diff options
Diffstat (limited to 'internal/ceres/generate_eliminator_specialization.py')
| -rw-r--r-- | internal/ceres/generate_eliminator_specialization.py | 148 |
1 files changed, 93 insertions, 55 deletions
diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py index af9873f..caeca69 100644 --- a/internal/ceres/generate_eliminator_specialization.py +++ b/internal/ceres/generate_eliminator_specialization.py @@ -1,33 +1,31 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2010, 2011, 2012 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. -// +# 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. # -# Copyright 2011 Google Inc. All Rights Reserved. # Author: sameeragarwal@google.com (Sameer Agarwal) # # Script for explicitly generating template specialization of the @@ -54,21 +52,47 @@ SPECIALIZATIONS = [(2, 2, 2), (2, 2, 3), (2, 2, 4), - (2, 2, "Dynamic"), + (2, 2, "Eigen::Dynamic"), (2, 3, 3), (2, 3, 4), (2, 3, 9), - (2, 3, "Dynamic"), + (2, 3, "Eigen::Dynamic"), (2, 4, 3), (2, 4, 4), - (2, 4, "Dynamic"), + (2, 4, "Eigen::Dynamic"), (4, 4, 2), (4, 4, 3), (4, 4, 4), - (4, 4, "Dynamic"), - ("Dynamic", "Dynamic", "Dynamic")] - -SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved. + (4, 4, "Eigen::Dynamic"), + ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")] +HEADER = """// 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. @@ -80,8 +104,11 @@ SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved. // THIS FILE IS AUTOGENERATED. DO NOT EDIT. //========================================= // -// This file is generated using generate_eliminator_specializations.py. +// This file is generated using generate_eliminator_specialization.py. // Editing it manually is not recommended. +""" + +DYNAMIC_FILE = """ #include "ceres/schur_eliminator_impl.h" #include "ceres/internal/eigen.h" @@ -93,22 +120,26 @@ template class SchurEliminator<%s, %s, %s>; } // namespace internal } // namespace ceres - """ -FACTORY_FILE_HEADER = """// Copyright 2011 Google Inc. All Rights Reserved. -// Author: sameeragarwal@google.com (Sameer Agarwal) -// -// ======================================== -// 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. -// Editing it manually is not recommended. +SPECIALIZATION_FILE = """ +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION +#include "ceres/schur_eliminator_impl.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +template class SchurEliminator<%s, %s, %s>; + +} // namespace internal +} // namespace ceres + +#endif // CERES_RESTRICT_SCHUR_SPECIALIZATION +""" + +FACTORY_FILE_HEADER = """ #include "ceres/linear_solver.h" #include "ceres/schur_eliminator.h" #include "ceres/internal/eigen.h" @@ -134,7 +165,7 @@ FACTORY_FOOTER = """ << options.row_block_size << "," << options.e_block_size << "," << options.f_block_size << ">"; - return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options); + return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); } } // namespace internal @@ -143,7 +174,7 @@ FACTORY_FOOTER = """ def SuffixForSize(size): - if size == "Dynamic": + if size == "Eigen::Dynamic": return "d" return str(size) @@ -159,6 +190,7 @@ def Specialize(): Generate specialization code and the conditionals to instantiate it. """ f = open("schur_eliminator.cc", "w") + f.write(HEADER) f.write(FACTORY_FILE_HEADER) for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS: @@ -167,9 +199,15 @@ def Specialize(): e_block_size, f_block_size) + ".cc" fptr = open(output, "w") - fptr.write(SPECIALIZATION_FILE % (row_block_size, - e_block_size, - f_block_size)) + fptr.write(HEADER) + + template = SPECIALIZATION_FILE + if (row_block_size == "Eigen::Dynamic" and + e_block_size == "Eigen::Dynamic" and + f_block_size == "Eigen::Dynamic"): + template = DYNAMIC_FILE + + fptr.write(template % (row_block_size, e_block_size, f_block_size)) fptr.close() f.write(FACTORY_CONDITIONAL % (row_block_size, |