| // 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) | |
| #include "ceres/blas.h" | |
| #include "ceres/internal/port.h" | |
| #include "glog/logging.h" | |
| extern "C" void dsyrk_(char* uplo, | |
| char* trans, | |
| int* n, | |
| int* k, | |
| double* alpha, | |
| double* a, | |
| int* lda, | |
| double* beta, | |
| double* c, | |
| int* ldc); | |
| 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 |