 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<3, 3, 3>; + +} // 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 910f241..d7a998d 100644 --- a/internal/ceres/partitioned_matrix_view.cc +++ b/internal/ceres/partitioned_matrix_view.cc
@@ -125,6 +125,11 @@ if (options.row_block_size == 2){ return new PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>(matrix, options.elimination_groups[0]); } + if ((options.row_block_size == 3) && + (options.e_block_size == 3) && + (options.f_block_size == 3)) { + return new PartitionedMatrixView<3, 3, 3>(matrix, options.elimination_groups[0]); + } if ((options.row_block_size == 4) && (options.e_block_size == 4) && (options.f_block_size == 2)) {
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc index beefa14..bc8ced4 100644 --- a/internal/ceres/schur_eliminator.cc +++ b/internal/ceres/schur_eliminator.cc
@@ -124,6 +124,11 @@ if (options.row_block_size == 2){ return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options); } + if ((options.row_block_size == 3) && + (options.e_block_size == 3) && + (options.f_block_size == 3)) { + return new SchurEliminator<3, 3, 3>(options); + } if ((options.row_block_size == 4) && (options.e_block_size == 4) && (options.f_block_size == 2)) {
diff --git a/internal/ceres/schur_templates.cc b/internal/ceres/schur_templates.cc index 64bc9f3..0152861 100644 --- a/internal/ceres/schur_templates.cc +++ b/internal/ceres/schur_templates.cc
@@ -179,6 +179,14 @@ *f_block_size = Eigen::Dynamic; return; } + if ((options.row_block_size == 3) && + (options.e_block_size == 3) && + (options.f_block_size == 3)) { + *row_block_size = 3; + *e_block_size = 3; + *f_block_size = 3; + return; + } if ((options.row_block_size == 4) && (options.e_block_size == 4) && (options.f_block_size == 2)) {