| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2023 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) |
| # |
| # Script for explicitly generating template specialization of the |
| # SchurEliminator class. It is a rather large class |
| # and the number of explicit instantiations is also large. Explicitly |
| # generating these instantiations in separate .cc files breaks the |
| # compilation into separate compilation unit rather than one large cc |
| # file which takes 2+GB of RAM to compile. |
| # |
| # This script creates two sets of files. |
| # |
| # 1. schur_eliminator_x_x_x.cc |
| # where, the x indicates the template parameters and |
| # |
| # 2. schur_eliminator.cc |
| # |
| # that contains a factory function for instantiating these classes |
| # based on runtime parameters. |
| # |
| # The list of tuples, specializations indicates the set of |
| # specializations that is generated. |
| |
| # Set of template specializations to generate |
| |
| HEADER = """// Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 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. |
| """ |
| |
| DYNAMIC_FILE = """ |
| #include "ceres/schur_eliminator_impl.h" |
| |
| namespace ceres::internal { |
| |
| template class SchurEliminator<%s, %s, %s>; |
| |
| } // namespace ceres::internal |
| """ |
| |
| SPECIALIZATION_FILE = """ |
| // This include must come before any #ifndef check on Ceres compile options. |
| #include "ceres/internal/config.h" |
| |
| #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION |
| |
| #include "ceres/schur_eliminator_impl.h" |
| |
| namespace ceres::internal { |
| |
| template class SchurEliminator<%s, %s, %s>; |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_RESTRICT_SCHUR_SPECIALIZATION |
| """ |
| |
| FACTORY_FILE_HEADER = """ |
| #include <memory> |
| |
| #include "ceres/linear_solver.h" |
| #include "ceres/schur_eliminator.h" |
| |
| namespace ceres::internal { |
| |
| SchurEliminatorBase::~SchurEliminatorBase() = default; |
| |
| std::unique_ptr<SchurEliminatorBase> SchurEliminatorBase::Create( |
| const LinearSolver::Options& options) { |
| #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION |
| """ |
| |
| FACTORY = """ return std::make_unique<SchurEliminator<%s, %s, %s>>(options);""" |
| |
| FACTORY_FOOTER = """ |
| #endif |
| VLOG(1) << "Template specializations not found for <" |
| << options.row_block_size << "," << options.e_block_size << "," |
| << options.f_block_size << ">"; |
| return std::make_unique<SchurEliminator<Eigen::Dynamic, |
| Eigen::Dynamic, |
| Eigen::Dynamic>>(options); |
| } |
| |
| } // namespace ceres::internal |
| """ |