blob: e3e88859585b6ebc66627d4e74c420356858dd03 [file] [log] [blame]
# 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
# PartitionedMatrixView class. Explicitly generating these
# instantiations in separate .cc files breaks the compilation into
# separate compilation unit rather than one large cc file.
#
# This script creates two sets of files.
#
# 1. partitioned_matrix_view_x_x_x.cc
# where the x indicates the template parameters and
#
# 2. partitioned_matrix_view.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.
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 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.
"""
DYNAMIC_FILE = """
#include "ceres/partitioned_matrix_view_impl.h"
namespace ceres::internal {
template class PartitionedMatrixView<%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/partitioned_matrix_view_impl.h"
namespace ceres::internal {
template class PartitionedMatrixView<%s, %s, %s>;
} // namespace ceres::internal
#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION
"""
FACTORY_FILE_HEADER = """
#include <memory>
#include "absl/log/log.h"
#include "ceres/linear_solver.h"
#include "ceres/partitioned_matrix_view.h"
namespace ceres::internal {
PartitionedMatrixViewBase::~PartitionedMatrixViewBase() = default;
std::unique_ptr<PartitionedMatrixViewBase> PartitionedMatrixViewBase::Create(
const LinearSolver::Options& options, const BlockSparseMatrix& matrix) {
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
"""
FACTORY = """ return std::make_unique<PartitionedMatrixView<%s,%s, %s>>(
options, matrix);"""
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<PartitionedMatrixView<Eigen::Dynamic,
Eigen::Dynamic,
Eigen::Dynamic>>(
options, matrix);
};
} // namespace ceres::internal
"""